Rigid-flexible coupling humanoid manipulator with self-locking function

Abstract

The rigid-flexible coupling humanoid manipulator with the self-locking function comprises a palm (4), a first finger (1), a second finger (2), a third finger (3) and a fourth finger (4), the second finger (2) integrally rotates to a position opposite to the first finger to realize a palm-to-palm action; the air bags (1-2-6) are arranged in the fingers, and drive the corresponding joints to bend through the connecting rod mechanism during expansion or contraction; the self-locking assembly extends out and is meshed with the rotating wheel when the joint reaches a target angle, so that the fingers keep grabbing force in a gas cut-off state; and the pneumatic system (5) is integrated on the palm (4) and is used for providing positive pressure or negative pressure for the air bag. The rigid-flexible coupled humanoid manipulator with the self-locking function, designed by the invention, has relatively high rigidity, relatively good flexibility and adaptability and relatively high load capacity.

Description

TECHNICAL FIELD

[0001] The present application relates to a robot device, in particular to a rigid-flexible coupling and self-locking function humanoid robot hand. BACKGROUND

[0002] With the rapid development of robotics and rehabilitation engineering, the performance of a humanoid robot hand, as a key end effector of humanoid robots and a core component of upper limb prostheses, directly determines the interactive ability and task execution level of the entire system. An ideal humanoid robot hand needs to achieve a good balance between flexibility, load capacity, adaptability, energy consumption, and control complexity.

[0003] In the actual use of a humanoid robot hand, the following problems exist: 1. The existing humanoid robot hand adopts traditional motors, gears, and rigid linkages, which has the advantages of high positioning accuracy and strong load capacity. However, its structure is complex, heavy, and costly, and it has poor adaptability to impact and uncertain contact. When grabbing irregular or fragile objects, extremely complex force control algorithms are required to ensure flexibility, which not only increases the control burden but also limits its application in unstructured environments. In addition, most rigid hands lack the ability to maintain a grasping posture in a power-off state.

[0004] 2. Underactuated humanoid robot hands and hands with passive compliant joints (such as springs) are widely studied. They can drive multiple fingers with a single drive source and adapt to object shapes through passive deformation of the mechanism. However, their gripping force usually depends on continuous power input, resulting in high energy consumption and inability to maintain a grasping state in the event of power failure or energy interruption.

[0005] 3. The existing pneumatic-driven soft hand has high safety and adaptability to complex shapes. However, its disadvantages are also prominent: generally weak load capacity, low grasping accuracy and response speed, need for large external air supply equipment, poor portability, and difficulty in achieving high load and self-locking functions. SUMMARY

[0006] The present application provides a rigid-flexible coupling and self-locking function humanoid robot hand to overcome the above problems.

[0007] Technical solution: The rigid-flexible coupling and self-locking function humanoid robot hand comprises: a palm (4); a first finger (1) comprising a distal phalanx (1-2), a middle phalanx (1-3), and a proximal phalanx (1-4) arranged in sequence, for completing a grasping action; The second finger (2) comprises a proximal phalanx II (2-2) and a distal phalanx (1-2), the proximal phalanx II (2-2) is internally provided with a rotary motor (2-2-3) for driving the second finger to rotate to a position opposite to the first finger to realize the action of clapping hands; An air bag (1-2-6) is arranged inside each finger and is driven to bend the corresponding joint through a connecting rod mechanism when inflated / contracted; A self-locking assembly comprises a shape memory alloy spring (1-2-9-2) and a pin shaft (1-2-9-3), which can be extended and engaged with a rotary wheel when the joint reaches a target angle, so that the finger can maintain the gripping force in the state of breaking the air supply; A pneumatic system (5) is integrated in the palm (4) and used for providing positive pressure or negative pressure to the air bag.

[0008] Further, the first finger (1) comprises a first finger flexible skin (1-1), a distal phalanx (1-2), a middle phalanx (1-3), and a proximal phalanx I (1-4). The first finger flexible skin (1-1) is sleeved on the outside of the first finger (1). The distal phalanx (1-2) comprises a distal phalanx bone (1-2-1), a rotary wheel (1-2-2), a connecting rod I (1-2-3), a connecting rod II (1-2-4), an end cover I (1-2-5), an air bag (1-2-6), an end cover II (1-2-7), a reinforcing rib assembly (1-2-8), a self-locking assembly (1-2-9), a phalanx connecting shaft (1-2-10), and a sleeve (1-2-11). The distal phalanx bone (1-2-1) is fixedly connected with the phalanx connecting shaft (1-2-10). The rotary wheel (1-2-2) is connected with the phalanx connecting shaft (1-2-10) through a flat key and rotates coaxially with the phalanx connecting shaft (1-2-10). The two ends of the connecting rod I (1-2-3) are hingedly connected with the rotary wheel (1-2-2) and the reinforcing rib assembly (1-2-8) respectively. The reinforcing rib assembly (1-2-8) is fixed on the end cover II (1-2-7). The air bag (1-2-6) is fixedly connected with the end cover I (1-2-5) and the end cover II (1-2-7) respectively. The end cover II (1-2-5) is fixedly connected with the connecting rod II (1-2-4) through a bolt. The connecting rod II (1-2-4) passes through the end cover I (1-2-5), the air bag (1-2-6), and the end cover II (1-2-7) respectively. The self-locking assembly (1-2-9) comprises a spring fixing seat (1-2-9-1), a shape memory alloy spring (1-2-9-2), a pin shaft (1-2-9-3), and a pin shaft end cover (1-2-9-4); The self-locking assembly (1-2-9) is fixed on the left and right sides of the connecting rod II (1-2-4) through the spring fixing seat (1-2-9-1); The sleeve (1-2-11) passes through the phalanx connecting shaft (1-2-10) and is connected with the phalanx connecting shaft (1-2-10) on one side and the rotating wheel (1-2-2) on the other side; The middle phalanx (1-3) comprises the rotating wheel (1-2-2), the connecting rod I (1-2-3), the connecting rod II (1-2-4), the end cover I (1-2-5), the air bag (1-2-6), the end cover II (1-2-7), the reinforcing rib assembly (1-2-8), the self-locking assembly (1-2-9), the phalanx connecting shaft (1-2-10), and the sleeve (1-2-11); The proximal phalanx I (1-4) comprises the rotating wheel (1-2-2), the connecting rod I (1-2-3), the connecting rod III (1-4-1), the end cover I (1-2-5), the air bag (1-2-6), the end cover II (1-2-7), the reinforcing rib assembly (1-2-8), the self-locking assembly (1-2-9), the phalanx connecting shaft (1-2-10), the sleeve (1-2-11), and the finger fixing seat (1-4-2); The connecting rod III (1-4-1) passes through the end cover I (1-2-5), the air bag (1-2-6), and the end cover II (1-2-7) respectively, and is fixedly connected with the end cover II (1-2-7) through a bolt; The distal phalanx (1-2) and the middle phalanx (1-3) are connected through the connecting rod II (1-2-4) on the distal phalanx (1-2); One end of the connecting rod II (1-2-4) on the distal phalanx (1-2) is hingedly connected with the phalanx connecting shaft (1-2-10) on the distal phalanx (1-2), and the other end is fixed on the phalanx connecting shaft (1-2-10) on the proximal phalanx and rotates coaxially; The middle phalanx (1-3) and the proximal phalanx I (1-4) are connected through the connecting rod II (1-2-4) on the middle phalanx; One end of the connecting rod II (1-2-4) on the middle phalanx (1-3) is hingedly connected with the phalanx connecting shaft (1-2-10) on the middle phalanx (1-3), and the other end is fixed on the phalanx connecting shaft (1-2-10) on the proximal phalanx I (1-4); The proximal phalanx I (1-4) is fixed on the palm positive shell (4-1) through the finger fixing seat (1-4-2); Further, the second finger comprises: a second finger flexible skin (2-1), a proximal phalanx II (2-2), a distal phalanx (1-2); The second finger flexible skin (2-1) is sleeved on the outside of the second finger (2-1); The proximal phalanx II (2-2) comprises: a rotating wheel (1-2-2), a connecting rod I (1-2-3), a connecting rod IV (2-2-1), an end cover I (1-2-5), an air bag (1-2-6), an end cover II (1-2-7), a reinforcing rib assembly (1-2-8), a self-locking assembly (1-2-9), a phalanx connecting shaft (1-2-10), a sleeve (1-2-11), a phalanx motor connecting piece (2-2-2), a rotating motor (2-2-3), a second finger fixing piece (2-2-4); The phalanx motor connecting piece (2-2-2) is fixedly connected at one end with the connecting rod IV (2-2-1) and at the other end with the rotating motor (2-2-3); The rotating motor (2-2-3) is fixedly connected with the second finger fixing piece (2-2-4) through bolts; The second finger fixing piece (2-2-4) is fixed on the palm positive shell (4-1); The distal phalanx (1-2) is connected with the proximal phalanx II (2-2) through the connecting rod II (1-2-4) on the distal phalanx (1-2); The connecting rod II (1-2-4) on the distal phalanx (1-2) is hingedly connected at one end with the phalanx connecting shaft (1-2-10) on the distal phalanx (1-2) and fixedly connected at the other end with the phalanx connecting shaft (1-2-10) on the proximal phalanx II (2-2); The proximal phalanx II (2-2) is fixed on the palm positive shell (4-1) through the second finger fixing piece (2-2-4); The palm (4) comprises: a palm positive shell (4-1), a palm back shell (4-2); The palm positive shell (4-1) and the palm back shell (4-2) are connected through bolts.

[0009] Further, the pneumatic system (5) comprises: a positive pressure pump (5-1), a negative pressure pump (5-2), and a control valve group (5-3); The positive pressure pump (5-1) and the negative pressure pump (5-2) are placed side by side and fixed on the palm positive shell (4-1); The control valve group (5-3) is located in front of the positive pressure pump (5-1) and the negative pressure pump (5-2) and fixed on the palm positive shell (4-1).

[0010] Further, the second finger (2) and the four first fingers (1) can perform a palm-to-palm movement.

[0011] Further, one end of the shape memory alloy spring (1-2-9-2) is fixed on the spring fixing seat (1-2-9-1), and the other end is fixed on the pin shaft (1-2-9-3), one end of the pin shaft (1-2-9-3) is fixed with the pin shaft end cover (1-2-9-4), and the other end can move along the spring fixing seat (1-2-9-1).

[0012] Further, the air bag (1-2-6), the end cover I (1-2-5) and the end cover II (1-2-7) are provided with a square hole in the middle, the connecting rod II passes through the square hole, the air bag (1-2-6) is provided with a circular hole on one side for air inlet, and the air bag (1-2-6) is fixed with the end cover I (1-2-5) and the end cover II (1-2-7) on both sides respectively.

[0013] Further, the self-locking assembly (1-2-9) drives the pin shaft (1-2-9-3) to move through the phase change of the shape memory alloy spring (1-2-9-2), so that the pin shaft (1-2-9-3) is locked with the rotating wheel (1-2-2), thereby realizing mechanical locking when the knuckle reaches a predetermined bending angle, preventing the knuckle from rebounding or over-bending under external high load, and thereby improving the load capacity of the mechanical hand.

[0014] The control method of the rigid-flexible coupling and self-locking humanoid robot hand comprises the following steps: The pneumatic system (5) provides positive pressure to the air bag (1-2-6) to make the air bag (1-2-6) expand and push the connecting rod I (1-2-3) to drive each knuckle to bend and realize the grabbing action; when the knuckle bends to a predetermined angle or contacts an object, the self-locking assembly (1-2-9) is triggered to work, the shape memory alloy spring (1-2-9-2) is powered to change phase, the pin shaft (1-2-9-3) is driven to extend and engage with the locking hole on the rotating wheel (1-2-2) to realize mechanical self-locking; in the self-locking state, even if the pneumatic driving force is removed, the knuckle still maintains the locked posture to maintain the grip on the object; when the object needs to be released, the current of the shape memory alloy spring (1-2-9-2) is cut off to make it cool and restore to the original state, the pin shaft (1-2-9-3) is retracted under the action of the shape memory alloy spring (1-2-9-2) to release the self-locking, and then the pneumatic system (5) provides negative pressure to the air bag (1-2-6) to make the knuckle stretch.

[0015] Further, the signal for triggering the self-locking assembly (1-2-9) to work is derived from at least one of the following: a preset grabbing time, a knuckle angle sensor signal, a pneumatic system pressure signal, or an instruction from an external controller, The preset grabbing time, knuckle angle sensor signal, pneumatic system pressure signal, and instruction from an external controller multiple signal sources cooperate or are selected to determine, and have the following signal processing mechanism: a. Signal synergy: when both the signal from the joint angle sensor and the pressure signal from the pneumatic system reach the preset threshold, it is determined that the high-confidence successful grasping is achieved, and the self-lock is triggered immediately, at which time the grasping action is the most stable and reliable; b. Signal conflict processing: when multiple signal trigger conditions are inconsistent, a preset priority logic is used for arbitration: Safety priority principle: if the pressure signal from the pneumatic system exceeds the safety threshold, it indicates that a high load or impact may be encountered, regardless of whether the angle or time condition is met, the self-lock is triggered immediately to prevent instability; Instruction priority principle: the emergency locking or emergency release instruction from the external controller has the highest priority and can be overridden and executed, which is used to deal with unexpected situations; Default logic: when there is no high-priority signal trigger, the joint angle sensor signal is used as the main determination basis, supplemented by the preset grasping time signal as a redundant backup, if the target angle is not reached within the predetermined time, the self-lock is triggered and an alarm is prompted; The control valve group (5-3) or integrated independent controller is responsible for real-time acquisition, logical operation and priority arbitration of the above signals, and synchronous control of the pressure output of the pneumatic system (5) and the energization timing of the self-lock assembly (1-2-9).

[0016] Compared with the prior art, the beneficial effects of the present application are: 1. For the first point of the background art, the present application drives a rigid connecting rod by an air bag, and then transmits force and motion, which not only ensures the high load capacity of the rigid structure but also significantly reduces the weight of the manipulator; the adaptive grasping of irregular and fragile objects is achieved by the compliant deformation of the air bag and the flexible skin covering the outside of the manipulator, without the need for complex force control algorithm to achieve compliant operation.

[0017] 2. For the second point of the background art, the self-lock assembly driven by the shape memory alloy spring is used to achieve mechanical locking when the joint reaches the predetermined angle or contacts the object, which can maintain the grasping posture even if the pneumatic driving force is removed, solving the problem that the traditional soft hand and underactuated hand cannot continuously grasp when the energy is interrupted.

[0018] 3. For the third point of the background art, the positive pressure pump, negative pressure pump and control valve group are integrated in the palm, abandoning the bulky structure of the traditional soft hand relying on external air source, improving the portability and integration of the overall system. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure of the present application; Figure 2 is a schematic diagram of the first finger structure of the present application; Figure 3 is a schematic diagram of the second finger structure of the present application; Figure 4 is a schematic diagram of the distal phalanx structure of the present application; Figure 5 is a schematic diagram of the proximal phalanx I structure of the present application; Figure 6 is a schematic diagram of the proximal phalanx II structure of the present application; Figure 7 is a schematic diagram of the self-locking assembly structure of the present application; Figure 8 is a schematic diagram of the air bag structure of the present application; Figure 9 is a schematic diagram of the pneumatic system structure of the present application; Figure legend: 1 - first finger, 1-1 - first finger flexible skin, 1-2 - distal phalanx, 1-2-1 - distal phalanx bone, 1-2-2 - rotating wheel, 1-2-3 - connecting rod I, 1-2-4 - connecting rod II, 1-2-5 - end cover I, 1-2-6 - air bag, 1-2-7 - end cover II, 1-2-8 - reinforcing rib assembly, 1-2-9 - self-locking assembly, 1-2-9-1 - spring fixing seat, 1-2-9-2 - shape memory alloy spring, 1-2-9-3 - pin shaft, 1-2-9-4 - pin shaft end cover, 1-2-10 - phalanx connecting shaft, 1-2-11 - sleeve, 1-3 - middle phalanx, 1-4 - proximal phalanx I, 1-4-1 connecting rod III, 2 - second finger, 2-1 - second finger flexible skin, 2-2 - proximal phalanx II, 2-2-1 - connecting rod IV, 2-2-2 - phalanx motor connecting piece, 2-2-3 - rotating motor, 2-2-4 - second finger fixing piece, 3 - wrist, 4 - palm, 4-1 - palm front shell, 4-2 - palm back shell, 5 - pneumatic system, 5-1 - positive pressure pump, 5-2 - negative pressure pump, 5-3 - control valve group. DETAILED DESCRIPTION

[0020] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are 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 those skilled in the art without creative labor fall within the scope of protection of the present application.

[0021] The embodiment provides a rigid-flexible coupling and self-locking humanoid manipulator, which comprises a first finger 1, a second finger 2, a wrist 3, a palm 4 and a pneumatic system 5; the first finger 1 comprises a flexible skin 1-1 of the first finger, a distal phalanx 1-2, a middle phalanx 1-3, a proximal phalanx I 1-4; the flexible skin 1-1 is sleeved on the outside of the first finger 1; the distal phalanx 1-2 comprises a distal phalanx 1-2-1, a rotating wheel 1-2-2, a connecting rod I 1-2-3, a connecting rod II 1-2-4, an end cover I 1-2-5, an air bag 1-2-6, an end cover II 1-2-7, a reinforcing rib assembly 1-2-8, a self-locking assembly 1-2-9, a phalanx connecting shaft 1-2-10 and a sleeve 1-2-11; the distal phalanx 1-2-1 is fixedly connected with the phalanx connecting shaft 1-2-10; the rotating wheel 1-2-2 is connected with the phalanx connecting shaft 1-2-10 through a key and rotates coaxially with the phalanx connecting shaft 1-2-10; the two ends of the connecting rod I 1-2-3 are hingedly connected with the rotating wheel 1-2-2 and the reinforcing rib assembly 1-2-8 respectively; the reinforcing rib assembly 1-2-8 is fixed on the end cover II 1-2-7; the air bag 1-2-6 is fixedly connected with the end cover I 1-2-5 and the end cover II 1-2-7 at both ends respectively; the connecting rod II 1-2-4 passes through the end cover I 1-2-5, the air bag 1-2-6 and the end cover II 1-2-7 respectively; the self-locking assembly 1-2-9 comprises a spring fixing seat 1-2-9-1, a shape memory alloy spring 1-2-9-2, a pin shaft 1-2-9-3 and a pin shaft end cover 1-2-9-4; the self-locking assembly 1-2-9 is fixed on the left and right sides of the connecting rod II 1-2-4 through the spring fixing seat 1-2-9-1; the sleeve 1-2-11 passes through the phalanx connecting shaft 1-2-10, is connected with the phalanx connecting shaft 1-2-10 on one side and is connected with the rotating wheel 1-2-2 on the other side; the middle phalanx 1-3 comprises the rotating wheel 1-2-2, the connecting rod I 1-2-3, the connecting rod II 1-2-4, the end cover I 1-2-5, the air bag 1-2-6, the end cover II 1-2-7, the reinforcing rib assembly 1-2-8, the self-locking assembly 1-2-9, the phalanx connecting shaft 1-2-10 and the sleeve 1-2-11; the proximal phalanx I 1-4 comprises the rotating wheel 1-2-2, the connecting rod I 1-2-3, a connecting rod III 1-4-1, the end cover I 1-2-5, the air bag 1-2-6, the end cover II 1-2-7, the reinforcing rib assembly 1-2-8, the self-locking assembly 1-2-9, the phalanx connecting shaft 1-2-10, the sleeve 1-2-11 and a finger fixing seat 1-4-2; the connecting rod III 1-4-1 passes through the end cover I 1-2-5, the air bag 1-2-6 and the end cover II 1-2-7 respectively, and the connecting rod III 1-3-4 is fixed with the end cover II 1-2-7 through a bolt; the distal phalanx 1-2 is connected with the middle phalanx 1-3 through the connecting rod II 1-2-4 on the distal phalanx 1-2.One end of the connecting rod II 1-2-4 on the distal phalanx 1-2 is hinged to the phalanx connecting shaft 1-2-10 on the distal phalanx 1-2, and the other end is fixed on the phalanx connecting shaft 1-2-10 on the proximal phalanx and rotates coaxially; the middle phalanx 1-3 is connected to the proximal phalanx I 1-4 through the connecting rod II 1-2-4 on the middle phalanx; one end of the connecting rod II (1-2-4) on the middle phalanx (1-3) is hinged to the phalanx connecting shaft 1-2-10 on the middle phalanx 1-3, and the other end is fixed on the phalanx connecting shaft 1-2-10 on the proximal phalanx I 1-4; the proximal phalanx I 1-4 is fixed on the palm positive shell (4-1) through the finger fixing seat 1-4-2; the second finger includes: a second finger flexible skin 2-1, a proximal phalanx II 2-2, and a distal phalanx 1-2; the second finger flexible skin 2-1 is sleeved on the outside of the second finger 2-1; the proximal phalanx II 2-2 includes: a rotating wheel 1-2-2, a connecting rod I 1-2-3, a connecting rod IV 2-2-1, an end cover I 1-2-5, an air bag 1-2-6, an end cover II 1-2-7, a reinforcing rib assembly 1-2-8, a self-locking assembly 1-2-9, a phalanx connecting shaft 1-2-10, a sleeve 1-2-11, a phalanx motor connecting piece 2-2-2, a rotating motor 2-2-3, and a second finger fixing piece 2-2-4; one end of the phalanx motor connecting piece 2-2-2 is fixedly connected with the connecting rod IV 2-2-1, and the other end is fixedly connected with the rotating motor 2-2-3; the rotating motor 2-2-3 is fixedly connected with the second finger fixing piece 2-2-4 through bolts; the second finger fixing piece 2-2-4 is fixed on the palm positive shell 4-1; the distal phalanx 1-2 is connected with the proximal phalanx II 2-2 through the connecting rod II 1-2-4 on the distal phalanx 1-2; one end of the connecting rod II 1-2-4 on the distal phalanx 1-2 is hinged to the phalanx connecting shaft 1-2-10 on the distal phalanx 1-2, and the other end is fixed on the phalanx connecting shaft 1-2-10 on the proximal phalanx II 2-2; the proximal phalanx II 2-2 is fixed on the palm positive shell 4-1 through the second finger fixing piece 2-2-4; the palm 4 includes: a palm positive shell 4-1 and a palm back shell 4-2; the palm positive shell 4-1 and the palm back shell 4-2 are connected through bolts; the pneumatic system 5 includes: a positive pressure pump 5-1, a negative pressure pump 5-2, and a control valve group 5-3; the positive pressure pump 5-1 and the negative pressure pump 5-2 are placed side by side and fixed on the palm positive shell 4-1; the control valve group 5-3 is located in front of the positive pressure pump 5-1 and the negative pressure pump 5-2 and is fixed on the palm positive shell 4-1; Further, the second finger 2 and the four first fingers 1 can perform palm-to-palm movement, enhancing the operation flexibility and grabbing diversity of the mechanical hand, and being closer to the grabbing mode of human hands; Further, one end of the shape memory alloy spring 1-2-9-2 is fixed on the spring fixing seat 1-2-9-1, and the other end is fixed on the pin shaft 1-2-9-3, one end of the pin shaft 1-2-9-3 is fixed with the pin shaft end cover 1-2-9-4, and the other end can move along the spring fixing seat 1-2-9-1, and the self-locking assembly 1-2-9 enables the anthropomorphic robot hand to maintain the gripping posture even if the pneumatic driving force is removed; Further, the self-locking assembly 1-2-9 drives the pin shaft 1-2-9-3 to move through the phase transition of the shape memory alloy spring 1-2-9-2, so that the pin shaft 1-2-9-3 is locked with the rotating wheel 1-2-2, thereby realizing mechanical locking when the knuckle reaches a predetermined bending angle, preventing the knuckle from rebounding or over-bending under external high load, and thereby improving the load capacity of the robot hand; Further, the air bag 1-2-6, the end cover I 1-2-5 and the end cover II 1-2-7 have a square hole in the middle, the connecting rod II passes through the square hole, the air bag 1-2-6 has a circular hole on one side for air inlet, and the two sides of the air bag 1-2-6 are fixed with the end cover I and the end cover II respectively, and the other side of the end cover II is fixed on the connecting rod II; Further, the pneumatic system 5 is integrated in the palm 4, improving the portability of the overall system; Further, the pneumatic system 5 provides positive pressure to the air bag 1-2-5, so that the air bag 1-2-5 expands and pushes the connecting rod I 1-2-3, driving each knuckle to bend and realize the grabbing action; when the knuckle bends to a predetermined angle or contacts an object, the self-locking assembly 1-2-9 is triggered to work, the shape memory alloy spring 1-2-9-2 is powered to change phase, the pin shaft 1-2-9-3 is driven to extend and engage with the locking hole on the rotating wheel 1-2-2, realizing mechanical self-locking; in the self-locking state, even if the pneumatic driving force is removed, the knuckle remains in the locked state to maintain the grip on the object; when the object needs to be released, the current of the shape memory alloy spring 1-2-9-2 is cut off, so that it cools down and returns to its original state, the pin shaft 1-2-9-3 is retracted under the action of the reset force, the self-locking is released, and then the pneumatic system 5 provides negative pressure to the air bag 1-2-6, so that the knuckle stretches.

[0022] Further, the signal source for triggering the self-locking assembly 1-2-9 to work is derived from at least one of the following: a preset grabbing time, a knuckle angle sensor signal, a pneumatic system pressure signal, or an instruction from an external controller. The self-locking trigger condition is determined by the cooperation or selection of the following signal sources: a preset grabbing time, a knuckle angle sensor signal, a pneumatic system pressure signal, and an instruction from an external controller, and has the following signal processing mechanism: a. Signal cooperation: when the signal from the knuckle angle sensor and the pressure signal from the pneumatic system both reach the preset threshold, it is determined that the confidence level of the successful grabbing is high, and the self-locking is triggered immediately, at this time the grabbing action is the most stable and reliable; b. Signal conflict handling: When multiple signal triggering conditions are inconsistent, arbitration is performed using preset priority logic. Safety first principle: If the pressure signal from the pneumatic system exceeds the safety threshold, it indicates that a high load or impact may be encountered. Regardless of whether the angle or time conditions are met, the self-locking is triggered immediately to prevent instability. Command priority principle: Emergency lock or emergency release commands from external controllers have the highest priority, can be overridden and executed, and are used to deal with emergencies; Default logic: When no high-priority signal is triggered, the knuckle angle sensor signal is used as the main basis for judgment, supplemented by a preset grasping time signal as a redundancy backup. If the target angle is not reached within the predetermined time, self-locking is forcibly triggered and an alarm is triggered. The working process of the humanoid robotic arm is as follows: The working process of a humanoid robotic hand is divided into four stages: initiation of the grasping action, triggering of the self-locking function, object grasping and maintenance, and object release. Let's take the first finger as an example. The first stage is the initiation of the grasping action. The initiation of the grasping action can be divided into the flexion process of three joints: the flexion of the metacarpophalangeal joint, the flexion of the proximal interphalangeal joint, and the flexion of the distal interphalangeal joint.

[0023] The bending process of the metacarpophalangeal joints. The positive pressure pump 5-1 in the pneumatic system 5 is activated, and positive pressure gas is supplied to the airbag 1-2-6 through the control valve group 5-3. Airbag 1-2-6 is located inside the proximal phalanx I1-4. Positive pressure causes airbag 1-2-6 to inflate, which in turn moves the two connecting rods I1-2-3 on the proximal phalanx I1-4. The two rotating wheels 1-2-2 on the proximal phalanx I1-4 are connected to the phalanx connecting shaft 1-2-10 on the proximal phalanx I1-4 by a key. The connecting rods I1-2-3 on the proximal phalanx I1-4 are hinged to the rotating wheels 1-2-2 on the proximal phalanx I1-4. The proximal phalanx I1-4 and the middle phalanx 1-3 are connected by connecting rod II 1-2-4 on the middle phalanx 1-3. The connecting rod II 1-2-4 on the middle phalanx 1-3 is fixedly connected to the phalanx connecting shaft 1-2-10 on the proximal phalanx I1-4. Connecting rod III 1-4-1 is hinged to the phalanx connecting shaft 1-2-10 on the proximal phalanx. Therefore, the rotating wheel 1-2-2, the connecting rod II 1-2-4 on the middle phalanx, and the phalanx connecting shaft 1-2-10 can rotate around the connecting rod III 1-4-1. Under the action of the airbag, the connecting rod I 1-2-3 pushes the rotating wheel 1-2-2, and the connecting rod II 1-2-4 drives the middle phalanx 1-3 to bend around the connecting rod III 1-4-1 located near the phalanx 1-4, thus mimicking the bending of the metacarpophalangeal joint of the finger.

[0024] The bending process of the proximal interphalangeal joint. The positive pressure pump 5-1 in the pneumatic system 5 is started, and positive pressure gas is provided to the air bag 1-2-6 through the control valve group 5-3. The air bag 1-2-6 is located inside the middle phalanx 1-3, and the positive pressure makes the air bag 1-2-6 expand. The expansion of the air bag 1-2-6 pushes the two connecting rods I1-2-3 of the middle phalanx 1-3 to move. The two rotating wheels 1-2-2 on the middle phalanx 1-3 are connected with the phalanx connecting shaft 1-2-10 on the middle phalanx 1-3 through a key, and the connecting rods I1-2-3 of the middle phalanx 1-3 are hinged with the rotating wheels 1-2-2 on the middle phalanx 1-3. The distal phalanx 1-2 is connected with the middle phalanx 1-3 through the connecting rod II 1-2-4 on the distal phalanx 1-2, and the connecting rod II 1-2-4 on the distal phalanx 1-2 is fixedly connected with the phalanx connecting shaft 1-2-10 on the middle phalanx 1-3. The connecting rod II 1-2-4 on the middle phalanx 1-2 is hinged with the phalanx connecting shaft 1-2-10 on the middle phalanx 1-3. Thus, the rotating wheel 1-2-2, the connecting rod II 1-2-4 on the distal phalanx 1-2, and the phalanx connecting shaft 1-2-10 can rotate around the connecting rod II 1-2-4 on the middle phalanx 1-3. Under the action of the air bag, the connecting rod I1-2-3 on the middle phalanx pushes the rotating wheel 1-2-2 on the middle phalanx 1-3, and the rotating wheel 1-2-2 drives the distal phalanx 1-2 to bend around the connecting rod II 1-2-4 on the middle phalanx 1-3, thereby simulating the bending of the proximal interphalangeal joint of the finger.

[0025] The bending process of the distal interphalangeal joint. The positive pressure pump 5-1 in the pneumatic system 5 is started, and positive pressure gas is provided to the air bag 1-2-6 through the control valve group 5-3. The air bag 1-2-6 is located inside the distal phalanx 1-2, and the positive pressure makes the air bag 1-2-6 expand. The expansion of the air bag 1-2-6 pushes the two connecting rods I1-2-3 on the distal phalanx 1-2 to move. The two rotating wheels 1-2-2 on the distal phalanx 1-2 are connected with the phalanx connecting shaft 1-2-10 on the distal phalanx 1-2 through a key, and the connecting rods I1-2-3 on the distal phalanx 1-2 are hinged with the rotating wheels 1-2-2 on the distal phalanx 1-2. The distal phalanx 1-2-1 is fixedly connected with the rotating wheels 1-2-2 on the distal phalanx 1-2. The connecting rod II 1-2-4 on the distal phalanx 1-2 is hinged with the phalanx connecting shaft 1-2-10 on the distal phalanx 1-2. Thus, the rotating wheel 1-2-2, the distal phalanx, and the phalanx connecting shaft 1-2-10 can bend around the connecting rod II 1-2-4 on the distal phalanx 1-2. Under the action of the air bag, the connecting rod I1-2-3 pushes the rotating wheel 1-2-2, and the rotating wheel 1-2-2 drives the distal phalanx 1-2-1 to rotate, thereby simulating the bending of the distal interphalangeal joint of the finger. The bending process of the proximal phalanx II 2-2 and the distal phalanx 1-2 on the second finger is the same as the phalanx bending process on the first finger, and will not be described here.

[0026] The second stage is the self-locking function triggering stage. When the knuckle bends to a predetermined angle or contacts an object, the self-locking assembly 1-2-9 is triggered. The trigger signal can originate from a preset gripping time, sensor signal, pneumatic system pressure signal, or external controller command. The shape memory alloy spring 1-2-9-2 in the self-locking assembly 1-2-9 undergoes a phase change when energized, generating deformation that drives the pin 1-2-9-3 to move. The pin 1-2-9-3 extends and engages with the locking hole on the rotating wheel 1-2-2, achieving mechanical locking.

[0027] The third stage is object grasping and holding. In the self-locking state, the self-locking mechanism provides the holding force, and the humanoid manipulator can maintain the grasp of the object without continuous pneumatic pressure. This reduces energy consumption and improves reliability. The fourth stage is the object release stage. When it is necessary to release the object, the current to the shape memory alloy spring (1-2-9-2) is first cut off, allowing it to cool and return to its original shape. The pin 1-2-9-3 retracts under the action of the reset force, disengaging from the rotating wheel 1-2-2, thereby releasing the self-lock. Subsequently, the negative pressure pump (5-2) in the pneumatic system (5) is started, providing negative pressure to the airbag (1-2-6) through the control valve group (5-3), causing the airbag to contract. The contraction of the airbag pulls the connecting rod I (1-2-3), causing each finger joint to extend and return to the initial position, releasing the object.

[0028] The working process of the palm-to-palm movement is as follows: The proximal phalanx II2-2 of the second finger 2 integrates a rotary motor 2-2-3. When an opposition action is required, the control system first sends a command to the rotary motor 2-2-3. The rotary motor 2-2-3 drives the second finger 2 to rotate, thereby bringing the second finger 2 into a natural position parallel to the other four first fingers 1. Then, the air bladder inflates, causing the proximal phalanx I, middle phalanx, and distal phalanx of the first finger 1 to bend, and the proximal phalanx II2-2 and distal phalanx I-2 of the second finger to bend, causing the second finger 2 to rotate inward to a position opposite to the other four first fingers 1.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0030] The above merely describes the preferred embodiments of the present application and does not limit the present application in any way. Any person skilled in the art can make any form of equivalent replacement or modification to the technical solutions and technical contents disclosed by the present application without departing from the scope of the technical solutions of the present application, and such changes still belong to the protection scope of the present application.

Claims

1. A humanoid robotic hand with rigid-flexible coupling and self-locking function, characterized in that: include: Palm (4); The first finger (1) is used to complete the grasping action; The second finger (2) is rotated to a position opposite to the first finger to achieve a palm-to-palm movement; Airbags (1-2-6) are located inside each finger and, when inflated or contracted, drive the corresponding joints to bend via a linkage mechanism. The self-locking component extends and engages with the rotating wheel when the joint reaches the target angle, allowing the fingers to maintain gripping force even when the air is cut off. A pneumatic system (5), integrated into the palm (4), is used to provide positive or negative pressure to the airbag.

2. The humanoid robotic hand with rigid-flexible coupling and self-locking function according to claim 1, characterized in that: The first finger (1) includes: the flexible skin of the first finger (1-1), the distal phalanx (1-2), the middle phalanx (1-3), and the proximal phalanx I (1-4); The flexible skin (1-1) of the first finger is covered on the outside of the first finger (1); The distal phalanx (1-2) includes: distal phalanx (1-2-1), rotating wheel (1-2-2), connecting rod I (1-2-3), connecting rod II (1-2-4), end cap I (1-2-5), airbag (1-2-6), end cap II (1-2-7), reinforcing rib assembly (1-2-8), self-locking assembly (1-2-9), phalanx connecting shaft (1-2-10), and sleeve (1-2-11); The distal phalanx (1-2-1) is fixedly connected to the phalanx connecting shaft (1-2-10); The rotating wheel (1-2-2) is connected to the finger bone connecting shaft (1-2-10) by a flat key and rotates coaxially with the finger bone connecting shaft (1-2-10); The two ends of the connecting rod I (1-2-3) are respectively hinged to the rotating wheel (1-2-2) and the reinforcing rib assembly (1-2-8); The reinforcing rib assembly (1-2-8) is fixed on the end cap II (1-2-7); The airbag (1-2-6) is fixedly connected to end cap I (1-2-5) and end cap II (1-2-7) at both ends, respectively; The end cap II (1-2-5) is fixedly connected to the connecting rod II (1-2-4) by bolts; The connecting rod II (1-2-4) passes through end cap I (1-2-5), airbag (1-2-6) and end cap II (1-2-7) respectively; The self-locking assembly (1-2-9) includes: a spring fixing seat (1-2-9-1), a shape memory alloy spring (1-2-9-2), a pin (1-2-9-3), and a pin end cap (1-2-9-4). The self-locking assembly (1-2-9) is fixed to the left and right sides of the connecting rod II (1-2-4) by spring fixing seats (1-2-9-1); The sleeve (1-2-11) passes through the finger bone connecting shaft (1-2-10), with one side connected to the finger bone connecting shaft (1-2-10) and the other side connected to the rotating wheel (1-2-2); The middle phalanx (1-3) includes: a rotating wheel (1-2-2), connecting rod I (1-2-3), connecting rod II (1-2-4), end cap I (1-2-5), airbag (1-2-6), end cap II (1-2-7), reinforcing rib assembly (1-2-8), self-locking assembly (1-2-9), finger bone connecting shaft (1-2-10), and sleeve (1-2-11); The proximal phalanx I (1-4) includes: a rotating wheel (1-2-2), a connecting rod I (1-2-3), a connecting rod III (1-4-1), an end cap I (1-2-5), an airbag (1-2-6), an end cap II (1-2-7), a reinforcing rib assembly (1-2-8), a self-locking assembly (1-2-9), a finger bone connecting shaft (1-2-10), a sleeve (1-2-11), and a finger fixation seat (1-4-2); The connecting rod III (1-4-1) passes through end cap I (1-2-5), airbag (1-2-6) and end cap II (1-2-7) respectively, and the connecting rod III (1-4-1) is fixedly connected to end cap II (1-2-7) by bolts; The distal phalanx (1-2) and the middle phalanx (1-3) are connected by a connecting rod II (1-2-4) on the distal phalanx (1-2); One end of the connecting rod II (1-2-4) on the distal phalanx (1-2) is hinged to the phalanx connecting shaft (1-2-10) on the distal phalanx (1-2), and the other end is fixed to the phalanx connecting shaft (1-2-10) on the proximal phalanx and rotates coaxially. The middle phalanx (1-3) and the proximal phalanx I (1-4) are connected by a connecting rod II (1-2-4) on the middle phalanx; One end of the connecting rod II (1-2-4) on the middle phalanx (1-3) is hinged to the phalanx connecting shaft (1-2-10) on the middle phalanx (1-3), and the other end is fixed to the phalanx connecting shaft (1-2-10) on the proximal phalanx I (1-4); The proximal phalanx I (1-4) is fixed to the palm shell (4-1) by a finger retainer (1-4-2).

3. The humanoid robotic hand with rigid-flexible coupling and self-locking function according to claim 2, characterized in that: The second finger includes: the flexible skin of the second finger (2-1), the proximal phalanx II (2-2), and the distal phalanx (1-2); The flexible skin (2-1) of the second finger is placed over the outside of the second finger (2-1); The proximal phalanx II (2-2) includes: a rotating wheel (1-2-2), a connecting rod I (1-2-3), a connecting rod IV (2-2-1), an end cap I (1-2-5), an airbag (1-2-6), an end cap II (1-2-7), a reinforcing rib assembly (1-2-8), a self-locking assembly (1-2-9), a finger bone connecting shaft (1-2-10), a sleeve (1-2-11), a phalanx motor connector (2-2-2), a rotary motor (2-2-3), and a second finger fixing component (2-2-4); One end of the knuckle motor connector (2-2-2) is fixedly connected to the connecting rod IV (2-2-1), and the other end is fixedly connected to the rotary motor (2-2-3); The rotary motor (2-2-3) is fixedly connected to the second finger fixing piece (2-2-4) by bolts; The second finger fixing component (2-2-4) is fixed to the palm shell (4-1); The distal phalanx (1-2) and the proximal phalanx II (2-2) are connected by a connecting rod II (1-2-4) on the distal phalanx (1-2); One end of the connecting rod II (1-2-4) on the distal phalanx (1-2) is hinged to the phalanx connecting shaft (1-2-10) on the distal phalanx (1-2), and the other end is fixed to the phalanx connecting shaft (1-2-10) on the proximal phalanx II (2-2); The proximal phalanx II (2-2) is fixed to the palm shell (4-1) by a second finger fixing piece (2-2-4); The palm (4) includes: the front shell of the palm (4-1) and the back shell of the palm (4-2). The front shell of the palm (4-1) and the back shell of the palm (4-2) are connected by bolts.

4. The humanoid robotic hand with rigid-flexible coupling and self-locking function according to claim 3, characterized in that: The pneumatic system (5) includes: a positive pressure pump (5-1), a negative pressure pump (5-2), and a control valve group (5-3). The positive pressure pump (5-1) and the negative pressure pump (5-2) are placed side by side and fixed on the palm shell (4-1); The control valve assembly (5-3) is located in front of the positive pressure pump (5-1) and the negative pressure pump (5-2) and is fixed on the palm shell (4-1).

5. The humanoid robotic hand with rigid-flexible coupling and self-locking function according to claim 1, characterized in that, The second finger (2) and the four first fingers (1) can perform palmar opposition.

6. The humanoid robotic hand with rigid-flexible coupling and self-locking function according to claim 1, characterized in that, One end of the shape memory alloy spring (1-2-9-2) is fixed on the spring fixing seat (1-2-9-1), and the other end is fixed on the pin (1-2-9-3). One end of the pin (1-2-9-3) is fixed to the pin end cap (1-2-9-4), and the other end can move along the spring fixing seat (1-2-9-1).

7. The humanoid robotic hand with rigid-flexible coupling and self-locking function according to claim 1, characterized in that, The airbag (1-2-6), end cap I (1-2-5) and end cap II (1-2-7) have a square hole in the middle, through which the connecting rod II passes. The airbag (1-2-6) has a circular hole on one side for air intake. The two sides of the airbag (1-2-6) are fixed to end cap I (1-2-5) and end cap II (1-2-7) respectively.

8. The humanoid robotic hand with rigid-flexible coupling and self-locking function according to claim 1, characterized in that, The self-locking component (1-2-9) moves the pin (1-2-9-3) driven by the phase change of the shape memory alloy spring (1-2-9-2), so that the pin (1-2-9-3) locks with the rotating wheel (1-2-2), thereby achieving mechanical locking when the knuckle reaches a predetermined bending angle, preventing the knuckle from rebounding or bending excessively under high external load, thus improving the load capacity of the robot.

9. The control method for the rigid-flexible coupling and self-locking anthropomorphic manipulator according to any one of claims 1-8, characterized in that, Includes the following steps: The pneumatic system (5) provides positive pressure to the airbag (1-2-6), causing the airbag (1-2-6) to inflate and push the connecting rod I (1-2-3), which in turn causes the knuckles to bend, thus achieving a grasping action. When the knuckles bend to a predetermined angle or come into contact with an object, the self-locking component (1-2-9) is triggered to work, causing the shape memory alloy spring (1-2-9-2) to undergo a phase change, driving the pin (1-2-9-3) to extend and engage with the locking hole on the rotating wheel (1-2-2). The mechanism achieves mechanical self-locking; in the self-locking state, even if the pneumatic driving force is removed, the knuckles still maintain the locked posture to maintain the grip on the object; when it is necessary to release the object, the current of the shape memory alloy spring (1-2-9-2) is cut off, allowing it to cool and return to its original state, and the pin (1-2-9-3) retracts under the action of the shape memory alloy spring (1-2-9-2), releasing the self-locking. Subsequently, the pneumatic system (5) provides negative pressure to the airbag (1-2-6), causing the knuckles to extend.

10. The method according to claim 9, characterized in that, The signal that triggers the self-locking component (1-2-9) to operate comes from at least one of the following: a preset gripping time, a knuckle angle sensor signal, a pneumatic system pressure signal, or a command from an external controller. The preset grasping time, knuckle angle sensor signal, pneumatic system pressure signal, and instructions from an external controller are used in a coordinated or selective manner to determine the signal, and the following signal processing mechanism is provided: a. Signal coordination: When the signal from the knuckle angle sensor and the pressure signal from the pneumatic system both reach the preset threshold, it is determined that the grasp is successful with high confidence and the self-locking is triggered immediately. At this time, the grasping action is the most stable and reliable. b. Signal conflict handling: When multiple signal triggering conditions are inconsistent, arbitration is performed using preset priority logic. Safety first principle: If the pressure signal from the pneumatic system exceeds the safety threshold, it indicates that a high load or impact may be encountered. Regardless of whether the angle or time conditions are met, the self-locking is triggered immediately to prevent instability. Command priority principle: Emergency lock or emergency release commands from external controllers have the highest priority, can be overridden and executed, and are used to deal with emergencies; Default logic: When no high-priority signal is triggered, the knuckle angle sensor signal is used as the main basis for judgment, supplemented by a preset grasping time signal as a redundancy backup. If the target angle is not reached within the predetermined time, self-locking is forcibly triggered and an alarm is triggered. The control valve group (5-3) or the integrated independent controller is responsible for real-time acquisition, logical operation and priority arbitration of the above signals, and synchronously controlling the pressure output of the pneumatic system (5) and the energization timing of the self-locking component (1-2-9).

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