Humanoid manipulator

Abstract

The utility model relates to the technical field of manipulators, and provides a humanoid manipulator which comprises a palm base, a thumb unit and at least one single finger unit. The thumb unit comprises a thumb proximal section, a thumb proximal section component, a thumb middle section and a thumb distal section, the thumb proximal section is hinged to the palm base, the first end of the thumb proximal section component is hinged to the thumb proximal section, the second end of the thumb proximal section component is hinged to the thumb middle section, and the thumb middle section is hinged to the thumb distal section; the single-finger unit comprises a single-finger near joint, a single-finger middle joint and a single-finger far joint, the single-finger near joint is hinged to the palm base, the single-finger middle joint is hinged to the single-finger near joint, and the single-finger far joint is hinged to the single-finger middle joint; a thumb buffering mechanism is arranged between the thumb proximal joint and the thumb proximal joint component, and / or a single finger buffering mechanism is arranged between the single finger proximal joint and the palm base. The humanoid manipulator provided by the utility model is used for overcoming the defect that an object or a finger driving motor is damaged due to excessive grasping possibly caused by a control error of an existing flexible manipulator.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a humanoid manipulator. Background Art

[0002] A dexterous robotic hand is a robotic device that mimics the functions of a human hand and is designed to achieve precise grasping movements.

[0003] In the prior art, conventional dexterous robotic arms with no force feedback can cause the fingers to firmly grasp an object before reaching the target angle due to control errors. At this point, the fingers will continue to rotate in the grasping direction, attempting to reach the set angle. However, despite the small angle difference, the fingers' gripping force suddenly increases. This can lead to two problems: if the object is hard and strong, excessive gripping can increase the reaction force and even damage the finger drive motor; if the object is brittle, excessive gripping can cause the object to crush. Utility Model Content

[0004] The utility model provides a humanoid manipulator, which is used to solve the defect of existing dexterous manipulators that excessive gripping may be caused by control errors, thereby damaging objects or finger drive motors.

[0005] The utility model provides a humanoid robot hand, comprising: a palm base, a thumb unit and at least one single finger unit; the thumb unit comprises a proximal section of the thumb, a proximal section component of the thumb, a middle section of the thumb and a distal section of the thumb; the proximal section of the thumb is hinged to the palm base, the first end of the proximal section component of the thumb is hinged to the proximal section of the thumb, the second end of the proximal section component of the thumb is hinged to the middle section of the thumb, and the middle section of the thumb is hinged to the distal section of the thumb; the single finger unit comprises a proximal section of a single finger, a middle section of a single finger and a distal section of a single finger; the proximal section of the single finger is hinged to the palm base, the middle section of the single finger is hinged to the proximal section of the single finger, and the distal section of the single finger is hinged to the middle section of the single finger; a thumb buffer mechanism is provided between the proximal section of the thumb and the proximal section component of the thumb, and / or a single finger buffer mechanism is provided between the proximal section of the single finger and the palm base.

[0006] When the thumb unit grasps an object, the rotation angle of the thumb unit does not reach the control target angle, and the reaction force N1 of the object on the thumb unit is greater than the trigger force of the thumb buffer mechanism, the thumb buffer mechanism undergoes elastic deformation; when the single finger unit grasps an object, the rotation angle of the single finger unit does not reach the control target angle, and the reaction force N2 of the object on the single finger unit is greater than the trigger force of the single finger buffer mechanism, the single finger buffer mechanism undergoes elastic deformation.

[0007] According to the humanoid manipulator provided by the present invention, the thumb buffer mechanism includes a first elastic buffer component, one end of the first elastic buffer component is connected to the thumb proximal segment component, and the other end of the first elastic buffer component abuts against the thumb proximal segment.

[0008] According to the humanoid manipulator provided by the present invention, the first elastic buffer includes an elastic buffer portion and an adjustment portion, one end of the elastic buffer portion is connected to the adjustment portion, the other end of the elastic buffer portion abuts against the proximal section of the single finger, the adjustment portion is connected to the proximal section of the thumb portion, and the adjustment portion can move axially relative to the proximal section of the thumb portion to adjust the compression amount of the elastic buffer portion.

[0009] According to the humanoid manipulator provided by the utility model, the adjustment portion is threadedly connected to the thumb proximal segment, so that the compression amount of the elastic buffer portion is adjustable and self-locking is achieved when a preset compression amount is reached.

[0010] According to the humanoid manipulator provided by the present invention, the single-finger buffer mechanism includes a second elastic buffer component, and the second elastic buffer component is respectively connected to the palm base and the proximal segment of the single finger.

[0011] According to the humanoid manipulator provided by the present invention, the middle portion of the second elastic buffer is sleeved on the proximal segment of the single finger, and both ends of the second elastic buffer are respectively connected to the palm base.

[0012] According to the humanoid robotic arm provided by the present utility model, the single-finger buffer mechanism also includes a threaded adjustment piece, the threaded adjustment piece is threadedly connected to the palm base, and one end of the second elastic buffer piece is connected to the threaded adjustment piece; or, the single-finger buffer mechanism also includes two threaded adjustment pieces, the threaded adjustment piece is threadedly connected to the palm base, one end of the second elastic buffer piece is connected to one of the threaded adjustment pieces, and the other end of the second elastic buffer piece is connected to the other threaded adjustment piece.

[0013] According to the humanoid manipulator provided by the present invention, a limiting groove is provided on the proximal segment of the single finger, and the middle portion of the second elastic buffer is sleeved in the limiting groove.

[0014] According to the humanoid robot arm provided by the present utility model, the thumb unit also includes a first drive motor and a second drive motor, the first drive motor is arranged on the palm base, and the second drive motor is arranged on the middle section of the thumb; the output shaft of the first drive motor is provided with a first bevel gear, and the proximal section of the thumb is provided with a second bevel gear meshing with the first bevel gear, so that the proximal section of the thumb is driven to swing in a first direction by the first drive motor; the output shaft of the second drive motor is provided with a third bevel gear, and the proximal section of the thumb is provided with a fourth bevel gear meshing with the third bevel gear, so that the middle section of the thumb is driven to swing in a second direction by the second drive motor.

[0015] According to the humanoid manipulator provided by the present invention, the thumb unit also includes a first connecting rod, one end of which is hinged to the third end of the proximal section of the thumb, and the other end of the first connecting rod is hinged to the distal section of the thumb, so as to drive the distal section of the thumb to swing along the second direction when the second drive motor drives the middle section of the thumb to swing along the second direction.

[0016] According to the humanoid manipulator provided by the present invention, the proximal section of the thumb is hinged to the second end of the proximal section of the thumb component through a first hinge shaft, one end of the first hinge shaft is connected to the second bevel gear, and an angle sensor is provided on the proximal section of the thumb, which is connected to the first hinge shaft.

[0017] According to the humanoid robotic arm provided by the present utility model, the single-finger unit also includes a third drive motor, which is arranged on the palm base; the output shaft of the third drive motor is provided with a fifth bevel gear, and the middle section of the single finger is provided with a sixth bevel gear engaged with the fifth bevel gear, so that the middle section of the single finger is driven to swing along the second direction by the third drive motor.

[0018] According to the humanoid manipulator provided by the present invention, the single-finger unit also includes a second connecting rod, one end of the second connecting rod is hinged to the proximal section of the single finger, and the other end of the second connecting rod is hinged to the distal section of the single finger, so as to drive the distal section of the single finger to swing along the second direction when the third driving motor drives the middle section of the single finger to swing along the second direction.

[0019] The humanoid robot hand provided by the utility model provides a thumb buffer mechanism between the proximal segment of the thumb and the proximal segment of the thumb, and / or a single-finger buffer mechanism between the proximal segment of a single finger and the palm base. When grasping an object, the first elastic buffer between the proximal segment of the thumb and the proximal segment of the thumb and / or the second elastic buffer between the palm base and the proximal segment of the single finger can buffer and absorb the reaction force exerted by the object on the knuckle during grasping, so that the humanoid hand can achieve force adaptation when grasping an object and protect the fingers and the grasped object, thereby solving the defect of the existing dexterous robot hand that may cause over-grasping due to control error, thereby damaging the object or the finger drive motor.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 It is a schematic diagram of a humanoid manipulator provided by an embodiment of the present utility model.

[0023] Figure 2 This is a schematic diagram of the humanoid manipulator provided by an embodiment of the present utility model when holding.

[0024] Figure 3 This is a schematic diagram of the thumb unit of the humanoid robot provided by an embodiment of the present utility model when extended.

[0025] Figure 4 This is a schematic diagram of a thumb unit in a humanoid robot provided by an embodiment of the present utility model when it is bent.

[0026] Figure 5 This is a schematic diagram of the reaction force exerted on the thumb unit of the humanoid robot provided by an embodiment of the present utility model.

[0027] Figure 6 This is a schematic diagram of a thumb buffer mechanism in a humanoid manipulator provided by an embodiment of the present utility model.

[0028] Figure 7 This is an exploded schematic diagram of the thumb unit in the humanoid robot provided by an embodiment of the utility model.

[0029] Figure 8This is one of the connection diagrams between a single finger unit and a palm base in a humanoid manipulator provided by an embodiment of the present utility model.

[0030] Figure 9 This is the second schematic diagram of the connection between the single finger unit and the palm base in the humanoid robot provided by the embodiment of the present utility model.

[0031] Figure 10 This is an exploded schematic diagram of the connection between a single finger unit and a palm base in a humanoid robot provided by an embodiment of the present utility model.

[0032] Reference numerals:

[0033] 10. Palm base; 101. Thumb fixed support; 102. Articulated seat; 20. Thumb unit; 201. Proximal section of thumb; 202. Proximal section of thumb subassembly; 203. Middle section of thumb; 204. Distal section of thumb; 205. Tip of thumb; 206. First hinge axis; 207. Second hinge axis; 208. Third hinge axis; 209. Fourth hinge axis; 210. First drive motor; 211. Second drive motor; 212. First bevel gear; 213. Second bevel gear; 214. Third bevel gear; 215. Fourth bevel gear; 216. First connecting rod; 217. Fifth hinge axis; 218, sixth hinge axis; 219, angle sensor; 30, single finger unit; 301, proximal section of single finger; 3011, limiting groove; 302, middle section of single finger; 303, distal section of single finger; 304, tip section of single finger; 305, hinge plate; 306, third drive motor; 307, fifth bevel gear; 308, sixth bevel gear; 309, second connecting rod; 40, thumb buffer mechanism; 410, first elastic buffer; 411, elastic buffer part; 412, adjustment part; 50, single finger buffer mechanism; 510, second elastic buffer; 520, threaded adjustment part. DETAILED DESCRIPTION

[0034] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0036] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0037] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is lower in level than the second feature.

[0038] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0039] The following combination Figures 1 to 10 The present invention describes a humanoid robot arm.

[0040] See also Figures 1 to 3 as well as Figure 9 As shown, the humanoid robotic hand provided by the embodiment of the present invention includes: a palm base 10, a thumb unit 20 and at least one single finger unit 30.

[0041] The thumb unit 20 includes a proximal thumb section 201, a proximal thumb section component 202, a middle thumb section 203 and a distal thumb section 204. The proximal thumb section 201 is hinged to the palm base 10, the first end of the proximal thumb section component 202 is hinged to the proximal thumb section 201, the second end of the proximal thumb section component 202 is hinged to the middle thumb section 203, and the middle thumb section 203 is hinged to the distal thumb section 204.

[0042] The single finger unit 30 includes a single finger proximal section 301, a single finger middle section 302 and a single finger distal section 303. The single finger proximal section 301 is hinged to the palm base 10, the single finger middle section 302 is hinged to the single finger proximal section 301, and the single finger distal section 303 is hinged to the single finger middle section 302.

[0043] A thumb buffer mechanism 40 is provided between the proximal thumb segment 201 and the proximal thumb segment component 202 , and / or a single finger buffer mechanism 50 is provided between the proximal single finger segment 301 and the palm base 10 .

[0044] When the thumb unit 20 grasps an object, the rotation angle of the thumb unit 20 does not reach the control target angle, and the reaction force N1 of the object on the thumb unit 20 is greater than the trigger force of the thumb buffer mechanism 40, the thumb buffer mechanism undergoes elastic deformation; when the single finger unit 30 grasps an object, the rotation angle of the single finger unit 30 does not reach the control target angle, and the reaction force N2 of the object on the single finger unit 30 is greater than the trigger force of the single finger buffer mechanism 50, the single finger buffer mechanism undergoes elastic deformation.

[0045] The humanoid robot provided by the present invention provides a thumb buffer mechanism 40 between the proximal section of the thumb 201 and the proximal section component 202, and / or a single-finger buffer mechanism 50 between the proximal section of the single finger 301 and the palm base 10. When grasping an object, the first elastic buffer member 410 between the proximal section of the thumb 201 and the proximal section component 202 and / or the second elastic buffer member 510 between the palm base 10 and the proximal section of the single finger 301 can buffer and absorb the reaction force exerted by the object on the knuckles during grasping, so that the humanoid hand can achieve force adaptation when grasping objects and protect the fingers and the grasped objects, thereby solving the defect of existing dexterous robot hands that may cause over-grasping due to control errors, thereby damaging the object or the finger drive motor.

[0046] Specifically, there is at least one single-finger unit 30, which can be single or multiple. When there is only one single-finger unit 30, it is arranged opposite the thumb unit 20 on the palm base 10, so that the single-finger unit 30 and the thumb unit 20 cooperate to achieve the gripping and releasing action of an object. When there are multiple single-finger units 30, multiple single-finger units 30 are arranged side by side on the palm base 10, and the multiple single-finger units 30 and the thumb unit 20 are arranged opposite to form a human hand-like structure. Similarly, the multiple single-finger units 30 and the thumb unit 20 cooperate to achieve the gripping and releasing action of an object. Each phalanx in the thumb unit 20 and the single-finger unit 30 can be driven by a motor.

[0047] As a preference, see Figure 1 and Figure 2 As shown, in this embodiment, there are four single-finger units 30 , and the four single-finger units 30 are used to simulate the index finger, middle finger, ring finger and little finger of a human hand, respectively.

[0048] It should be noted that the aforementioned "a thumb buffer mechanism 40 is provided between the proximal section of the thumb 201 and the proximal section of the thumb subassembly 202, and / or a single-finger buffer mechanism 50 is provided between the proximal section of the single finger 301 and the palm base 10" specifically means: the thumb buffer mechanism 40 may be provided only between the proximal section of the thumb 201 and the proximal section of the thumb subassembly 202, without providing the single-finger buffer mechanism 50 between the proximal section of the single finger 301 and the palm base 10; or the single-finger buffer mechanism 50 may be provided only between the proximal section of the single finger 301 and the palm base 10, without providing the thumb buffer mechanism 40 between the proximal section of the thumb 201 and the proximal section of the thumb subassembly 202; or the thumb buffer mechanism 40 may be provided between the proximal section of the thumb 201 and the proximal section of the thumb subassembly 202, and the single-finger buffer mechanism 50 may be provided between the proximal section of the single finger 301 and the palm base 10. The selection is based on actual usage needs, and the present invention does not impose any specific restrictions on this.

[0049] As a preference, see Figure 2 As shown, in this embodiment, a thumb buffer mechanism 40 is provided between the proximal thumb segment 201 and the proximal thumb segment subassembly 202, and a single-finger buffer mechanism 50 is provided between the proximal single-finger segment 301 and the single-finger palm base 10. When the manipulator is gripping, both the thumb unit 20 and the index finger unit can act as buffers, effectively protecting the thumb unit 20, the index finger unit, and their corresponding grasping areas.

[0050] According to some embodiments of the present invention, the thumb buffer mechanism 40 includes a first elastic buffer 410 , one end of which is connected to the thumb proximal segment 202 , and the other end of which abuts against the thumb proximal segment 201 .

[0051] The single-finger buffer mechanism 50 includes a second elastic buffer member 510 , which is connected to the palm base 10 and the proximal segment 301 of the single finger, respectively.

[0052] Specifically, the first elastic buffer 410 can be a spring, an elastic sheet, an elastic pad, or any other elastic buffer. For example, when the first elastic buffer 410 is a spring, its two ends are connected to the thumb proximal segment 202 and the thumb proximal segment 201, respectively. Figures 3 to 5 As shown, when the thumb unit 20 is grasped, if the thumb unit 20 is grasped in place but the drive motor has not yet rotated to the set angle, the drive motor will still have a tendency to drive the thumb unit 20 to grasp the object, and cause the reaction force of the object on the thumb unit 20 to increase sharply. When the torque of the reaction forces Na and Nb is greater than the initial torque generated by the initial elastic force of the spring, the spring is compressed and acts as a buffer, which can effectively prevent damage to the object or the drive motor of the thumb unit 20.

[0053] The second elastic buffer 510 can be a variety of elastic buffers such as a tension spring, an elastic rope, a rubber band, etc. For example, when the second elastic buffer 510 is a tension spring, it can achieve a buffering effect in the following two ways: one is to directly connect the two ends of the tension spring to the palm base 10 and the proximal section 301 of the single finger respectively; the other is to connect the two ends of the tension spring to the palm base 10 and put the middle part of the tension spring on / hook / hang on the proximal section 301 of the single finger. Figure 8 and Figure 9 As shown, since one end of the proximal segment 301 of the single finger is hinged to the palm base 10, when the single finger grasps an object, if the single finger unit 30 has been grasped in place but the drive motor has not yet rotated to the set angle, the drive motor will still have a tendency to drive the single finger unit 30 to grasp the object, and cause the reaction force Nc of the object on the single finger unit 30 to increase sharply. At this time, the tension spring is compressed under the action of the reaction force exerted by the object on the single finger unit 30, thereby playing a buffering role, which can effectively prevent damage to the object or the drive motor of the single finger unit 30.

[0054] In the initial state, the first elastic buffer 410 has a certain amount of pre-compression, which allows the thumb proximal segment 201 and the thumb proximal segment segment 202 to maintain a face-to-face position, preventing them from shaking and improving the stability of the thumb unit 20. Similarly, in the initial state, the second elastic buffer 510 has a certain amount of pre-extension, which ensures that the proximal segment 301 of the single finger does not shake relative to the palm base 10.

[0055] It should be noted that the number of the first elastic buffer member 410 and the second elastic buffer member 510 can be single or multiple. The selection of the first elastic buffer member 410 and the second elastic buffer member 510 is based on the buffering effect they can provide, as well as the specifications of the thumb unit 20 and the single finger unit 30. For example, when the first elastic buffer member 410 and / or the second elastic buffer member 510 can provide a large buffering effect (e.g., using a spring / tension spring with a large elastic modulus), a single first elastic buffer member 410 and / or second elastic buffer member 510 can be used. Correspondingly, when the first elastic buffer member 410 and / or the second elastic buffer member 510 can provide a small buffering effect (e.g., using a spring / tension spring with a small elastic modulus), multiple first elastic buffer members 410 and / or second elastic buffer members 510 can be used to jointly provide a buffering effect. When the thumb unit 20 and / or the single finger unit 30 are larger in size and are suitable for grasping larger objects, the driving motor used by the thumb unit 20 and / or the single finger unit 30 has a larger output torque and is subjected to a relatively larger reaction force. Therefore, a plurality of first elastic buffers 410 and / or second elastic buffers 510 can be used to jointly play a buffering role.

[0056] When using multiple first elastic buffers 410, the multiple first elastic buffers 410 can be arranged parallel to each other between the finger proximal segment and the thumb proximal segment 201. When using multiple second elastic buffers 510, the multiple second elastic buffers 510 can be arranged parallel to each other between the palm base 10 and the single finger proximal segment 301, or both ends of the multiple second elastic buffers 510 can be connected to the palm base 10, and the middle parts of the multiple second elastic buffers 510 can be put on / hook / hang on the single finger proximal segment 301.

[0057] See also Figure 3 and Figure 7 As shown, a thumb fixing support 101 is fixed on the palm base 10, the proximal section of the thumb 201 is hinged to the thumb fixing support 101 through a first hinge axis 206, the first end of the proximal section of the thumb 202 is hinged to the proximal section of the thumb 201 through a second hinge axis 207, the second end of the proximal section of the thumb 202 is hinged to the middle section of the thumb 203 through a third hinge axis 208, and the middle section of the thumb 203 is hinged to the distal section of the thumb 204 through a fourth hinge axis 209.

[0058] See also Figures 8 to 10 As shown, a hinge plate 305 is provided on the proximal section 301 of the single finger, and a hinge seat 102 matching the hinge plate 305 is provided on the palm base 10. The hinge plate 305 is hinged to the hinge seat 102 to configure the proximal section 301 of the single finger and the palm base 10 to be hingedly connected.

[0059] The thumb distal segment 204 is provided with a thumb tip segment 205 made of a flexible material, and the single finger distal segment 303 is provided with a single finger tip segment 304 made of a flexible material.

[0060] See also Figure 5 and Figure 6 As shown, according to some embodiments provided by the present invention, the first elastic buffer 410 includes an elastic buffer portion 411 and an adjustment portion 412. One end of the elastic buffer portion 411 is connected to the adjustment portion 412, and the other end of the elastic buffer portion 411 abuts against the proximal segment 301 of the single finger. The adjustment portion 412 is connected to the proximal segment of the thumb 202, and the adjustment portion 412 can move axially relative to the proximal segment of the thumb 202 to adjust the pre-compression of the elastic buffer portion 411. By configuring the first elastic buffer 410 as the interconnected elastic buffer portion 411 and the adjustment portion 412, the elastic buffer portion 411 can provide a buffering effect to prevent damage to objects or the drive motor. The adjustment portion 412 can move axially relative to the proximal segment of the thumb 202 to adjust the pre-compression of the elastic buffer portion 411, thereby adjusting the strength of the buffering effect of the first elastic buffer 410 to adapt to different reaction force thresholds.

[0061] Specifically, the axial movement of the adjusting portion 412 relative to the thumb proximal section component 202 can be achieved in the following ways: the adjusting portion 412 and the thumb proximal section component 202 are configured to be threadedly connected, and the pre-compression amount of the elastic buffer portion 411 can be adjusted by rotating the adjusting portion 412; the adjusting portion 412 and the thumb proximal section component 202 are configured to be slidingly connected, and the pre-compression amount of the elastic buffer portion 411 can be adjusted by sliding the adjusting portion 412 to a set position, and then fixing the position of the adjusting portion 412 relative to the thumb proximal section component 202 by means of components such as locking screws or locking pins; the adjusting portion 412 and the thumb proximal section component 202 are configured to be snap-fitted, for example, a plurality of spaced snap-fitting positions are set on the thumb proximal section component 202, and when the adjusting portion 412 is snap-fitted with different snap-fitting positions of the thumb proximal section component 202, the elastic buffer portion 411 can have different pre-compression amounts.

[0062] Of course, in addition to the above methods, other methods in the prior art can also be used to adjust the pre-compression amount of the elastic buffer portion 411, and the present invention does not make specific limitations on this.

[0063] See also Figure 5 and Figure 6As shown, according to a preferred embodiment of the present invention, the adjustment portion 412 is threadedly connected to the thumb proximal segment 202. By configuring the adjustment portion 412 and the thumb proximal segment 202 as a threaded connection, the pre-compression amount of the elastic buffer portion 411 can be adjusted by rotating the adjustment portion 412. This has a simple structure and is easy to operate. The threaded connection has stepless adjustment and self-locking functions, which can greatly improve the adjustment accuracy of the pre-compression amount of the elastic buffer portion 411. After adjustment, there is no need to fix the position of the adjustment portion 412 by external mechanisms / components.

[0064] Specifically, in this embodiment, the first elastic buffer 410 is a spring-loaded screw comprising a screw cap, a spring, and a stud connected in sequence. The proximal thumb segment 201 is provided with a waist-shaped groove for accommodating the first elastic buffer 410. The screw cap abuts the inner wall of the waist-shaped groove, and the stud is threadedly connected to the proximal thumb segment 202 through a clearance opening in the waist-shaped groove.

[0065] See also Figure 6 As shown, when the spring buffer rotation angle reaches a certain degree, a limiting feature for limiting the proximal section of the finger can be set on the proximal section of the finger to prevent the spring structure from escaping from the waist groove in the event of human error.

[0066] See also Figure 9 and Figure 10 As shown, according to a preferred embodiment of the present invention, the middle portion of the second elastic buffer 510 is sleeved on the proximal segment 301 of the single finger, and the two ends of the second elastic buffer 510 are respectively connected to the palm base 10. By configuring the second elastic buffer 510 in this manner, the stability of the second elastic buffer 510 can be improved, and the space between the proximal segment 301 of the single finger and the palm base 10 is not required.

[0067] Specifically, a limiting groove 3011 can be set on the proximal section 301 of the single finger, and the middle part of the second elastic buffer 510 can be inserted into the limiting groove 3011. The limiting groove 3011 can limit the middle part of the second elastic buffer 510 to ensure the stability of the second elastic buffer 510 during use and prevent the second elastic buffer 510 from sliding on the outer wall of the proximal section 301 of the single finger.

[0068] See also Figure 9 and Figure 10 As shown, according to some embodiments of the present invention, the single-finger buffer mechanism 50 further includes a threaded adjustment member 520, which is threadedly connected to the palm base 10, and one end of the second elastic buffer 510 is connected to the threaded adjustment member 520. By providing the threaded adjustment member 520, the preload degree of the second elastic buffer 510 can be adjusted by rotating the threaded adjustment member 520, thereby adjusting the strength of the buffering effect of the second elastic buffer 510 to adapt to different reaction force thresholds.

[0069] In another embodiment, the single-finger cushioning mechanism 50 further includes two threaded adjustment members 520, which are threadedly connected to the palm base 10. One end of the second elastic cushioning member 510 is connected to one of the threaded adjustment members 520, and the other end of the second elastic cushioning member 510 is connected to the other threaded adjustment member 520. In other words, by rotating the two threaded adjustment members 520 synchronously for adjustment, the adjustment range of the preload degree of the second elastic cushioning member 510 can be increased.

[0070] See also Figure 3 and Figure 4 As shown, according to some embodiments of the present invention, the thumb unit 20 further includes a first drive motor 210 and a second drive motor 211. The first drive motor 210 is disposed on the palm base 10, and the second drive motor 211 is disposed on the middle section 203 of the thumb. The output shaft of the first drive motor 210 is provided with a first bevel gear 212, and the proximal section 201 of the thumb is provided with a second bevel gear 213 meshing with the first bevel gear 212, so that the first drive motor 210 drives the proximal section 201 of the thumb to swing in a first direction. The output shaft of the second drive motor 211 is provided with a third bevel gear 214, and the proximal section 202 of the thumb is provided with a fourth bevel gear 215 meshing with the third bevel gear 214, so that the second drive motor 211 drives the middle section 203 of the thumb to swing in a second direction. By providing a bevel gear transmission structure, the drive motor can be placed parallel to the thumb, which facilitates layout and saves space.

[0071] Specifically, in this embodiment, both the first drive motor 210 and the second drive motor 211 are reduction motors. The first bevel gear 212 has fewer teeth than the second bevel gear 213, and the third bevel gear 214 has fewer teeth than the fourth bevel gear 215. This ensures that the rotational speed of each joint in the thumb unit 20 is controlled within a set range. The first drive motor 210 is mounted on the thumb fixing support 101, while the second drive motor 211 is embedded in the mounting slot of the middle section 203 of the thumb, resulting in a compact structure.

[0072] It should be noted that the aforementioned "first direction" specifically refers to the direction of axial rotation along the first rotating shaft, and the aforementioned "second direction" specifically refers to the direction of axial rotation along the second hinge axis 207, the third hinge axis 208, and the fourth hinge axis 209. The first rotating shaft forms a certain angle with the second hinge axis 207, the third hinge axis 208, and the fourth hinge axis 209, enabling the thumb unit 20 to swing left and right as a whole (simulating the left and right swing of the thumb) to adjust the gripping position, as well as the forward and backward swinging of each knuckle to complete the gripping action.

[0073] See also Figure 4As shown, according to some embodiments of the present invention, the thumb unit 20 further includes a first connecting rod 216. One end of the first connecting rod 216 is hingedly connected to the third end of the thumb proximal segment 202, and the other end of the first connecting rod 216 is hingedly connected to the thumb distal segment 204. This allows the thumb distal segment 204 to swing in the second direction when the second drive motor 211 drives the thumb middle segment 203 to swing in the second direction. By providing the first connecting rod 216, when the second drive motor 211 drives the thumb middle segment 203 to swing in the second direction, the first connecting rod 216 can drive the thumb distal segment 204 (and the thumb tip 205) to swing in the second direction, causing the thumb distal segment 204 to passively rotate, thereby achieving under-actuation.

[0074] Specifically, to ensure stability during rotation of the distal thumb segment 204, in this embodiment, two first connecting rods 216 are symmetrically disposed on either side of the thumb unit 20. When the second drive motor 211 drives the middle thumb segment 203 to swing in the second direction, the two first connecting rods 216 simultaneously drive the distal thumb segment 204 to swing in the second direction, ensuring stability. One end of each first connecting rod 216 is hinged to the third end of the proximal thumb segment 202 via a fifth hinge axis 217, and the other end of each first connecting rod 216 is hinged to the distal thumb segment 204 via a sixth hinge axis 218.

[0075] See also Figure 7 As shown, according to some embodiments of the present invention, the proximal thumb section 201 is hinged to the second end of the proximal thumb section member 202 via a first hinge shaft 206. One end of the first hinge shaft 206 is connected to the second bevel gear 213. The proximal thumb section 201 is provided with an angle sensor 219, which is connected to the first hinge shaft 206. The provision of the angle sensor 219 enables detection of the swing angle of the thumb unit 20 along the first direction, thereby achieving precise control of the movement.

[0076] Specifically, in this embodiment, the first hinge shaft is fixedly connected to the second bevel gear 213. When the first bevel gear 212 drives the second bevel gear 213 to rotate, it can synchronously drive the first hinge shaft to rotate, and detect the rotation angle of the first hinge shaft and the proximal section of the thumb 201 through the angle sensor 219.

[0077] See also Figures 8 to 10As shown, according to some embodiments of the present invention, the single-finger unit 30 further includes a third drive motor 306, which is disposed on the palm base 10; the output shaft of the third drive motor 306 is provided with a fifth bevel gear 307, and the middle section 302 of the single finger is provided with a sixth bevel gear 308 that meshes with the fifth bevel gear 307, so that the third drive motor 306 drives the middle section 302 of the single finger to swing in the second direction. By providing a bevel gear transmission structure, the drive motor can be placed parallel to the direction of the single finger, making it easier to arrange the third drive motors 306 corresponding to multiple single fingers in parallel on the palm base 10 (see Figure 1 as shown), which facilitates arrangement and saves space.

[0078] Specifically, in this embodiment, the third drive motor 306 is a reduction motor, and the fifth bevel gear 307 has fewer teeth than the sixth bevel gear 308, so as to control the rotation speed of each digit in the single finger unit 30 within a set range. The third drive motor 306 is located on the palm base 10 along the extension direction of the single finger.

[0079] See also Figure 1 As shown, according to some embodiments of the present invention, the single finger unit 30 further includes a second connecting rod 309, one end of which is hinged to the proximal segment 301 of the single finger, and the other end of which is hinged to the distal segment 303 of the single finger. This is so that when the third drive motor 306 drives the middle segment 302 of the single finger to swing in the second direction, the distal segment 303 of the single finger can be driven to swing in the second direction. By providing the second connecting rod 309, when the third drive motor 306 drives the middle segment 302 of the single finger to swing in the second direction, the distal segment 303 of the single finger can be driven to swing in the second direction via the second connecting rod 309, causing the distal segment 303 of the single finger to passively rotate and achieve under-actuation.

[0080] It can be seen from the description of the above embodiments that the humanoid manipulator provided by the present invention has at least the following advantages.

[0081] The humanoid manipulator provided by the utility model can buffer and absorb the reaction force exerted by the object on the knuckles during grasping, so that the humanoid hand can achieve force adaptation when grasping objects and protect the fingers and the grasped objects, thereby solving the defect of the existing dexterous manipulator that excessive grasping may be caused by control errors, thereby damaging the object or the finger drive motor.

[0082] The humanoid manipulator provided by the present invention can adjust the pre-tightening degree of the first elastic buffer 410 and the second elastic buffer 510, thereby adjusting the strength of the buffering effect of the first elastic buffer 410 and the second elastic buffer 510 to adapt to different reaction force thresholds.

[0083] The humanoid manipulator provided by the present invention can achieve under-actuation of the thumb distal segment 204 and the single finger distal segment 303 by providing the first connecting rod 216 and the second connecting rod 309 , thereby reducing the number of driving components.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A humanoid manipulator, characterized in that: include: a palm base, a thumb unit, and at least one single finger unit; The thumb unit includes a proximal thumb section, a proximal thumb section component, a middle thumb section, and a distal thumb section, wherein the proximal thumb section is hinged to the palm base, a first end of the proximal thumb section component is hinged to the proximal thumb section, a second end of the proximal thumb section component is hinged to the middle thumb section, and the middle thumb section is hinged to the distal thumb section; The single finger unit includes a single finger proximal section, a single finger middle section and a single finger distal section, the single finger proximal section is hinged to the palm base, the single finger middle section is hinged to the single finger proximal section, and the single finger distal section is hinged to the single finger middle section; A thumb buffer mechanism is provided between the proximal section of the thumb and the proximal section of the thumb sub-piece, and / or a single-finger buffer mechanism is provided between the proximal section of the single finger and the palm base; When the thumb unit grasps an object, the rotation angle of the thumb unit does not reach the control target angle, and the reaction force N1 of the object on the thumb unit is greater than the trigger force of the thumb buffer mechanism, the thumb buffer mechanism undergoes elastic deformation; When the single-finger unit grasps an object, the rotation angle of the single-finger unit does not reach the control target angle, and the reaction force N2 of the object on the single-finger unit is greater than the trigger force of the single-finger buffer mechanism, the single-finger buffer mechanism undergoes elastic deformation.

2. The humanoid manipulator according to claim 1, characterized in that: The thumb buffer mechanism includes a first elastic buffer component, one end of the first elastic buffer component is connected to the thumb proximal segment, and the other end of the first elastic buffer component abuts against the thumb proximal segment.

3. The humanoid manipulator according to claim 2, characterized in that: The first elastic buffer includes an elastic buffer portion and an adjusting portion, one end of the elastic buffer portion is connected to the adjusting portion, and the other end of the elastic buffer portion abuts against the proximal section of the single finger. The adjusting portion is connected to the proximal section of the thumb component, and the adjusting portion can move axially relative to the proximal section of the thumb component to adjust the compression amount of the elastic buffer portion.

4. The humanoid manipulator according to claim 3, characterized in that: The adjusting portion is threadedly connected to the thumb proximal segment so that the compression amount of the elastic buffer portion can be adjusted and self-locking is achieved when a preset compression amount is reached.

5. The humanoid manipulator according to claim 1, characterized in that: The single-finger buffer mechanism includes a second elastic buffer component, which is respectively connected to the palm base and the proximal segment of the single finger.

6. The humanoid manipulator according to claim 5, characterized in that: The middle portion of the second elastic buffer is sleeved on the proximal section of the single finger, and both ends of the second elastic buffer are respectively connected to the palm base.

7. The humanoid manipulator according to claim 6, characterized in that: The single-finger buffer mechanism further includes a threaded adjustment member, the threaded adjustment member is threadedly connected to the palm base, and one end of the second elastic buffer member is connected to the threaded adjustment member; Alternatively, the single-finger buffer mechanism further includes two threaded adjustment members, which are threadedly connected to the palm base, one end of the second elastic buffer member is connected to one of the threaded adjustment members, and the other end of the second elastic buffer member is connected to the other threaded adjustment member.

8. The humanoid manipulator according to claim 5, characterized in that: A limiting groove is provided on the proximal section of the single finger, and the middle portion of the second elastic buffer is sleeved in the limiting groove.

9. The humanoid manipulator according to any one of claims 1 to 8, characterized in that: The thumb unit further includes a first drive motor and a second drive motor, wherein the first drive motor is provided at the palm base, and the second drive motor is provided at the middle section of the thumb; The output shaft of the first drive motor is provided with a first bevel gear, and the proximal section of the thumb is provided with a second bevel gear meshing with the first bevel gear, so that the proximal section of the thumb is driven to swing in a first direction by the first drive motor; A third bevel gear is provided on the output shaft of the second drive motor, and a fourth bevel gear meshing with the third bevel gear is provided on the proximal segment of the thumb, so that the middle segment of the thumb is driven to swing in the second direction by the second drive motor.

10. The humanoid manipulator according to claim 9, characterized in that: The thumb unit also includes a first connecting rod, one end of which is hinged to the third end of the proximal section of the thumb, and the other end of the first connecting rod is hinged to the distal section of the thumb, so as to drive the distal section of the thumb to swing in the second direction when the second drive motor drives the middle section of the thumb to swing in the second direction.

11. The humanoid manipulator according to claim 9, characterized in that: The proximal section of the thumb is hinged to the second end of the proximal section of the thumb through a first hinge shaft, one end of the first hinge shaft is connected to the second bevel gear, and an angle sensor is provided on the proximal section of the thumb, which is connected to the first hinge shaft.

12. The humanoid manipulator according to any one of claims 1 to 8, characterized in that: The single-finger unit further includes a third drive motor, and the third drive motor is provided on the palm base; The output shaft of the third drive motor is provided with a fifth bevel gear, and the middle section of the single finger is provided with a sixth bevel gear meshing with the fifth bevel gear, so that the middle section of the single finger is driven to swing along the second direction by the third drive motor.

13. The humanoid manipulator according to claim 12, characterized in that: The single-finger unit also includes a second connecting rod, one end of which is hinged to the proximal section of the single finger, and the other end of the second connecting rod is hinged to the distal section of the single finger, so as to drive the distal section of the single finger to swing along the second direction when the third driving motor drives the middle section of the single finger to swing along the second direction.

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