A humanoid dexterous hand with a thumb cushioning structure

Abstract

This invention provides a humanoid dexterous hand with a thumb-buffered structure, comprising: a hand skeleton, a thumb actuator, a joint buffer mechanism, and a thumb; the bottom of the hand skeleton is provided with an actuator mounting slot and a buffer mechanism mounting slot; one end of the thumb actuator is installed in the actuator mounting slot, and the other end is hinged to the joint buffer mechanism; the joint buffer mechanism is also hinged to the buffer mechanism mounting slot; the end of the joint buffer mechanism away from the thumb actuator is connected to the thumb; when the thumb actuator is activated, the thumb actuator performs a linear reciprocating motion and controls the joint buffer mechanism to rotate, and the thumb rotates along with the rotating joint buffer mechanism, thereby realizing the lateral swinging motion of the thumb. This invention utilizes the thumb-buffered mechanism to buffer the impact force from obstacles, reduce the impact load on the humanoid dexterous hand, and extend the service life of the humanoid dexterous hand.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a humanoid dexterous hand with a thumb-buffered structure. Background Technology

[0002] To enhance robots' operational capabilities in complex environments and grasping tasks, an increasing number of humanoid robot end effectors are adopting humanoid dexterous hands. In the structure of a humanoid dexterous hand, the thumb typically enables lateral movement. However, during debugging or use, the thumb inevitably collides with obstacles. If the impact force during this collision is significant, it can damage the thumb structure. Summary of the Invention

[0003] To address the aforementioned problems, the purpose of this invention is to provide an anthropomorphic dexterous hand with a thumb-buffered structure.

[0004] In a first aspect, embodiments of the present invention provide a humanoid dexterous hand with a buffer structure, comprising: a hand skeleton, a thumb actuator, a joint buffer mechanism, and a thumb;

[0005] The bottom of the hand skeleton is provided with a driver mounting slot and a buffer mechanism mounting slot;

[0006] One end of the thumb driver is installed in the driver mounting slot, and the other end is hinged to the joint buffer mechanism;

[0007] The joint buffer mechanism is also hinged to the buffer mechanism mounting slot;

[0008] The joint buffer mechanism is connected to the thumb at the end furthest from the thumb driver.

[0009] When the thumb driver is activated, it performs a linear reciprocating motion and controls the joint buffer mechanism to rotate. The thumb rotates along with the rotating joint buffer mechanism, thereby realizing the lateral swinging motion of the thumb.

[0010] In the solution provided by the first aspect of the present invention, a thumb buffer mechanism is added to the humanoid dexterous hand. This thumb buffer mechanism is hinged to the hand skeleton and the thumb actuator respectively. Compared with the related art, where the thumb structure is damaged when it collides with an obstacle and is subjected to a large impact, the addition of the thumb buffer mechanism to the humanoid dexterous hand can buffer the impact force brought by the obstacle when the thumb abnormally touches the obstacle, reduce the impact load on the humanoid dexterous hand, and extend the service life of the humanoid dexterous hand.

[0011] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This diagram illustrates the three-dimensional structure of the humanoid dexterous hand provided in an embodiment of the present invention. Figure 1 ;

[0014] Figure 2 This diagram illustrates the three-dimensional structure of the humanoid dexterous hand provided in an embodiment of the present invention. Figure 2 ;

[0015] Figure 3 A schematic diagram of the connection between the thumb driver and the thumb provided in an embodiment of the present invention is shown;

[0016] Figure 4 A schematic diagram of the hand skeleton structure provided in an embodiment of the present invention is shown;

[0017] Figure 5 This diagram illustrates an assembly schematic of a joint buffer mechanism provided in an embodiment of the present invention.

[0018] Figure 6 An exploded schematic diagram of a joint buffer mechanism provided in an embodiment of the present invention is shown;

[0019] Figure 7 A three-dimensional structural schematic diagram of another humanoid dexterous hand provided in an embodiment of the present invention is shown;

[0020] Figure 8 This invention provides an assembly schematic diagram of another joint buffer mechanism according to an embodiment of the invention.

[0021] Figure 9 A cross-sectional schematic diagram of the joint buffer mechanism provided in an embodiment of the present invention is shown;

[0022] Figure 10 A three-dimensional structural diagram of the second thumb drive base provided in an embodiment of the present invention is shown;

[0023] Figure 11 A three-dimensional structural diagram of the second thumb buffer base provided in an embodiment of the present invention is shown. Detailed Implementation

[0024] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] To meet the demands of robots facing complex environments and complex grasping tasks, the requirements for their grasping capabilities are becoming increasingly stringent. As a result, robot end effectors are beginning to adopt designs that mimic human dexterity hands. The human hand is characterized by its high dexterity and can perform various grasping techniques such as gripping, grasping, clamping, and hooking.

[0028] Currently, in the design of the thumb of a robot's humanoid dexterous hand, the thumb can generally achieve lateral movement, which is accomplished using a linear drive mechanism. However, when the thumb abnormally touches an obstacle, the large impact force can generate a significant overload on the linear drive mechanism, potentially damaging it and causing the humanoid dexterous hand to lose its normal function. Alternatively, it can damage the obstacle, hindering the robot's interaction with its surrounding environment.

[0029] Based on this, the present invention proposes the following embodiment of a humanoid dexterous hand.

[0030] Example 1

[0031] This invention provides an anthropomorphic dexterous hand with a thumb buffer mechanism, see [link / reference]. Figure 1 The diagram shows the three-dimensional structure of the humanoid dexterous hand. Figure 1 , Figure 2 The diagram shows the three-dimensional structure of the humanoid dexterous hand. Figure 2 as well as Figure 4 The schematic diagram of the hand skeleton structure shown includes: a hand skeleton 1, a thumb actuator 2, a joint buffer mechanism 3, and a thumb 4. The bottom of the hand skeleton 1 is provided with an actuator mounting slot 101 and a buffer mechanism mounting slot 102. One end of the thumb actuator 2 is installed in the actuator mounting slot 101, and the other end is hinged to the joint buffer mechanism 3. The joint buffer mechanism 3 is also hinged to the buffer mechanism mounting slot 102. The end of the joint buffer mechanism 3 away from the thumb actuator 2 is connected to the thumb 4. When the thumb actuator 2 is activated, it performs a linear reciprocating motion and controls the rotation of the joint buffer mechanism 3. The thumb 4 rotates along with the rotating joint buffer mechanism 3, thereby achieving the lateral swinging motion of the thumb 4.

[0032] In this embodiment of the invention, participants Figure 3 The diagram shows the connection between the thumb actuator and the thumb. The thumb actuator 2 contains an outwardly extending drive rod 201, which can perform reciprocating linear motion. The thumb actuator 2 can be a linear motor, and the specific model is not limited. In particular, the drive rod 201 inside the thumb actuator 2 is directly proportional to the lateral swing angle of the thumb 4; the longer the drive rod 201, the greater the lateral swing angle of the thumb 4. It should be noted that the maximum length of the drive rod 201 should not exceed the width of the palm skeleton 1. The joint buffer mechanism 3 is connected to the thumb 4, and the connection method includes, but is not limited to, fixed connection and hinge. When the thumb 4 is impacted by an external force, the joint buffer mechanism 3 can absorb most of the impact force, preventing damage to the thumb actuator 2.

[0033] In one embodiment, the buffer mechanism mounting groove 102 has a U-shaped structure and symmetrically provides first hinge holes 1021. The joint buffer mechanism 3 is hinged to the U-shaped buffer mechanism mounting groove 102 through the first hinge holes 1021. When the drive rod 201 in the thumb driver 2 extends or retracts outward, the drive rod 201 pushes the joint buffer mechanism 3 to swing within the U-shaped buffer mechanism mounting groove 102, thereby causing the thumb 4 on the joint buffer mechanism 3 to swing. For example... Figure 3 As shown, a ball bearing 202 is mounted on the end of the thumb actuator 2 away from the drive rod 201, and the ball bearing 202 is placed in the actuator mounting slot 101. When the drive rod 201 extends or retracts and controls the thumb 4 to swing through the joint buffer mechanism 3, the thumb actuator 2 can swing under the action of the ball bearing 202.

[0034] In this embodiment of the invention, participants Figure 5 The diagram shows an assembly schematic of a joint buffer mechanism and its components. Figure 6 The diagram shown is an exploded view of a joint buffer mechanism. The joint buffer mechanism includes: a first thumb drive base 301, a first thumb buffer base 302, a first pin 304, a second pin 305, and a C-shaped leaf spring 303; the other end of the thumb actuator 2 is hinged to the first thumb drive base 301 via the first pin 304; the first thumb drive base 301 and the first thumb buffer base 302 are hinged together via the second pin 305 within a first hinge hole 1021 provided in the buffer mechanism mounting groove 101; the first thumb drive base... A first limiting protrusion 3011 is provided on the first thumb drive base 301, and a second limiting protrusion 3021 is provided on the first thumb buffer base 302. When the first thumb drive base 301 and the first thumb buffer base 302 are hinged, the second limiting protrusion 3021 is provided on the first limiting protrusion 3011 to form a columnar boss structure. A C-shaped leaf spring 303 is sleeved on the columnar boss structure, the upper surface of the C-shaped leaf spring 303 is in contact with the first thumb buffer base 302, and the lower surface of the C-shaped leaf spring 303 is in contact with the first thumb drive base 301.

[0035] Specifically, the two ends of the second pin 305 are respectively hinged to the symmetrical first hinge holes 1021 in the U-shaped buffer mechanism mounting groove 102, and the extension direction of the thumb actuator 2 is perpendicular to the second pin 305 in the plane. The C-type leaf spring 303 is a cylindrical structure with an opening on one side, and the material of the C-type leaf spring 303 can be metal, non-metal, or composite material. If the elastic force of the C-type leaf spring 303 is less than the maximum driving force of the thumb actuator 2, the joint buffer mechanism 3 can prevent the thumb actuator 2 from overloading. It should be noted that during assembly, the first limiting protrusion 3011 and the second limiting protrusion 3021 are inserted from both ends of the C-type leaf spring 303, and the diameter of the first limiting protrusion 3011 and the second limiting protrusion 3021 is smaller than the diameter of the C-type leaf spring 303. Preferably, the smaller the gap between the first limiting protrusion 3011, the second limiting protrusion 3021 and the C-type leaf spring 303, the less noise there will be when the thumb 4 swings.

[0036] Specifically:

[0037] (1) When the thumb driver 2 extends the drive rod 201 outward, the first thumb drive base 301, which is hinged to the thumb driver 2, will rotate in the positive direction around the second pin 305. The first limiting protrusion 3011 rotates in the positive direction along with the first thumb drive base 301. The rotating first limiting protrusion 3011 will push the C-shaped leaf spring 303 to rotate in the positive direction around the second pin 305. The rotating C-shaped leaf spring 303 pushes the first thumb buffer base 302 to rotate in the positive direction around the second pin 305 through the second limiting protrusion 3021, thereby realizing the function of the thumb 4 swinging inward.

[0038] (2) When the thumb driver 2 retracts the drive rod 201 inward, the first thumb drive base 301, which is hinged to the thumb driver 2, will rotate in the opposite direction around the second pin 305. The first limiting protrusion 3011 rotates in the opposite direction along with the first thumb drive base 301. The rotating first limiting protrusion 3011 will push the C-shaped leaf spring 303 to rotate in the opposite direction around the second pin 305. The rotating C-shaped leaf spring 303 pushes the first thumb buffer base 302 to rotate in the opposite direction around the second pin 305 through the second limiting protrusion 3021, thereby realizing the function of the thumb 4 swinging outward.

[0039] Furthermore, the first limiting protrusion 3011 has a first limiting surface 30111 and a second limiting surface 30112; the second limiting protrusion 3021 has a third limiting surface 30211 and a fourth limiting surface 30212; the C-shaped leaf spring 303 has a fifth limiting surface 3031 and a sixth limiting surface 3032; wherein the first limiting surface 30111 and the third limiting surface 30211 are both in contact with the fifth limiting surface 3031, and the second limiting surface 30112 and the fourth limiting surface 30212 are both in contact with the sixth limiting surface 3032.

[0040] Specifically, after the thumb driver 2 is activated, the drive rod 201 extends outward, and the first thumb drive base 301, which is hinged to the thumb driver 2, and the first limiting protrusion 3011 located on the first thumb drive base 301 rotate forward around the second pin 305. At this time, the first limiting surface 30111 on the first thumb drive base 301 applies a pushing force to the fifth limiting surface 3031 of the C-shaped leaf spring 303. After the C-shaped leaf spring 303 rotates, the sixth limiting surface 3032 of the C-shaped leaf spring 303 contacts the fourth limiting surface 30212 on the second limiting protrusion 3021, and pushes the second limiting protrusion 3021 to rotate synchronously around the second pin 305. After being pushed, the second limiting protrusion 3021 drives the first thumb buffer base 302 to rotate, thereby realizing the swing function of the thumb 4 connected to the first thumb buffer base 302.

[0041] The thumb actuator 2 controls the joint buffer mechanism 3 to swing the thumb 4 laterally. When the thumb 4 is impacted, there are two situations: internal impact and external impact.

[0042] (1) When the outer side of the thumb 4 is impacted, the thumb 4 will swing inward (the thumb 4 will move closer to the thumb driver 2), thereby causing the first thumb buffer base 301 to rotate in the same direction around the second pin 305, and the second limiting protrusion 3021 provided on the first thumb buffer base 302 will push the C-type leaf spring 303 to move in the same direction. At this time, the third limiting surface 30211 on the second limiting protrusion 3021 contacts the fifth limiting surface 3031 on the C-type leaf spring 303. The thumb 4 continues to swing inward, and the thrust applied by the third limiting surface 30211 to the fifth limiting surface 3031 on the C-type leaf spring 303 increases. The diameter of the C-type leaf spring will increase, and the C-type leaf spring will expand outward under the action of the impact force.

[0043] (2) When the inside of the thumb 4 is subjected to an impact force, the C-type leaf spring 303 also expands outward under the action of the first thumb buffer base 301, converting the impact energy into the elastic potential energy of the C-type leaf spring 303, thereby reducing the impact force on the thumb driver 2.

[0044] Specifically, when the impact force on the thumb 4 is small, the expanded C-shaped leaf spring 303 can spring back to its original size on its own. Conversely, when the impact force on the thumb 4 is large, the expanded C-shaped leaf spring 303 cannot spring back on its own, and it is necessary to return it to the factory or remove the C-shaped leaf spring 303 and replace it with a new one.

[0045] In addition to the joint cushioning mechanism described above, this embodiment also discloses another joint cushioning mechanism, see [link to relevant documentation]. Figure 7 The diagram shows another three-dimensional structure of a humanoid dexterous hand. Figure 8 Another joint buffer mechanism assembly diagram is shown below. Figure 9 The schematic cross-sectional view of another joint buffer mechanism shown includes: a second thumb drive base 306, a second thumb buffer base 307, a first spring 308, a preload nut 309, a third pin 401, and a fourth pin 402; the other end of the thumb driver 2 is hinged to the second thumb drive base 306 via the third pin 401; the second thumb drive base 306 and the second thumb buffer base 307 are hinged together via the fourth pin 402 within the first hinge hole 1021 of the buffer mechanism mounting groove 102; the second thumb drive base 306 is provided with a wavy groove 3061; the second thumb buffer base 307 is provided with a wavy flange 3071. The wavy groove 3061 and the wavy flange 3071 are shaped to match.

[0046] In this embodiment of the invention, when the first thumb drive base 301 and the first thumb buffer base 302 are hinged, a wavy flange 3071 is disposed on a wavy groove 3061, and the wavy flange 3071 and the wavy groove 3061 engage to form a hollow cylindrical structure; wherein, the fourth pin 402 penetrates the hollow cylindrical structure, and a spring receiving cavity is formed between the fourth pin 402 after penetrating the hollow cylindrical structure and the hollow cylindrical structure; the preload nut 309 is threadedly connected to the end of the fourth pin 402 away from the second thumb drive base 306; the first spring 308 is disposed in the spring receiving cavity, one end of the first spring 308 contacts the preload nut 309, and the other end is connected to the second thumb buffer base 307. It should be noted that both the wavy flange 3071 and the wavy groove 3061 are cylindrical.

[0047] In the initial state, the first spring 308 is in a compressed state, providing preload to the wavy flange 3071 and the wavy groove 3061, so that the two come into contact.

[0048] Specifically, when the thumb 4 is subjected to an impact force, the thumb 4 will drive the second thumb buffer base 307 to rotate around the fourth pin 402. At this time, the wavy flange 3071 can move upward along the inclined surface of the annular wavy groove 3061. When the wavy flange 3071 moves upward along the inclined surface of the wavy groove 3061, it can compress the first spring 308, converting the impact force energy into the elastic potential energy of the spring, thereby reducing the impact force on the thumb driver 2 and preventing the thumb driver 2 from being damaged due to the impact force.

[0049] In the embodiments of the present invention:

[0050] (1) When the thumb driver 2 extends the drive rod 201 outward, the second thumb drive base 306 hinged to the thumb driver 2 will rotate around the fourth pin 402 in the positive direction. The wave-shaped groove 3061 rotates with the second thumb drive base 306 in the positive direction. The rotating wave-shaped groove 3061 drives the meshed wave-shaped flange 3071 to rotate in the positive direction. The second thumb buffer base 307 rotates with the wave-shaped flange 3071 in the positive direction, thereby realizing the function of the thumb 2 swinging inward.

[0051] (2) When the thumb driver 2 retracts the drive rod inward, the second thumb drive base 306, which is hinged to the thumb driver 2, will rotate in the opposite direction around the fourth pin 402. The wave-shaped groove 3061 rotates in the opposite direction with the second thumb drive base 306. The rotating wave-shaped groove 3061 drives the meshed wave-shaped flange 3071 to rotate in the opposite direction. The second thumb buffer base 307 rotates in the opposite direction with the wave-shaped flange 3071, thereby realizing the function of the thumb 2 swinging outward.

[0052] Furthermore, the spring receiving cavity 3072 is disposed on the end face of the second thumb buffer base 307 away from the second thumb drive base 306; one end of the first spring 308 is connected to the bottom of the spring receiving cavity 3072.

[0053] Specifically, the first spring 308 is an axial spring; axial springs include, but are not limited to, helical springs and disc springs.

[0054] In summary, this application proposes a humanoid dexterous hand with a thumb buffer structure. By adding a joint buffer mechanism to the thumb, which is hinged to both the hand skeleton and the thumb actuator, the humanoid dexterous hand can benefit from the addition of a joint buffer mechanism to the thumb. This mechanism reduces the impact load on the humanoid dexterous hand when the thumb abnormally contacts an obstacle, thus extending its service life.

[0055] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A humanoid dexterous hand having a thumb cushioning structure, characterized by, include: The palmar skeleton (1), thumb actuator (2), joint buffer mechanism (3), and thumb (4); The bottom of the hand skeleton (1) is provided with a driver mounting slot (101) and a buffer mechanism mounting slot (102); One end of the thumb driver (2) is installed in the driver mounting slot (101), and the other end is hinged to the joint buffer mechanism (3); The joint buffer mechanism (3) is also hinged to the buffer mechanism mounting slot (102); The end of the joint buffer mechanism (3) away from the thumb driver (2) is connected to the thumb (4); When the thumb driver (2) is activated, the thumb driver (2) makes a linear reciprocating motion and controls the joint buffer mechanism (3) to rotate. The thumb (4) rotates together with the rotating joint buffer mechanism (3), thereby realizing the lateral swing motion of the thumb (4).

2. The humanoid dexterous hand with a thumb cushioning structure of claim 1, wherein, The buffer mechanism mounting groove (102) is provided with a first hinge hole (1021) for the joint buffer mechanism (3) to hinge. The joint buffer mechanism (3) includes: a first thumb drive base (301), a first thumb buffer base (302), a first pin (304), a second pin (305), and a C-type leaf spring (303); The other end of the thumb driver (2) is hinged to the first thumb driver base (301) via a first pin (304); The first thumb drive base (301) and the first thumb buffer base (302) are hinged together by a second pin (305) in the first hinge hole (1021) provided in the buffer mechanism mounting groove (101); The first thumb drive base (301) is provided with a first limiting protrusion (3011), and the first thumb buffer base is provided with a second limiting protrusion (3021); When the first thumb drive base (301) and the first thumb buffer base (302) are hinged, the second limiting protrusion (3021) is disposed on the first limiting protrusion (3011) to form a columnar boss structure; the C-shaped leaf spring (303) is sleeved on the columnar boss structure, the upper surface of the C-shaped leaf spring (303) is in contact with the first thumb buffer base (302), and the lower surface of the C-shaped leaf spring (303) is in contact with the first thumb drive base (301).

3. The anthropomorphic dexterous hand with a thumb-buffered structure according to claim 2, characterized in that, When the thumb driver (2) extends the drive rod (201) outward, the first thumb drive base (301) hinged to the thumb driver (2) will rotate in the positive direction around the second pin (305). The first limiting protrusion (3011) rotates in the positive direction along with the first thumb drive base (301). The rotating first limiting protrusion (3011) will push the C-shaped leaf spring (303) to rotate in the positive direction around the second pin (305). The rotating C-shaped leaf spring (303) pushes the first thumb buffer base (302) to rotate in the positive direction around the second pin (305) through the second limiting protrusion (3021), thereby realizing the function of the thumb (4) swinging inward. When the thumb actuator (2) retracts the drive rod (201) inward, the first thumb drive base (301) hinged to the thumb actuator (2) will rotate in the opposite direction around the second pin (305). The first limiting protrusion (3011) rotates in the opposite direction along with the first thumb drive base (301). The rotating first limiting protrusion (3011) will push the C-shaped leaf spring (303) to rotate in the opposite direction around the second pin (305). The rotating C-shaped leaf spring (303) pushes the first thumb buffer base (302) to rotate in the opposite direction around the second pin (305) through the second limiting protrusion (3021), thereby realizing the function of the thumb (4) swinging outward.

4. The humanoid dexterous hand with a thumb cushioning structure of claim 2, wherein, The first limiting protrusion (3011) has a first limiting surface (30111) and a second limiting surface (30112); The second limiting protrusion (3021) has a third limiting surface (30211) and a fourth limiting surface (30212); The C-type leaf spring (303) has a fifth limiting surface (3031) and a sixth limiting surface (3032); Among them, the first limiting surface (30111) and the third limiting surface (30211) are in contact with the fifth limiting surface (3031), and the second limiting surface (30112) and the fourth limiting surface (30212) are in contact with the sixth limiting surface (3032).

5. The anthropomorphic dexterous hand with a thumb-buffered structure according to claim 1, characterized in that, The joint buffer mechanism (3) includes: a second thumb drive base (306), a second thumb buffer base (307), a first spring (308), a preload nut (309), a third pin 401, and a fourth pin 402; The other end of the thumb driver (2) is hinged to the second thumb driver base (306) via the third pin 401; The second thumb drive base (306) and the second thumb buffer base (307) are hinged together by a fourth pin 402 in the first hinge hole (1021) provided in the buffer mechanism mounting groove (102); The second thumb drive base (306) is provided with a wave-shaped groove (3061); The second thumb buffer base (307) is provided with a wavy flange (3071), wherein the wavy groove (3061) matches the shape of the wavy flange (3071); When the second thumb drive base (306) and the second thumb buffer base (307) are hinged, the wavy flange (3071) is disposed on the wavy groove (3061), and the wavy flange (3071) engages with the wavy groove (3061) to form a hollow columnar structure; wherein, the fourth pin (402) passes through the hollow columnar structure, and a spring receiving cavity (3072) is formed between the fourth pin (402) after passing through the hollow columnar structure and the hollow columnar structure; The preload nut (309) is threaded to the end of the fourth pin (402) away from the second thumb drive base (306); The first spring (308) is disposed in the spring receiving cavity (3072), one end of the first spring (308) is in contact with the preload nut (309), and the other end is in contact with the second thumb buffer base (307).

6. The anthropomorphic dexterous hand with a thumb-buffered structure according to claim 5, characterized in that, When the thumb driver (2) extends the drive rod (201) outward, the second thumb drive base (306) hinged to the thumb driver (2) will rotate around the fourth pin (402) in the positive direction. The wave-shaped groove (3061) rotates with the second thumb drive base (306) in the positive direction. The rotating wave-shaped groove (3061) drives the meshed wave-shaped flange (3071) to rotate in the positive direction. The second thumb buffer base (307) rotates with the wave-shaped flange (3071) in the positive direction, thereby realizing the function of the thumb (2) swinging inward. When the thumb driver (2) retracts the drive rod (201) inward, the second thumb drive base (306) hinged to the thumb driver (2) will rotate in the opposite direction around the fourth pin (402). The wavy groove (3061) rotates in the opposite direction with the second thumb drive base (306). The rotating wavy groove (3061) drives the meshed wavy flange (3071) to rotate in the opposite direction. The second thumb buffer base (307) rotates in the opposite direction with the wavy flange (3071), thereby realizing the function of the thumb (2) swinging outward.

7. The humanoid dexterous hand with a thumb cushioning structure of claim 5, wherein, The spring receiving cavity (3072) is disposed on the end face of the second thumb buffer base (307) away from the second thumb drive base (306); One end of the first spring (308) is in contact with the bottom of the spring receiving cavity (3072).

8. The humanoid dexterous hand with a thumb cushioning structure of claim 5, wherein, The first spring (308) is an axial spring; The axial spring includes a helical spring and a disc spring.

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