A high dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission

Abstract

This invention relates to a highly dynamic humanoid dexterous hand based on a rigid-flexible hybrid transmission system. It includes a bionic single-finger module for grasping objects; a wrist joint module with multiple bionic single-finger modules fixed to it; an arm drive module providing driving force for the bionic single-finger and wrist joint modules; and a rigid rotary and linear transmission assembly disposed within the wrist joint and arm drive modules. This assembly provides localized power transmission for the oscillation motion of the finger roots in the bionic single-finger module and the multi-degree-of-freedom motion of the wrist joint module. The rigid rotary and linear transmission assembly comprises a rotary transmission section and a linear transmission section connected sequentially. This invention features low end-effector inertia and excellent dynamic response; system-level decoupling of cross-joint motion; high transmission stiffness and precision provided by the rigid-flexible hybrid transmission system; optimal space utilization; highly modular structure; and comprehensive external protection and bionic flexible contact.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a highly dynamic humanoid dexterous hand based on a rigid-flexible hybrid transmission system. Background Technology

[0002] As the core end effector for robots to physically interact with their external environment, humanoid dexterous hands play an irreplaceable role in industrial manufacturing, special operations, and daily life assistance. As humanoid robots develop towards higher dynamics and greater agility, higher demands are placed on the grasping response speed, end effector inertia, motion decoupling capabilities, and environmental perception integration of dexterous hands.

[0003] Currently, existing humanoid dexterous hands generally suffer from the following limitations in their transmission architecture and structural design: First, traditional direct-drive dexterous hands typically embed miniature servo motors or drive modules directly into the finger joints or palm. While this approach offers high transmission stiffness, it results in excessive end-effector mass and a dramatic increase in rotational inertia. When the robotic arm performs high-dynamic tasks such as high-frequency swinging or rapid obstacle avoidance, the massive end-effector inertia can easily cause vibrations, severely limiting the overall dynamic response performance of the machine.

[0004] Secondly, while existing pure tendon (flexible cord) driven dexterous hands achieve rear-mounted power sources and effectively reduce end-effector inertia, the lack of a rigid transmission mechanism makes the fingers prone to deformation and deflection under lateral forces, resulting in poor overall stiffness. More significantly, because multiple drive cables inevitably cross multiple joints such as the wrist, changes in the cable path length during multi-degree-of-freedom wrist rotations often cause unintended flexion and extension of the fingers, leading to severe cross-joint motion coupling and interference, greatly increasing the difficulty of underlying control and calculation.

[0005] Furthermore, existing dexterous hands generally lack highly integrated modular design in engineering applications. The complex internal wiring and compact mechanical structure are intertwined, which means that if a component (such as the drive cable or joint) is damaged, the entire hand often needs to be disassembled extensively, resulting in extremely high maintenance costs. At the same time, the messy internal space makes it difficult to provide a standardized mounting base and hidden wiring channels for high-precision tactile sensors, limiting the further expansion of the tactile perception capabilities of dexterous hands.

[0006] Therefore, there is an urgent need for a new type of humanoid dexterous hand architecture that can balance low end-effector inertia and high stiffness, has cross-joint decoupling capability, and is highly modular and easy to maintain. Summary of the Invention

[0007] This invention provides a highly dynamic humanoid dexterous hand based on a rigid-flexible hybrid transmission system, aiming to solve at least one of the technical problems existing in the prior art. The highly dynamic humanoid dexterous hand based on a rigid-flexible hybrid transmission system includes: A bionic single-finger module for grasping objects, wherein the bionic single-finger module is a thumb module or a non-thumb module; A wrist joint module, on which multiple bionic single-finger modules are fixed, and the wrist joint module and the bionic single-finger modules are connected by a plug-in quick-release structure. An arm drive module is used to provide driving force for the bionic single-finger module and the wrist joint module. The output end of the arm drive module is connected to the wrist joint module through a universal joint assembly. It also includes a rigid rotary and linear transmission assembly disposed in the wrist joint module and the arm drive module. The rigid rotary and linear transmission assembly is used to transmit local power for the swaying motion of the finger root in the bionic single finger module and the multi-degree-of-freedom motion of the wrist joint module. The rigid rotary and linear transmission assembly includes a rotary transmission part and a linear transmission part connected in sequence.

[0008] Furthermore, the bionic single-finger module includes metacarpals, phalangeal joints, proximal phalanges, middle phalanges and distal phalanges connected sequentially from proximal to distal, and also includes a palmar unidirectional active traction mechanism and a dorsal passive elastic reset mechanism for driving the movement of the bionic single-finger module. It also includes a flexible tendon cord, which includes a first active traction line and a second active traction line. The distal end of the first active traction line is anchored to the distal phalanx, and the distal end of the second active traction line is anchored to the proximal phalanx near the base of the finger joint via a pin. A planar four-bar linkage is provided between the middle phalanx and the distal phalanx; When the distal phalanx is flexed by the first active traction line, the distal phalanx acts as the active member of the planar four-bar linkage, and drives the middle phalanx to flex synchronously according to a preset transmission ratio through the linkage in the planar four-bar linkage; when the second active traction line is under tension, it drives the proximal phalanx to flex around the axis of the phalanx root joint. The palmar unidirectional active traction mechanism is powered by a power source located in the arm drive module. It performs remote transmission across the wrist joint module via the first and second active traction lines. The wiring paths of the first and second active traction lines pass through the central axis of the finger root joint yaw axis to achieve structural decoupling of cross-joint movement.

[0009] Furthermore, the passive elastic reset mechanism on the back side includes a first spring and a second spring; The first spring is disposed on the dorsal side of the proximal phalanx. The proximal end of the first spring is anchored to the proximal phalanx by a pin. The distal end of the first spring is connected to a first reset traction line. The first spring extends distally through the first reset traction line and is anchored to the middle phalanx by a pin. The second spring is disposed inside the metacarpal bone. The proximal end of the second spring is anchored to the inside of the metacarpal bone and close to the end of the finger root joint by a fastener. The distal end of the second spring is connected to a second reset traction line. The second spring extends distally through the second reset traction line and is anchored to the dorsal side of the proximal phalanx by a pin. When the first active traction cable releases traction, the elastic contraction force of the first rebound spring drives the middle phalanx to extend and reposition; when the second active traction cable releases traction, the elastic contraction force of the second rebound spring drives the proximal phalanx to extend and reposition.

[0010] Furthermore, for non-thumb modules, the rotational transmission part of the rigid rotational and linear transmission assembly includes a synchronous belt transmission assembly, which is located on the dorsal side of the corresponding metacarpal bone and close to the finger root joint; each non-thumb module is equipped with an independent yaw drive source, which drives the corresponding finger root joint to rotate through the synchronous belt transmission assembly to realize the independent yaw movement of the corresponding finger. For the thumb module, the thumb module is tilted and positioned on the metacarpal bone corresponding to the index finger module in the non-thumb module; the rotational transmission part of the rigid rotation and linear transmission assembly of the thumb module's root joint includes a gear reduction assembly located at the root of the thumb, which is driven by an independent thumb drive source to achieve independent rotation of the thumb base; the proximal end of the second rebound spring of the thumb module is anchored to the root joint of the thumb module, and the distal end of the second rebound spring is directly anchored to the proximal phalanx of the thumb module, and no second reset traction line is provided.

[0011] Furthermore, the linear transmission part of the rigid rotation and linear transmission assembly corresponding to the wrist joint module includes a first linear push rod and a second linear push rod arranged parallel to each other in the arm drive module. The power output ends of the first linear push rod and the second linear push rod are respectively connected to the bionic single finger module through a spherical joint. The spherical joint is connected to different positions on the wrist joint module that are offset from the rotation center of the universal joint assembly. When the first linear push rod and the second linear push rod extend and retract synchronously in the same direction, the wrist joint module is driven to perform pitch motion around the universal joint assembly. When the first linear push rod and the second linear push rod extend and retract differentially, the wrist joint module is driven to perform yaw motion around the universal joint assembly.

[0012] Furthermore, the arm drive module includes a mechanical drive area located at the front end and an electronic control integration area located at the rear end, which are distributed along the axial direction. The mechanical drive area has multiple linear push rods arranged in an upper and lower array to drive the bending of the bionic single-finger module; the electronic control integration area has an independently set circuit board assembly for controlling the highly dynamic humanoid dexterous hand based on a rigid-flexible hybrid transmission.

[0013] Furthermore, the flexible tendon cord is threaded through the Bowden tube, which adopts a split anchoring structure. The Bowden tube includes a first guide tube and a second guide tube; the proximal ends of the first guide tube and the second guide tube are both anchored to the front end of the arm drive module. The distal end of the first guide tube passes through the wrist joint module and is anchored inside the middle phalanx; the first active traction line is inserted into the first guide tube as the inner core, the proximal end of the first active traction line is fixedly connected to the power output end of the corresponding linear push rod, and the distal end of the first active traction line passes out of the first guide tube and is anchored to the distal phalanx. The distal end of the second guide tube passes through the wrist joint module and is anchored inside the palmar side of the metacarpal bone and close to the root joint of the finger; the second active traction line is inserted into the second guide tube as the inner core, the proximal end of the second active traction line is fixedly connected to the power output end of the corresponding other linear push rod, and the distal end passes out of the second guide tube and is anchored to the proximal phalanx.

[0014] Furthermore, the plug-in quick-release structure includes a rectangular plug-in groove, a rectangular positioning boss, and fasteners; The proximal end of the bionic single-finger module is a metacarpal bone, the rectangular insertion groove is disposed on the bottom end face of the metacarpal bone, and the rectangular positioning boss is disposed on the corresponding mounting surface of the wrist joint module. The rectangular insertion groove is adapted to the rectangular positioning boss. The metacarpal bone of the bionic single-finger module and the wrist joint module are initially positioned and prevented from rotating by the insertion and cooperation of the rectangular insertion groove and the rectangular positioning boss, and are detachably locked and fixed by fasteners to realize the independent and quick assembly and disassembly of the bionic single-finger module.

[0015] Furthermore, a tactile sensor is also provided at the end of the bionic single-finger module; The palmar surface of the distal phalanx of the bionic single-finger module is provided with an installation cavity adapted to the tactile sensor, and the tactile sensor is embedded in the installation cavity. The data line of the tactile sensor extends proximally along the palmar side of the bionic single-finger module, and is routed in a hidden manner through the metacarpal bone of the bionic single-finger module and the inside of the wrist joint module. Finally, it extends proximally to the electrical control integration area of ​​the arm drive module, and is electrically connected to the corresponding circuit board assembly.

[0016] Furthermore, the surface of the bionic single-finger module is covered with a flexible contact shell made of silicone material; The wrist joint module is externally equipped with a hand shell; The arm drive module is equipped with a drive housing.

[0017] The beneficial effects of this invention are as follows: This invention proposes a highly dynamic humanoid dexterous hand based on a rigid-flexible hybrid transmission system, which features low end-effector inertia and excellent dynamic response; it achieves system-level decoupling of cross-joint motion; the rigid-flexible hybrid transmission provides high transmission stiffness and precision; it maximizes space utilization; it has a highly modular structure; and it offers excellent external protection and biomimetic flexible contact. Attached Figure Description

[0018] Figure 1 This is an isometric view of the overall structure of the dexterous hand described in this invention.

[0019] Figure 2 This is a cross-sectional view of the internal structure of the biomimetic single-finger module described in this invention.

[0020] Figure 3 This is a schematic diagram of the tactile sensor installed at the end of the bionic single-finger module of the present invention.

[0021] Figure 4 This is a schematic diagram of the structure of the dexterous hand portion described in this invention.

[0022] Figure 5 This is a partial structural schematic diagram of the dexterous finger root oscillation transmission mechanism described in this invention.

[0023] Figure 6 This is a schematic diagram of the wrist joint module and differential linear actuator described in this invention.

[0024] Figure 7 This is a schematic diagram of the internal layout of the arm drive module described in this invention.

[0025] Figure 8 This is a perspective view of the Bowden tube anchoring structure of the arm drive module described in this invention.

[0026] Figure 9This is a schematic diagram of the quick-release structure of the single-finger module and wrist joint module described in this invention.

[0027] Reference numerals in the attached figures: 100, bionic single-finger module; 101, thumb module; 102, non-thumb module; 110, metacarpal bone; 111, rectangular insertion groove; 120, finger root joint; 130, proximal phalanx; 140, middle phalanx; 150, distal phalanx; 160, planar four-bar linkage; 161, connecting rod; 171, first return spring; 172, second return spring; 180, tactile sensor; 190. Flexible contact housing; 200. Wrist joint module; 210. Rectangular positioning boss; 220. Universal joint assembly; 230. Spherical joint; 240. Hand housing; 300. Arm drive module; 310. Linear push rod; 311. First linear push rod; 312. Second linear push rod; 320. Bowden tube; 321. First guide tube; 322. Second guide tube; 331. First active traction line; 332. Second active traction line; 333. First reset traction line; 334. Second reset traction line; 340. Synchronous belt drive assembly; 350. Gear reduction assembly; 360. Oscillating drive source; 370. Thumb drive source; 380. Circuit board assembly; 390. Drive box housing; 410. Fastener. Detailed Implementation

[0028] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention.

[0029] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. The singular forms "a," "described," and "the" used herein are also intended to include the plural forms, unless the context clearly indicates otherwise. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0030] Reference Figures 1 to 9 This invention provides a highly dynamic humanoid dexterous hand based on a rigid-flexible hybrid transmission system, aiming to solve at least one of the technical problems existing in the prior art. (Refer to...) Figure 1 The aforementioned high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission includes: A bionic single-finger module 100 is used to grasp objects. The bionic single-finger module 100 is either a thumb module 101 or a non-thumb module 102. A wrist joint module 200, on which multiple bionic single-finger modules 100 are fixed, and the wrist joint module 200 and the bionic single-finger modules 100 are connected by a plug-in quick-release structure. An arm drive module 300 is used to provide driving force for the bionic single-finger module 100 and the wrist joint module 200. The output end of the arm drive module 300 is connected to the wrist joint module 200 through a universal joint assembly 220. It also includes a rigid rotary and linear transmission assembly disposed in the wrist joint module 200 and the arm drive module 300. The rigid rotary and linear transmission assembly is used to transmit local power for the swaying motion of the finger root in the bionic single finger module 100 and the multi-degree-of-freedom motion of the wrist joint module 200. The rigid rotary and linear transmission assembly includes a rotary transmission part and a linear transmission part connected in sequence.

[0031] The beneficial effects of this invention are as follows: This invention proposes a highly dynamic humanoid dexterous hand based on a rigid-flexible hybrid transmission system, which features low end-effector inertia and excellent dynamic response; it achieves system-level decoupling of cross-joint motion; the rigid-flexible hybrid transmission provides high transmission stiffness and precision; it maximizes space utilization; it has a highly modular structure; and it offers excellent external protection and biomimetic flexible contact.

[0032] Specifically, addressing the problems of traditional motor-driven dexterous hands, such as large end-effector inertia and poor high-frequency dynamic response, as well as the low stiffness, cross-joint motion interference, and lack of highly integrated modular design in purely tendon-driven dexterous hands, this invention provides a high-dynamic tendon-driven anthropomorphic dexterous hand based on a rigid-flexible hybrid transmission system. This dexterous hand achieves complete physical decoupling between the remote power source and the motion, balancing low inertia, high stiffness, and high maintainability.

[0033] To achieve the above objectives, the present invention provides a highly dynamic driven anthropomorphic dexterous hand based on a rigid-flexible hybrid transmission, comprising: multiple bionic single-finger modules 100 for grasping objects; a wrist joint module 200; and an arm drive module 300 that provides driving force for the finger modules and the wrist module. The multiple bionic single-finger modules 100 are fixed on the palm base of the wrist joint module 200, and the wrist joint module 200 is connected to the output end of the arm drive module 300. The dexterous hand employs a hybrid rigid-flexible transmission architecture, wherein: for the flexion and extension movements of the bionic single-finger module 100, a palmar unidirectional active traction and a dorsal passive elastic reset mechanism are used; the active traction is provided by a power source located within the arm drive module 300, and is transmitted remotely across the wrist joint module 200 via a flexible tendon cord passing through a Bowden tube 320; the wiring path of the flexible tendon cord passes through the central axis of the yaw axis of its finger root joint 120 to achieve structural decoupling of cross-joint movements. For the coordinated flexion and extension between adjacent phalanges within the bionic single-finger module 100, a rigid transmission component based on a linkage 161 mechanism is used for coupling transmission; for the yaw movement of the finger root of the bionic single-finger module 100 and the multi-degree-of-freedom movements of the wrist joint module 200, a rigid rotary and linear transmission component is used for local power transmission.

[0034] The present invention has the following specific beneficial effects: 1. Extremely low end-effector inertia and excellent dynamic response: The remote drive architecture based on the split Bowden tube 320 is adopted, placing most of the drive motors (servo actuators) inside the arm, which greatly reduces the weight of the fingers and makes the whole hand have extremely low rotational inertia, perfectly adapting to the high-frequency and high-dynamic operation requirements of humanoid robots.

[0035] 2. Cross-joint motion decoupling: Utilizing the fixed-length transmission characteristics of the Bowden tube 320, which features "anchoring at both ends of the outer tube and relative sliding of the inner core," the coupling interference of multi-degree-of-freedom wrist deflection on the overall flexion and extension motion of the fingers is completely eliminated at the physical level. At the same time, the coupling interference of the finger root joint 120 yaw / flexion and extension on the flexion and extension motion of the first two fingertip joints is also eliminated. Combined with the wiring design of the bare wire area passing through the rotation center axis of the front joint, system-level motion structure decoupling is achieved, which greatly reduces the difficulty of control and calculation at the underlying level.

[0036] 3. A combination of rigidity and flexibility ensures high transmission rigidity and precision: The interphalangeal joints abandon the weakness of pure wire drive and introduce a planar four-bar linkage 160 for rigid coupling. Combined with the double tension spring energy storage and reset design on the back of the hand, it retains the flexibility of the rope drive while ensuring the structural rigidity and precise rebound of the movement when the fingertip is subjected to force.

[0037] 4. Maximizing space utilization and highly modular structure: The wrist employs a double push rod + universal joint differential mechanism, while the independent finger oscillation utilizes a synchronous belt / gear offset transmission. The internal arm features a double-layered layout with electromechanical separation. Simultaneously, the "protrusion-groove" quick-release structure at the base of the fingers greatly improves space utilization and makes subsequent partial repairs and component replacements more convenient.

[0038] 5. Comprehensive external protection and biomimetic flexible contact: By setting a high-strength shell on the drive module and wrist, the internal precision transmission mechanism and electronic components are effectively protected; at the same time, the flexible contact shell 190 made of silicone material on the finger surface not only improves the fit and friction when grasping objects of different shapes, but also gives the dexterous hand a soft touch similar to that of a human hand, further enhancing the safety of human-computer interaction.

[0039] Reference Figure 1 This invention provides a highly dynamic humanoid dexterous hand based on a rigid-flexible hybrid transmission system. The hand's physical structure primarily consists of three highly modular components: an arm drive module 300 providing global flexion and extension power and integrating the main control circuitry; a wrist joint module 200 with a two-degree-of-freedom differential mechanism; and multiple bionic single-finger modules 100 for performing precise grasping and sensing tasks. The highly dynamic humanoid dexterous hand employs a remote drive architecture with the power source positioned at the rear, significantly reducing the rotational inertia of the end effector.

[0040] Furthermore, refer to Figure 2 and Figure 3 The bionic single-finger module 100 includes a metacarpal bone 110, a finger root joint 120, a proximal phalanx 130, a middle phalanx 140, and a distal phalanx 150 connected sequentially from proximal to distal end. It also includes a palmar unidirectional active traction mechanism and a dorsal passive elastic reset mechanism for driving the movement of the bionic single-finger module 100. It also includes a flexible tendon cord, which includes a first active traction line 331 and a second active traction line 332. The distal end of the first active traction line 331 is anchored to the distal phalanx 150, and the distal end of the second active traction line 332 is anchored to the proximal phalanx 130 near the phalanx joint 120 by a pin. A planar four-bar linkage 160 is provided between the middle phalanx 140 and the distal phalanx 150; When the distal phalanx 150 is flexed by the first active traction line 331, the distal phalanx 150 acts as the active member of the planar four-bar linkage 160, and drives the middle phalanx 140 to flex synchronously according to a preset transmission ratio through the link 161 in the planar four-bar linkage 160; when the second active traction line 332 is under tension, it drives the proximal phalanx 130 to flex around the axis of the finger root joint 120. The palmar unidirectional active traction mechanism is powered by a power source located in the arm drive module 300. It performs remote transmission across the wrist joint module 200 via the first active traction line 331 and the second active traction line 332. The wiring paths of the first active traction line 331 and the second active traction line 332 pass through the central axis of the yaw axis of the finger root joint 120 to achieve structural decoupling of cross-joint movement.

[0041] Specifically, refer to Figure 2 and Figure 3 Regarding the bionic single-finger module 100 (rigid-flexible hybrid transmission), the internal structure of the bionic single-finger module 100 includes a metacarpal bone 110, a finger root joint 120, a proximal phalanx 130, a middle phalanx 140, and a distal phalanx 150. Its flexion and extension movements employ a rigid-flexible hybrid architecture of "palmar-side active tension cable + dorsal-side spring passive reset" and "linkage 161 rigid coupling".

[0042] During flexion, the distal end of the first active traction line 331 passes through the Bowden tube 320 and is anchored to the distal phalanx 150. A rigid planar four-bar linkage 160 is provided between the distal phalanx 150 and the middle phalanx 140. When the linear push rod 310 pulls the traction line, the distal phalanx 150 flexes towards the palm as the driving element, and drives the middle phalanx 140 to flex synchronously according to the preset transmission ratio through the connecting rod 161 in the planar four-bar linkage 160, ensuring the structural rigidity when the fingertip contacts an object. At the same time, the second active traction line 332 independently pulls the proximal phalanx 130 to achieve flexion of the finger root.

[0043] During the extension and reduction movement, the double-spring energy storage system on the dorsal side is used. The first rebound spring 171 crosses the middle phalanx joint, with its proximal end hinged to the proximal phalanx 130 and its distal end connected to the first reduction traction line 333, which pulls the middle phalanx 140. The second rebound spring 172 is hidden inside the metacarpal bone 110, with its distal end connected to the second reduction traction line 334, which pulls the dorsal side of the proximal phalanx 130. When the palmar traction line relaxes, the contraction force of the springs causes the finger to quickly and accurately spring back to the initial extension state.

[0044] For the coordinated flexion and extension between adjacent phalanges within the bionic single-finger module 100, the first active traction line 331 drives the distal phalanx 150, and through rigid transmission components such as the connecting rod 161 of the planar four-bar linkage 160, it drives the middle phalanx 140 to achieve linkage between the two phalanges.

[0045] Furthermore, refer to Figure 2 and Figure 3 The passive elastic reset mechanism on the back side includes a first spring 171 and a second spring 172. The first spring 171 is disposed on the dorsal side of the proximal phalanx 130. The proximal end of the first spring 171 is anchored to the proximal phalanx 130 by a pin. The distal end of the first spring 171 is connected to a first repositioning traction line 333. The first spring 171 extends distally through the first repositioning traction line 333 and is anchored to the middle phalanx 140 by a pin. The second spring 172 is disposed inside the metacarpal bone 110. The proximal end of the second spring 172 is anchored to the inside of the metacarpal bone 110 and close to the end of the finger root joint 120 by a fastener 410. The distal end of the second spring 172 is connected to a second reset traction line 334. The second spring 172 extends distally through the second reset traction line 334 and is anchored to the dorsal side of the proximal phalanx 130 by a pin. When the first active traction line 331 releases the traction force, the elastic contraction force of the first rebound spring 171 drives the middle phalanx 140 to extend and reposition; when the second active traction line 332 releases the traction force, the elastic contraction force of the second rebound spring 172 drives the proximal phalanx 130 to extend and reposition.

[0046] Furthermore, refer to Figure 4 and Figure 5 For non-thumb modules 102, the rotational transmission part of the rigid rotational and linear transmission assembly includes a synchronous belt transmission assembly 340, which is disposed on the dorsal side of the corresponding metacarpal bone 110 and close to the finger root joint 120; each non-thumb module 102 is equipped with an independent yaw drive source 360, which drives the corresponding finger root joint 120 to rotate through the synchronous belt transmission assembly 340 to realize the independent yaw movement of the corresponding finger; For the thumb module 101, the thumb module 101 is inclinedly disposed on the metacarpal bone 110 corresponding to the index finger module in the non-thumb module 102; the rotational transmission part of the rigid rotation and linear transmission assembly of the finger root joint 120 of the thumb module 101 includes a gear reduction assembly 350 disposed at its finger root, the gear reduction assembly 350 is driven by an independent thumb drive source 370 to realize independent rotation of the thumb base; the proximal end of the second rebound spring 172 of the thumb module 101 is anchored to the finger root joint 120 of the thumb module 101, and the distal end of the second rebound spring 172 is directly anchored to the proximal phalanx 130 of the thumb module 101, and no second repositioning traction line 334 is provided.

[0047] Furthermore, refer to Figure 6 The linear transmission part of the rigid rotation and linear transmission assembly corresponding to the wrist joint module 200 includes a first linear push rod 311 and a second linear push rod 312 arranged parallel to each other in the arm drive module 300. The power output ends of the first linear push rod 311 and the second linear push rod 312 are respectively connected to the bionic single finger module 100 through a spherical joint 230. The spherical joint 230 is connected to different positions on the wrist joint module 200 that are offset from the rotation center of the universal joint assembly 220. When the first linear push rod 311 and the second linear push rod 312 extend and retract synchronously in the same direction, the wrist joint module 200 is driven to perform pitch motion around the universal joint assembly 220. When the first linear push rod 311 and the second linear push rod 312 extend and retract differentially, the wrist joint module 200 is driven to perform yaw motion around the universal joint assembly 220.

[0048] Specifically, refer to Figure 6 Regarding the wrist joint module 200 and the differential mechanism, the wrist joint module 200 is connected to the arm drive module 300 via a universal joint assembly 220. Its power is provided by a first linear actuator 311 and a second linear actuator 312 within the arm. The first linear actuator 311 and the second linear actuator 312 are arranged in parallel, and the power output ends of the first linear actuator 311 and the second linear actuator 312 are respectively connected via a spherical joint 230 to different positions on the wrist joint module 200 offset from the universal joint rotation center.

[0049] In kinematic calculations, when the first linear push rod 311 and the second linear push rod 312 extend or retract synchronously in the same direction, they drive the wrist to achieve pitch motion around the universal joint assembly 220; when the first linear push rod 311 and the second linear push rod 312 perform differential extension and retraction (one extends and the other retracts), a yaw torque is generated, driving the wrist to achieve yaw motion. The introduction of the spherical joint 230 effectively releases the over-constraints in spatial multi-axis linkage and avoids mechanism jamming.

[0050] Furthermore, refer to Figure 7 and Figure 8 The arm drive module 300 includes a mechanical drive area located at the front end and an electronic control integration area located at the rear end, which are distributed along the axial direction. The mechanical drive area has multiple linear push rods 310 arranged in an upper and lower array to drive the bending of the bionic single-finger module 100; the electronic control integration area has an independently set circuit board assembly 380 for controlling the highly dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission.

[0051] Specifically, refer to Figure 7 and Figure 8 Regarding the arm drive module 300 and the remote decoupled transmission, to maximize space utilization, the arm drive module 300 is internally divided along the axial direction into a front-end mechanical drive area and a rear-end electronic control integration area. Within the front-end mechanical area, multiple high-frequency linear actuators 310 are arranged in a high-density array in two layers. The rear-end electronic control integration area independently houses the drive board and main control circuit board assembly 380, achieving electromechanical physical isolation and facilitating heat dissipation and independent maintenance.

[0052] Furthermore, refer to Figure 7 and Figure 8 The flexible tendon cable is inserted inside the Bowden tube 320. The Bowden tube 320 adopts a split anchoring structure. The Bowden tube 320 includes a first guide tube 321 and a second guide tube 322. The proximal ends of the first guide tube 321 and the second guide tube 322 are both anchored to the front end of the arm drive module 300. The distal end of the first guide tube 321 passes through the wrist joint module 200 and is anchored inside the middle phalanx 140; the first active traction line 331 is inserted into the first guide tube 321 as the inner core, the proximal end of the first active traction line 331 is fixedly connected to the power output end of the corresponding linear push rod 310, and the distal end of the first active traction line 331 passes out of the first guide tube 321 and is anchored on the distal phalanx 150. The distal end of the second guide tube 322 passes through the wrist joint module 200 and is anchored inside the palmar side of the metacarpal bone 110 and close to the phalanx joint 120; the second active traction line 332 is inserted into the second guide tube 322 as the inner core, the proximal end of the second active traction line 332 is fixedly connected to the power output end of the corresponding other linear push rod 310, and the distal end passes out of the second guide tube 322 and is anchored to the proximal phalanx 130.

[0053] Specifically, to achieve interference-free long-distance power transmission to the fingers, this embodiment employs a split Bowden tube 320 structure. Specifically, the proximal ends of the first guide tube 321 and the second guide tube 322 are jointly anchored to the front end housing of the arm drive module 300. Subsequently, the first guide tube 321 and the second guide tube 322 cross the wrist, with the distal end of the first guide tube 321 directly anchored inside the middle phalanx 140, and the distal end of the second guide tube 322 anchored to the palmar side of the metacarpal bone 110 near the finger root joint 120. Flexible first active traction wires 331 and 332 are respectively inserted as inner cores. Because both ends of the guide tubes are absolutely fixed, regardless of wrist or finger root rotation, the relative sliding stroke of the internal traction wires always remains strictly consistent with the linear displacement of the push rod. Simultaneously, in the bare wire area crossing the joint, the wire path precisely passes through the rotation center axis of the anterior joint. This combined design completely eliminates interference and coupling of cross-joint movements at the physical level.

[0054] Furthermore, refer to Figure 9 The plug-in quick-release structure includes a rectangular plug-in groove 111, a rectangular positioning boss 210, and a fastener 410. The proximal end of the bionic single-finger module 100 is a metacarpal bone 110. The rectangular insertion groove 111 is disposed on the bottom end face of the metacarpal bone 110, and the rectangular positioning boss 210 is disposed on the corresponding mounting surface of the wrist joint module 200. The rectangular insertion groove 111 is adapted to the rectangular positioning boss 210. The metacarpal bone 110 of the bionic single-finger module 100 and the wrist joint module 200 are initially positioned and prevented from rotating by the insertion and cooperation of the rectangular insertion groove 111 and the rectangular positioning boss 210, and are detachably locked and fixed by the fastener 410, so as to realize the independent and quick assembly and disassembly of the bionic single-finger module 100.

[0055] Specifically, refer to Figure 4 and Figure 5 Regarding the independent finger root sway and quick-release sensing design, to achieve finger opening and closing (sway), each non-thumb module 102 is independently equipped with a sway drive source 360. This drive source is hidden on the dorsal side of the corresponding metacarpal bone 110, and the torque is transmitted over a long distance to the finger root joint 120 through the synchronous belt transmission assembly 340, realizing independent finger root sway in a compact space. For the thumb module 101, its metacarpal bone 110 is arranged at an angle on the metacarpal bone 110 of the index finger module, and the rotation of the thumb base is achieved by using the gear reduction assembly 350 at the finger root and an independent thumb drive source 370. In addition, the second return spring 172 of the thumb is directly anchored between the proximal phalanx 130 and the finger root joint 120, eliminating the need for a reset traction line and adapting to its unique movement trajectory.

[0056] In terms of engineering maintenance and sensor integration, the bottom end of the metacarpal bone 110 of the bionic single-finger module 100 has a rectangular insertion groove 111, which is precisely inserted into the rectangular positioning boss 210 on the mounting surface of the wrist joint module 200, and locked with fasteners 410, realizing a modular interface that balances extremely high torsional strength and quick assembly / disassembly. In addition, the palmar surface of the distal phalanx 150 has a dedicated mounting cavity for embedding a high-precision tactile sensor 180. The data cable of the tactile sensor 180 extends along the inner side of the fingertip towards the proximal end, passes through the metacarpal bone 110 and the inside of the wrist for fully concealed routing, and finally safely reaches the electronic control integration area (such as the circuit board assembly 380) at the rear end of the arm, completely avoiding the risk of wear and motion interference caused by external wiring.

[0057] Furthermore, refer to Figures 1 to 3 The bionic single-finger module 100 is also provided with a tactile sensor 180 at its end; The distal phalanx 150 of the bionic single-finger module 100 has a mounting cavity on its palmar side surface that is adapted to the tactile sensor 180, and the tactile sensor 180 is embedded in the mounting cavity. The data line of the tactile sensor 180 extends proximally along the palm side of the bionic single-finger module 100, and is routed in a hidden manner through the metacarpal bone 110 of the bionic single-finger module 100 and the wrist joint module 200. Finally, it extends proximally to the electrical control integration area of ​​the arm drive module 300 and is electrically connected to the corresponding circuit board assembly 380.

[0058] Furthermore, refer to Figure 1 The surface of the bionic single-finger module 100 is covered with a flexible contact shell 190 made of silicone material; The wrist joint module 200 is provided with a hand shell 240 on its exterior; The arm drive module 300 is provided with a drive housing 390 on its exterior.

[0059] Specifically, refer to Figure 1 Regarding external protection and biomimetic contact surfaces, to enhance the overall protection capabilities, grasping stability, and human-computer interaction safety of the dexterous hand, this invention provides dedicated shell components for each major module. Specifically, the arm drive module 300 is entirely covered by a drive housing shell 390 for dust and impact protection, protecting the densely packed push rods and circuits inside; the wrist joint module 200 and the base of the palm (metacarpal 110 area) are covered by a hand shell 240, providing all-around enclosed protection for the wrist joint and finger root transmission mechanism without hindering the multi-degree-of-freedom movement of the wrist.

[0060] Furthermore, specifically for the bionic single-finger module 100 performing grasping tasks, the outer surface (or the force-bearing surface of the fingertip) of each phalanx is covered with a flexible contact shell 190. The flexible contact shell 190 is preferably made of silicone. Silicone material has excellent elasticity and wear resistance, which on the one hand significantly increases the surface friction between the finger and the object being grasped, preventing slippage; on the other hand, its compliant deformation ability can better conform to the contours of complex-shaped objects, achieving stable and gentle enveloping grasping; at the same time, the bionic tactile feel of silicone also greatly improves the safety of dexterous hands when working collaboratively with humans or fragile objects.

[0061] It should be understood that the method steps in all embodiments of the present invention can be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable storage medium. The methods can use standard programming techniques. Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with the computer system. However, if necessary, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. Furthermore, for this purpose, the program can run on a programmed application-specific integrated circuit (ASIC).

[0062] Furthermore, the procedures described herein may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by the context. The procedures described herein (or variations and / or combinations thereof) may be executed under the control of one or more computer systems configured with executable instructions, and may be implemented by hardware or a combination thereof as code (e.g., executable instructions, one or more computer programs, or one or more applications) that commonly executes on one or more processors. The computer program comprises a plurality of instructions executable by one or more processors.

[0063] Furthermore, the method can be implemented in any suitable type of computing platform, including but not limited to personal computers, minicomputers, mainframes, workstations, networked or distributed computing environments, standalone or integrated computer platforms, or in communication with charged particle tools or other imaging devices, etc. Aspects of the invention can be implemented as machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, optical read and / or write storage medium, RAM, ROM, etc., such that it is readable by a programmable computer, and when the storage medium or device is read by the computer, it can be used to configure and operate the computer to perform the processes described herein. Furthermore, the machine-readable code, or portions thereof, can be transmitted via wired or wireless networks. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media comprises instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. When programmed according to the methods and techniques described in the invention, the invention may also include the computer itself.

[0064] A computer program can be applied to input data to perform the functions described herein, thereby transforming the input data to generate output data stored in non-volatile memory. The output information can also be applied to one or more output devices, such as a display. In a preferred embodiment of the invention, the transformed data represents physical and tangible objects, including specific visual depictions of physical and tangible objects generated on the display.

[0065] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention, as long as they achieve the technical effects of the present invention by the same means, should be included within the scope of protection of the present invention. Within the scope of protection of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A highly dynamic humanoid dexterous hand based on a rigid-flexible hybrid transmission, characterized in that, The aforementioned high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission includes: A bionic single-finger module (100) is used to grasp objects. The bionic single-finger module (100) is either a thumb module (101) or a non-thumb module (102). A wrist joint module (200) is provided, on which multiple bionic single-finger modules (100) are fixed. The wrist joint module (200) and the bionic single-finger modules (100) are connected by a plug-in quick-release structure. An arm drive module (300) is used to provide driving force for the bionic single-finger module (100) and the wrist joint module (200), and the output end of the arm drive module (300) is connected to the wrist joint module (200) through a universal joint assembly (220). It also includes a rigid rotary and linear transmission assembly disposed in the wrist joint module (200) and the arm drive module (300). The rigid rotary and linear transmission assembly is used to transmit local power for the swaying motion of the finger root in the bionic single finger module (100) and the multi-degree-of-freedom motion of the wrist joint module (200). The rigid rotary and linear transmission assembly includes a rotary transmission part and a linear transmission part connected in sequence.

2. The high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission according to claim 1, characterized in that, The bionic single-finger module (100) includes a metacarpal bone (110), a finger root joint (120), a proximal phalanx (130), a middle phalanx (140), and a distal phalanx (150) connected sequentially from proximal to distal. It also includes a palmar unidirectional active traction mechanism and a dorsal passive elastic reset mechanism for driving the movement of the bionic single-finger module (100). It also includes a flexible tendon cord, which includes a first active traction line (331) and a second active traction line (332). The distal end of the first active traction line (331) is anchored to the distal phalanx (150), and the distal end of the second active traction line (332) is anchored to the proximal phalanx (130) near the root joint (120) by a pin. A planar four-bar linkage (160) is provided between the middle phalanx (140) and the distal phalanx (150). When the distal phalanx (150) is flexed by the first active traction line (331), the distal phalanx (150) acts as the active member of the planar four-bar linkage (160), and drives the middle phalanx (140) to flex synchronously according to a preset transmission ratio through the link (161) in the planar four-bar linkage (160); when the second active traction line (332) is under tension, it drives the proximal phalanx (130) to flex around the axis of the finger root joint (120); The palmar unidirectional active traction mechanism is provided by a power source located in the arm drive module (300), and is remotely transmitted across the wrist joint module (200) through the first active traction line (331) and the second active traction line (332); the wiring paths of the first active traction line (331) and the second active traction line (332) pass through the central axis of the yaw axis of the finger root joint (120) to achieve structural decoupling of cross-joint movement.

3. The high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission according to claim 2, characterized in that, The passive elastic reset mechanism on the back side includes a first spring (171) and a second spring (172). The first spring (171) is disposed on the dorsal side of the proximal phalanx (130). The proximal end of the first spring (171) is anchored to the proximal phalanx (130) by a pin. The distal end of the first spring (171) is connected to a first repositioning traction line (333). The first spring (171) extends distally through the first repositioning traction line (333) and is anchored to the middle phalanx (140) by a pin. The second spring (172) is disposed inside the metacarpal (110). The proximal end of the second spring (172) is anchored to the inside of the metacarpal (110) and near the end of the phalanx joint (120) by a fastener (410). The distal end of the second spring (172) is connected to a second repositioning traction line (334). The second spring (172) extends distally through the second repositioning traction line (334) and is anchored to the dorsal side of the proximal phalanx (130) by a pin. When the first active traction line (331) releases traction, the elastic contraction force of the first rebound spring (171) drives the middle phalanx (140) to extend and reposition; when the second active traction line (332) releases traction, the elastic contraction force of the second rebound spring (172) drives the proximal phalanx (130) to extend and reposition.

4. The high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission according to claim 1, characterized in that, For non-thumb modules (102), the rotational transmission part of the rigid rotational and linear transmission assembly includes a synchronous belt transmission assembly (340), which is located on the dorsal side of the corresponding metacarpal (110) and close to the finger root joint (120); each non-thumb module (102) is equipped with an independent yaw drive source (360), which drives the corresponding finger root joint (120) to rotate through the synchronous belt transmission assembly (340) to realize the independent yaw movement of the corresponding finger; For the thumb module (101), the thumb module (101) is tilted as a whole on the metacarpal bone (110) corresponding to the index finger module in the non-thumb module (102); the rotational transmission part of the rigid rotation and linear transmission assembly of the root joint (120) of the thumb module (101) includes a gear reduction assembly (350) disposed at its root, the gear reduction assembly (350) is driven by an independent thumb drive source (370) to realize independent rotation of the thumb base; the proximal end of the second rebound spring (172) of the thumb module (101) is anchored to the root joint (120) of the thumb module (101), and the distal end of the second rebound spring (172) is directly anchored to the proximal phalanx (130) of the thumb module (101), and there is no second repositioning traction line (334).

5. The high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission according to claim 1, characterized in that, The linear transmission part of the rigid rotation and linear transmission assembly corresponding to the wrist joint module (200) includes a first linear push rod (311) and a second linear push rod (312) arranged parallel to each other in the arm drive module (300). The power output ends of the first linear push rod (311) and the second linear push rod (312) are respectively connected to the bionic single finger module (100) through a spherical pair (230). The spherical pair (230) is connected to different positions on the wrist joint module (200) that are offset from the rotation center of the universal joint assembly (220). When the first linear push rod (311) and the second linear push rod (312) extend and retract synchronously in the same direction, the wrist joint module (200) is driven to perform pitch motion around the universal joint assembly (220). When the first linear push rod (311) and the second linear push rod (312) extend and retract differentially, the wrist joint module (200) is driven to perform yaw motion around the universal joint assembly (220).

6. The high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission according to claim 2, characterized in that, The arm drive module (300) includes a mechanical drive area located at the front end and an electronic control integration area located at the rear end, which are distributed along the axial direction. The mechanical drive area has multiple linear push rods (310) arranged in an upper and lower array for driving the bending of the bionic single-finger module (100); the electronic control integration area has an independently set circuit board assembly (380) for controlling the highly dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission.

7. The high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission according to claim 2, characterized in that, The flexible tendon cable is threaded through the Bowden tube (320), which adopts a split anchoring structure. The Bowden tube (320) includes a first guide tube (321) and a second guide tube (322). The proximal ends of the first guide tube (321) and the second guide tube (322) are both anchored to the front end of the arm drive module (300). The distal end of the first guide tube (321) passes through the wrist joint module (200) and is anchored inside the middle phalanx (140); the first active traction line (331) is inserted into the first guide tube (321) as the inner core, the proximal end of the first active traction line (331) is fixedly connected to the power output end of the corresponding linear push rod (310), and the distal end of the first active traction line (331) passes out of the first guide tube (321) and is anchored on the distal phalanx (150); The distal end of the second guide tube (322) passes through the wrist joint module (200) and is anchored inside the palmar side of the metacarpal bone (110) and close to the phalanx joint (120); the second active traction line (332) is inserted into the second guide tube (322) as the inner core, the proximal end of the second active traction line (332) is fixedly connected to the power output end of the corresponding other linear push rod (310), and the distal end passes out of the second guide tube (322) and is anchored to the proximal phalanx (130).

8. The high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission according to claim 1, characterized in that, The plug-in quick-release structure includes a rectangular plug groove (111), a rectangular positioning boss (210), and a fastener (410). The proximal end of the bionic single-finger module (100) is a metacarpal bone (110), the rectangular insertion groove (111) is disposed on the bottom end face of the metacarpal bone (110), and the rectangular positioning boss (210) is disposed on the corresponding mounting surface of the wrist joint module (200). The rectangular insertion groove (111) is adapted to the rectangular positioning boss (210). The metacarpal bone (110) of the bionic single-finger module (100) and the wrist joint module (200) are initially positioned and prevented from rotating by the insertion of the rectangular insertion groove (111) and the rectangular positioning boss (210), and are detachably locked and fixed by fasteners (410) so as to realize the independent and quick assembly and disassembly of the bionic single-finger module (100).

9. The high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission according to claim 1, characterized in that, The end of the bionic single-finger module (100) is also provided with a tactile sensor (180). The palmar surface of the distal phalanx (150) of the bionic single-finger module (100) is provided with an installation cavity adapted to the tactile sensor (180), and the tactile sensor (180) is embedded in the installation cavity. The data line of the tactile sensor (180) extends proximally along the palm side of the bionic single-finger module (100), and is routed in a hidden manner through the metacarpal bone of the bionic single-finger module (100) and the inside of the wrist joint module (200). Finally, it extends proximally to the electrical control integration area of ​​the arm drive module (300) and is electrically connected to the corresponding circuit board assembly.

10. The high-dynamic humanoid dexterous hand based on rigid-flexible hybrid transmission according to claim 1, characterized in that, The surface of the bionic single-finger module (100) is covered with a flexible contact shell (190) made of silicone material. The wrist joint module (200) is provided with a hand shell (240) on the outside. The arm drive module (300) is provided with a drive housing (390) on the outside.

Images