Humanoid dexterous finger, humanoid dexterous hand adopting same and humanoid robot

Abstract

The utility model discloses a humanoid dexterous finger which comprises a single-finger base, a fingertip, a first knuckle and a second knuckle, the fingertip, the first knuckle and the second knuckle are sequentially hinged from top to bottom, the bottom end of the second knuckle is rotationally connected with the single-finger base through a swing part, and the rotating plane, relative to the swing part, of the second knuckle is not parallel to the rotating plane, relative to the single-finger base, of the swing part; the fingertips, the first knuckles and the second knuckles are respectively connected with at least one group of connecting rod driving mechanisms for driving the fingertips, the first knuckles and the second knuckles to independently act; each connecting rod driving mechanism comprises a main connecting rod and a driving assembly driving the main connecting rod to move, each driving assembly comprises a power piece, and the power pieces drive the connecting seats to slide back and forth along the sliding rails through pull ropes. The utility model further discloses the humanoid dexterous hand and the humanoid dexterous finger adopting the scheme. The humanoid robot adopts the humanoid dexterous hand. The four-degree-of-freedom flexible finger is provided with four active degrees of freedom, the response speed is higher, and the hand action closer to a real person is achieved.

Description

Technical Field

[0001] The utility model relates to the field of humanoid robots, in particular to a humanoid dexterous finger, a humanoid dexterous hand and a humanoid robot using the finger. Background Art

[0002] Humanoid robots, also known as humanoids or humanoid robots, are robots designed to mimic human appearance and behavior. They possess strong adaptability, anthropomorphic working abilities, and a sense of intimacy. They are widely used in industrial production, social services, disaster relief, and other fields, replacing humans in dangerous, repetitive, and tedious tasks.

[0003] As an important component of humanoid robots, the dexterity of humanoid dexterous hands largely determines the fields in which humanoid robots can be applied. For example, in the invention patent entitled "A Dexterous Finger Mechanism of a Robot with Degrees of Freedom" disclosed in Chinese Patent Publication No. CN118143987A, three sets of transmission mechanisms are used to control the fingers to achieve three active degrees of freedom and one passive degree of freedom, that is, the bending of the fingertips and the middle of the fingers is controlled by a set of transmission mechanisms and operates synchronously. In some scenarios that require fine control of grasping, it will be impossible to accurately control the bending degree of each finger joint, which limits the use scenarios of humanoid robots. In addition, in the above patent, a motor is used to drive the screw transmission. After long-term movement, the gap between the nut and the screw will increase, resulting in a decrease in the control accuracy of the dexterous hand, and the fingers cannot be accurately flexed or extended or swung to the exact predetermined position. Utility Model Content

[0004] The purpose of the utility model is to provide a humanoid dexterous finger and a humanoid dexterous hand and a humanoid robot using the finger, which can effectively solve the problem that each knuckle of the existing humanoid dexterous finger cannot achieve fine bending control.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] A humanoid dexterous finger comprises a single finger base and a fingertip, a first knuckle, and a second knuckle hingedly connected in sequence from top to bottom, wherein the bottom end of the second knuckle is hingedly connected to a swinging member, the swinging member being rotatably connected to the single finger base, and the rotational plane of the second knuckle relative to the swinging member is not parallel to the rotational plane of the swinging member relative to the single finger base;

[0007] The fingertip, the first knuckle and the second knuckle are respectively connected to at least one set of connecting rod driving mechanisms for driving the fingertip, the first knuckle and the second knuckle to move independently;

[0008] Each group of the connecting rod driving mechanism includes a main connecting rod and a driving assembly that drives the main connecting rod to move. The driving assembly includes a power piece, a pull rope driven by the power piece, a slide rail fixed on the single-finger base and a connecting seat slidably arranged on the slide rail. The connecting seat is movably connected to the main connecting rod. The pull rope includes an upper pull section and a lower pull section. The upper pull section and the lower pull section are respectively fixedly connected to the connecting seat at both ends of the sliding direction of the connecting seat. The power piece drives the connecting seat to slide back and forth along the slide rail through the pull rope.

[0009] In the above-mentioned anthropomorphic dexterous finger, a first pulley is provided at one end of the slide rail, one of the upper pull-up section and the lower pull-down section passes around the first pulley, and the upper pull-up section and the lower pull-down section are connected to the same power member.

[0010] In the above-mentioned anthropomorphic dexterous finger, a second pulley is further provided between the first pulley and the power member, the upper pull section and the lower pull section are respectively located on both sides of the second pulley, and the connecting seat is slidably arranged on the slide rail between the first pulley and the second pulley.

[0011] In the above-mentioned anthropomorphic dexterous finger, the first pulley is located on the side of the slide rail away from the single-finger base, the power component is arranged at one end of the slide rail close to the single-finger base, or the power component is arranged on the single-finger base.

[0012] In the above-mentioned anthropomorphic dexterous finger, two groups of connecting rod drive mechanisms are connected to the second knuckle, namely the first group of connecting rod drive mechanism and the second group of connecting rod drive mechanism. The first group of connecting rod drive mechanism and the second group of connecting rod drive mechanism are respectively located on both sides of the swinging part relative to the rotation axis of the single finger base. The first group of connecting rod drive mechanism and the second group of connecting rod drive mechanism move in the same direction to drive the second knuckle to rotate relative to the swinging part; the first group of connecting rod drive mechanism and the second group of connecting rod drive mechanism move in opposite directions to drive the swinging part to rotate relative to the single finger base.

[0013] In the above-mentioned anthropomorphic dexterous finger, the second knuckle includes a second triangular connecting member, the first corner of the second triangular connecting member is hinged to the swinging member, the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms are respectively rotatably connected to the second corner of the second triangular connecting member through the main connecting rod, and the third corner of the second triangular connecting member is hinged to the bottom end of the first knuckle.

[0014] In the above-mentioned anthropomorphic dexterous finger, a group of connecting rod driving mechanisms is connected to the first joint, which is the third group of connecting rod driving mechanisms. The third group of connecting rod driving mechanisms also includes a first secondary connecting rod and a first auxiliary connecting rod. The top end of the main connecting rod of the third group of connecting rod driving mechanisms is connected to the second rotating shaft, the bottom end of the first secondary connecting rod and one end of the first auxiliary connecting rod are both rotatably connected to the second rotating shaft, the top end of the first secondary connecting rod is rotatably connected to the first joint, and the other end of the first auxiliary connecting rod is rotatably connected to the second joint.

[0015] In the above-mentioned anthropomorphic dexterous finger, the first knuckle includes a first triangular connector, the first corner of the first triangular connector is hinged to the second knuckle, the second corner of the first triangular connector is hinged to the fingertip, and the third corner of the first triangular connector is connected to the third set of connecting rod drive mechanisms.

[0016] In the above-mentioned anthropomorphic dexterous fingers, a group of connecting rod drive mechanisms is connected to the fingertips, which is the fourth group of connecting rod drive mechanisms. The fourth group of connecting rod drive mechanisms also includes a second secondary connecting rod and a second auxiliary connecting rod. The top end of the main connecting rod of the fourth group of connecting rod drive mechanisms is connected to a third rotating shaft, the bottom end of the second secondary connecting rod and one end of the second auxiliary connecting rod are both rotatably connected to the third rotating shaft, the top end of the second secondary connecting rod is connected to the fingertips, and the other end of the second auxiliary connecting rod is rotatably connected to the second knuckle.

[0017] In the above-mentioned anthropomorphic dexterous fingers, the fourth group of connecting rod drive mechanisms also includes a third sub-connecting rod and a third triangular connecting member, the first angle of the third triangular connecting member is rotatably connected to the first knuckle or the second knuckle, the second angle of the third triangular connecting member is rotatably connected to the top end of the second sub-connecting rod, the third angle of the third triangular connecting member is rotatably connected to one end of the third sub-connecting rod, and the other end of the third sub-connecting rod is rotatably connected to the fingertip.

[0018] In the above-mentioned anthropomorphic dexterous finger, the swinging member and the single-finger base are rotatably connected via a fourth rotating shaft, the swinging member and the single-finger base are respectively located at the two ends of the fourth rotating shaft, the swinging member is connected to a first abutment member, and the single-finger base is provided with a second abutment member, the first abutment member abuts against the second abutment member on the side of the second abutment member facing away from the swinging member.

[0019] In the above-mentioned anthropomorphic dexterous finger, one of the first abutment member and the second abutment member is a guide rail, and the other is a hook that slides with the guide rail. When the swing member rotates relative to the single-finger base, the hook slides on the slide rail.

[0020] The anthropomorphic dexterous hand comprises a palm and anthropomorphic dexterous fingers arranged on the palm and adopting any of the above solutions.

[0021] A humanoid robot adopts the above-mentioned humanoid dexterous hand.

[0022] Compared with the prior art, the advantages of the present invention are:

[0023] By providing independent linkage drive mechanisms for the fingertips, first and second knuckles, the problem of current humanoid dexterous fingers being unable to achieve precise bending control for each knuckle is addressed. The fingertips, first and second knuckles are hinged sequentially from top to bottom, consistent with the structure of a human finger. Because they are hinged sequentially, they can all bend relative to each other. Furthermore, the second knuckle is connected to a single-finger base via a swinging member. The second knuckle and swinging member, and the swinging member and single-finger base, respectively, rotate in non-parallel planes. This gives the entire humanoid dexterous finger four degrees of freedom. Furthermore, the fingertips, first and second knuckles are each connected to an independently driven linkage drive mechanism. This means that all four degrees of freedom are active, allowing the degree of bending or swinging of the finger at different positions within each degree of freedom to be controlled as needed. This gives the humanoid dexterous finger the same freedom and control as a human finger. A slide rail is provided on the single-finger base, along which the connecting seat slides, effectively controlling the sliding direction of the connecting seat and maintaining a consistent trajectory during sliding. This allows for more accurate power transmission to the finger and control of its movements. The reciprocating sliding of the connecting seat along the slide rail is controlled by a pull rope. After the action signal is given, the power component can respond quickly and drive the connecting seat to move through the pull rope. Even after long-term use, it can still maintain a high control accuracy.

[0024] Furthermore, a first pulley is provided at one end of the slide rail, and one of the upper and lower sections passes around the first pulley, with the upper and lower sections being connected to the same power member. The first pulley can be used to change the direction of the pull rope of the upper or lower section, allowing both sections to face the same direction, thereby achieving the purpose of simultaneously controlling both sections of the pull rope with a single power member. This not only makes the control response of the upper and lower sections faster, but also reduces the number of power members, thereby helping to reduce costs.

[0025] Furthermore, a second pulley is provided between the first pulley and the power member, the upper pull section and the lower pull section are respectively located on either side of the second pulley, and the connecting seat is slidably provided on a slide rail between the first pulley and the second pulley. The provision of the second pulley can prevent the pull rope passing around the first pulley from becoming entangled with the other pull rope section, thereby ensuring smooth movement of the two pull rope sections. Furthermore, the connecting seat is provided on the slide rail between the first pulley and the second pulley, so that the pull rope passing around the first pulley can also avoid becoming entangled with the connecting seat, thereby ensuring smooth sliding of the connecting seat.

[0026] Furthermore, the first pulley and the second pulley are respectively mounted on the slide rail via rotating shafts, and positioning sleeves are provided on the rotating shafts on both sides of the first pulley and the second pulley. The positioning sleeves can ensure that the pulleys are positioned on the corresponding shafts, preventing the pulleys from moving axially along the rotating shafts during rolling, which could cause the pull rope to become detached from the pulleys.

[0027] Furthermore, the first pulley is located on a side of the slide rail away from the single-finger base, and the power member is disposed at an end of the slide rail close to the single-finger base, or the power member is disposed on the single-finger base. Placing the power member close to or on the single-finger base provides more installation space for the power member, lowers the center of gravity of the entire dexterous hand, reduces the weight of the finger portion, and, because of the ample space, provides a wider range of power member options, which helps reduce overall costs.

[0028] Furthermore, the second finger joint is connected to two groups of connecting rod driving mechanisms, namely the first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism. The first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism are respectively located on both sides of the rotation axis of the swinging part relative to the single finger base. The first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism move in the same direction to drive the second finger joint to rotate relative to the swinging part; the first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism move in opposite directions to drive the swinging part to rotate relative to the single finger base. By locating the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms on both sides of the rotation axis of the swinging member relative to the single finger base, respectively, when the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms move synchronously in the same direction, the forces exerted by the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms on the second finger joint and the torque generated by the swinging member relative to the rotation axis of the single finger base are zero. At this time, with the push and pull of the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms, the second finger joint will flex and extend relative to the swinging member; and when the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms move synchronously in opposite directions, the forces exerted by the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms on the second finger joint and the rotation torque generated by the swinging member relative to the rotation axis of the single finger base will be opposite, which will cause the swinging member to rotate relative to the single finger base, thereby causing the second finger joint and the finger parts above it to swing left and right relative to the single finger base, and the bending and swinging control of the second finger joint is achieved through the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms.

[0029] Furthermore, the second knuckle includes a second triangular connector, the first corner of the second triangular connector is hinged to the swinging member, the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms are respectively rotatably connected to the second corner of the second triangular connector through a main connecting rod, and the third corner of the second triangular connector is hinged to the bottom end of the first knuckle. The specific structure of the second knuckle is that the first corner of the second triangular connector is used as a fulcrum, and the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms push and pull the second corner of the second triangular connector to drive the second knuckle to flex and extend, while the first knuckle uses the third corner of the second triangular connector as a flexion and extension axis. The second knuckle of this structure can not only ensure the flexion and extension of the second knuckle and provide a fulcrum for the rotation of the first knuckle, but also the structure of the triangular connector has a relatively stable mechanical structure.

[0030] Furthermore, the first phalanx is connected to a group of connecting rod drive mechanisms, which is a third group of connecting rod drive mechanisms. The third group of connecting rod drive mechanisms also includes a first secondary connecting rod and a first auxiliary connecting rod. The top end of the main connecting rod of the third group of connecting rod drive mechanisms is connected to a second rotating shaft. The bottom end of the first secondary connecting rod and one end of the first auxiliary connecting rod are both rotationally connected to the second rotating shaft. The top end of the first secondary connecting rod is rotationally connected to the first phalanx, and the other end of the first auxiliary connecting rod is rotationally connected to the second phalanx. The specific structure of the third group of connecting rod drive mechanisms that drives the flexion and extension of the first phalanx is that, through the rotational connection between the first secondary connecting rod and the main connecting rod, when the first phalanx is bent at a relatively large angle, a larger angle can be formed between the first secondary connecting rod and the main connecting rod to avoid other parts on the finger. In addition, a first auxiliary connecting rod is added to the rotating shaft connecting the first secondary connecting rod and the main connecting rod to limit the motion trajectory of the second rotating shaft, ensuring that the main connecting rod drives the first secondary connecting rod to move along the set trajectory.

[0031] Furthermore, the first knuckle includes a first triangular connector, a first angle of the first triangular connector is hinged to the second knuckle, a second angle of the first triangular connector is hinged to the fingertip, and the third angle of the first triangular connector is connected to the third set of connecting rod drive mechanisms. The specific structure of the first knuckle is that the first angle of the first triangular connector is used as the fulcrum for flexion and extension, and the connecting rod drive mechanism is connected to the first triangular connector through the third angle of the first triangular connector, thereby pushing the first triangular connector to flex and extend around the first angle, and the second angle of the first triangular connector serves as the fulcrum for flexion and extension of the fingertip. This structure can not only realize the flexion and extension of the first knuckle but also provide a fulcrum for the rotation of the fingertip. Similarly, the structure of the triangular connector has a relatively stable mechanical structure.

[0032] Furthermore, the fingertips are connected to a connecting rod drive mechanism, which is a fourth connecting rod drive mechanism. The fourth connecting rod drive mechanism also includes a second secondary connecting rod and a second auxiliary connecting rod. The top end of the main connecting rod of the fourth connecting rod drive mechanism is connected to a third rotating shaft. The bottom end of the second secondary connecting rod and one end of the second auxiliary connecting rod are both rotationally connected to the third rotating shaft. The top end of the second secondary connecting rod is connected to the fingertips, and the other end of the second auxiliary connecting rod is rotationally connected to the second finger joint. The specific structure of the fourth connecting rod drive mechanism that drives the flexion and extension of the fingertips is that the second auxiliary connecting rod defines the motion trajectory of the third rotating shaft, ensuring that the main connecting rod can drive the second secondary connecting rod to move along the set trajectory.

[0033] Furthermore, the fourth connecting rod drive mechanism also includes a third secondary connecting rod and a third triangular connecting member, wherein the first angle of the third triangular connecting member is rotationally connected to the first or second finger joint, the second angle of the third triangular connecting member is rotationally connected to the top of the second secondary connecting rod, the third angle of the third triangular connecting member is rotationally connected to one end of the third secondary connecting rod, and the other end of the third secondary connecting rod is rotationally connected to the fingertip. Adding the third triangular connecting member and the third secondary connecting rod to the fourth connecting rod drive mechanism not only allows the fourth connecting rod drive mechanism to avoid other parts on the finger, but also, since the distance from the fingertip to the single finger base is relatively far, adding the third triangular connecting member with the first angle as the rotation fulcrum can ensure the stability of the movement of the fourth connecting rod drive mechanism.

[0034] Furthermore, the swing member and the single-finger base are rotatably connected via a fourth rotating shaft. The swing member and the single-finger base are respectively located at opposite ends of the fourth rotating shaft. The swing member is connected to a first abutment member, and the single-finger base is provided with a second abutment member. The first abutment member abuts against the second abutment member on the side of the second abutment member facing away from the swing member. By providing the mutual abutment between the first and second abutment members, the radial force applied to the fourth rotating shaft is reduced, ensuring the long-term stable operation of the fourth rotating shaft.

[0035] Furthermore, one of the first and second abutment members is a guide rail, and the other is a hook that slidably engages with the guide rail. When the swing member rotates relative to the single-finger base, the hook slides on the guide rail. The engagement of the hook and the guide rail allows the hook to distribute radial forces acting on the fourth rotation axis without hindering the swing member from rotating about the fourth rotation axis.

[0036] A humanoid dexterous hand comprises a palm and humanoid dexterous fingers disposed on the palm, each employing any of the above-described solutions. Furthermore, a humanoid robot employing the above-described humanoid dexterous hand is provided. Both the humanoid dexterous hand and the humanoid robot possess improved controllability and increased finger freedom, enabling them to adapt to more complex scenarios. Furthermore, the dexterous fingers exhibit faster response speeds, enabling hand movements that more closely resemble those of a real person. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A three-dimensional diagram of the utility model imitating the dexterous fingers of a human;

[0038] Figure 2 This is a three-dimensional diagram of the humanoid dexterous finger of the utility model after removing a second triangular connecting piece;

[0039] Figure 3 This is a schematic structural diagram of the drive assembly of the four-link drive mechanism in the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of a single drive assembly in the present utility model;

[0041] Figure 5 This is an exploded view of a single drive assembly in the present invention;

[0042] Figure 6 This is a front view of a single drive assembly in the present utility model;

[0043] Figure 7 for Figure 4 AA cross-sectional view;

[0044] Figure 8 This is an exploded view of the single-finger base and the swing member in the present utility model;

[0045] Figure 9 This is a schematic diagram of the connection structure of the fingertip, the first knuckle and the second knuckle in the present invention;

[0046] Figure 10 This is a schematic diagram of the connection structure of the main connecting rod, the first secondary connecting rod and the first auxiliary connecting rod in the third connecting rod driving mechanism of the utility model;

[0047] Figure 11 This is a schematic diagram of the connection structure of the main connecting rod, the second secondary connecting rod, the second auxiliary connecting rod, the third secondary connecting rod and the third triangular connecting member in the fourth connecting rod driving mechanism of the present invention;

[0048] Figure 12 This is a schematic diagram of the connection structure between the swing member and the single-finger base in the utility model.

[0049] The accompanying drawings are:

[0050] Single finger base 100, second abutment member 110, fingertip 200, first finger joint 300, first triangular connector 310, second finger joint 400, first rotating shaft 410, second triangular connector 420, swing member 500, fourth rotating shaft 510, first abutment member 520, main connecting rod 610, fifth rotating shaft 620, positioning sleeve 621, driving assembly 630, power member 640, pull rope 650, upper pull section 651, lower pull section 652, slide rail 660, connecting seat 670, seat body 671, first connecting portion 6 711, fixed groove 6712, second connecting part 6713, slider 672, sliding groove 6721, first pulley 680, second pulley 690, first group of connecting rod driving mechanism 710, second group of connecting rod driving mechanism 720, third group of connecting rod driving mechanism 800, first sub-connecting rod 810, first auxiliary connecting rod 820, second rotating shaft 830, fourth group of connecting rod driving mechanism 900, second sub-connecting rod 910, second auxiliary connecting rod 920, third rotating shaft 930, third sub-connecting rod 940, third triangular connecting member 950. DETAILED DESCRIPTION

[0051] The humanoid dexterous finger comprises a single finger base 100 and a fingertip 200, a first finger joint 300, and a second finger joint 400 hinged from top to bottom in sequence. The bottom end of the second finger joint 400 is hinged to a swinging member 500, and the swinging member 500 is rotatably connected to the single finger base 100. The rotation plane of the second finger joint 400 relative to the swinging member 500 is not parallel to the rotation plane of the swinging member 500 relative to the single finger base 100. The fingertip 200, the first finger joint 300, and the second finger joint 400 are respectively connected to at least one group of connecting rod driving mechanisms for driving the fingertip 200, the first finger joint 300, and the second finger joint 400 to move independently. Each group of the connecting rod driving mechanisms includes a main connecting rod 610 and a driving assembly 630 that drives the main connecting rod 610 to move, the driving assembly 630 includes a power piece 640, a pull rope 650 driven to move by the power piece 640, a slide rail 660 fixed on the single-finger base 100 and a connecting seat 670 slidably arranged on the slide rail 660, the connecting seat 670 is movably connected to the main connecting rod 610, the pull rope 650 includes an upper pull section 651 and a lower pull section 652, the upper pull section 651 and the lower pull section 652 are fixedly connected to the connecting seat 670 at both ends of the sliding direction of the connecting seat 670, and the power piece 640 drives the connecting seat 670 to slide back and forth along the slide rail 660 through the pull rope 650.

[0052] By providing independent linkage drive mechanisms for the fingertip 200, first phalanx 300, and second phalanx 400, respectively, this solves the problem of current humanoid dexterous fingers being unable to achieve precise bending control for each phalanx. The fingertip 200, first phalanx 300, and second phalanx 400 are hinged sequentially from top to bottom, consistent with the structure of a human finger. Because they are hinged sequentially, they can all bend relative to each other. Furthermore, the second phalanx 400 is connected to the single-finger base 100 via a swinging member 500. The second phalanx 400 and swinging member 500, and the swinging member 500 and single-finger base 100, respectively, rotate in non-parallel planes. This gives the entire humanoid dexterous finger four degrees of freedom. Each of the fingertip 200, first phalanx 300, and second phalanx 400 is independently driven by a linkage drive mechanism. This means that all four degrees of freedom are active, allowing the degree of bending or swinging of the finger at different locations within each degree of freedom to be controlled as needed, giving the humanoid dexterous finger the same freedom and control as a human finger. A slide rail 660 is provided on the single-finger base 100, and the connector 670 slides along the slide rail 660, thereby effectively controlling the sliding direction of the connector 670 and maintaining a consistent trajectory during the sliding process. This allows for more accurate transmission of power to the finger and control of finger movements. The reciprocating sliding of the connector 670 along the slide rail 660 is controlled by a pull cord 650. Upon receiving an action signal, the power element 640 can quickly respond, driving the connector 670 through the pull cord 650. This allows for high control accuracy to be maintained even after long-term use.

[0053] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing 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 operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0055] 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 the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0056] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0057] See Figures 1 to 12 This is an embodiment of the present invention's humanoid dexterous finger, a humanoid dexterous hand, and a humanoid robot using the finger. The humanoid dexterous finger has a structure similar to that of a human finger, including a single finger base 100 and a fingertip 200, a first knuckle 300, and a second knuckle 400 hinged from top to bottom. The hinged connection allows the fingertip 200 to rotate relative to the first knuckle 300, and the first knuckle 300 to rotate relative to the second knuckle 400. This rotation can be understood as flexion and extension of the finger, and all of the above rotations occur within the same plane. The bottom end of the second knuckle 400 is hinged to a swinging member 500, allowing the second knuckle 400 to flex and extend relative to the swinging member 500. The flexion and extension plane of the second knuckle 400 relative to the swinging member 500 coincides with the flexion and extension plane of the first knuckle 300 relative to the second knuckle 400, thereby achieving the same flexion and extension freedom of the humanoid finger as the four fingers of the human body except the thumb. The swinging member 500 is pivotally connected to the single-finger base 100, and the rotational plane is non-parallel to the rotational plane of the second phalanx 400 relative to the swinging member 500. This gives the fingers above the second phalanx 400 a fourth degree of freedom, allowing them to swing relative to the single-finger base 100. To more closely resemble the range of motion of a human finger, the swinging member 500 swings left and right in a vertical plane relative to the single-finger base 100, while the fingertip 200, first phalanx 300, and second phalanx 400 flex and extend in a vertical plane perpendicular to the swinging plane.

[0058] To achieve the four degrees of freedom of the anthropomorphic dexterous finger, the fingertip 200, first knuckle 300, and second knuckle 400 are each connected to a connecting rod drive mechanism that independently drives their movements. This ensures that all four degrees of freedom are active. This means that individual parts of the finger can be actively controlled to move within the permitted degrees of freedom, such as independently controlling the flexion and extension of the fingertip 200, the first knuckle 300, and the second knuckle 400, or to flex and extend, or to swing left and right. This gives the anthropomorphic dexterous hand similar movement characteristics to those of a human finger.

[0059] Since the second knuckle 400 also has the characteristic of swinging left and right, the second knuckle 400 will drive the fingertip 200 and the first knuckle 300 to swing left and right when it swings left and right, and the connecting rod drive mechanism generally moves in a straight line. In order to better adapt to the swinging characteristics of the fingers, each set of connecting rod mechanisms includes a main connecting rod 610 and a driving assembly 630 arranged on the single finger base 100. The main connecting rod 610 is rotatably connected to the driving assembly 630, and the driving assembly 630 transmits power to the corresponding finger part through the main connecting rod 610.

[0060] Because the space within the fingertips 200 or knuckles is limited, placing the drive assembly 630 in these locations also requires the drive assembly 630 to be small and have high torque. This results in a smaller selection of drive assemblies 630 that meet these requirements, and the corresponding price of the drive assembly 630 is also higher. In this embodiment, the drive assembly 630 is placed on the single-finger base 100, which has a relatively larger space and can accommodate a larger drive assembly 630. This expands the range of drive assembly 630 options, helps reduce the price of the drive assembly 630, and thus reduces the price of the entire dexterous finger.

[0061] like Figures 3 to 7 As shown, the drive assembly 630 includes a power member 640, a pull cord 650 driven by the power member 640, a slide rail 660 fixed to the single-finger base 100, and a connecting base 670 slidably mounted on the slide rail 660. The orientation of the slide rail 660 can be set according to the requirements of the humanoid dexterous hand. In this embodiment, the slide rail 660 is vertically arranged, and the corresponding connecting base 670 slides in the vertical direction along the slide rail 660.

[0062] The pull rope 650 includes an upper pull section 651 and a lower pull section 652. The upper pull section 651 is primarily used to pull the connecting seat 670 upward, causing the connecting seat 670 to slide upward along the slide rail 660; the lower pull section 652 is primarily used to pull the connecting seat 670 downward, causing the connecting seat 670 to slide downward along the slide rail 660. The upper pull section 651 and the lower pull section 652 can be two sections of a single pull rope 650 with different functions, or two pull ropes 650 can be used to achieve different purposes. Whether it is a single pull rope 650 or two pull ropes 650, they are both connected to the power member 640, so that the power member 640 controls the reciprocating movement of the connecting seat 670 along the slide rail 660 through the pull rope 650.

[0063] The power member 640 can be one or two. If there are two power members 640, they provide power for the upper pull section 651 to lift up and the lower pull section 652 to pull down, respectively. For example, a driving motor is provided at each end of the upper slide rail 660 as a power member 640. The motor shaft of the driving motor is wound around or released with the pull rope 650 to control the sliding of the connecting seat 670 on the slide rail 660. In this embodiment, there is only one power member 640, and the one power member 640 is used to simultaneously control the upper pull section 651 to lift up or the lower pull section 652 to pull down. Specifically, a first pulley 680 is provided at one end of the slide rail 660. One of the upper pull section 651 and the lower pull section 652 passes around the first pulley 680. The first pulley 680 changes the direction of the upper pull section 651 or the lower pull section 652 so that the upper pull section 651 or the lower pull section 652 is parallel and faces the same direction, while being connected to the power member 640. The power element 640 can be a drive motor, with both the pull cord 650 of the upper pull section 651 and the pull cord 650 of the lower pull section 652 attached to the motor shaft of the drive motor. When the motor shaft rotates forward, the pull cord 650 of the upper pull section 651 is released and simultaneously wound around the pull cord 650 of the lower pull section 652, thereby pulling the connecting seat 670 downward. When the motor shaft rotates backward, the pull cord 650 of the upper pull section 651 is wound around and simultaneously released around the pull cord 650 of the lower pull section 652, thereby pulling the connecting seat 670 upward. The upward or downward movement of the connecting seat 670 will also drive the corresponding knuckle movement through the main connecting rod 610. The drive motor is equipped with a sensor that detects the motor shaft speed and number of rotations, such as a Hall sensor. By controlling the speed and number of rotations, the finger movement position is adjusted. Moreover, by detecting the actual motor speed, the motor speed can be understood in real time and adjusted, thereby precisely controlling the flexion and extension speed of the finger.

[0064] In addition to using a drive motor, a power member 640 such as a double-ended cylinder can also be used to achieve the purpose of controlling the forward and reverse movement of the power member 640 to control the pull rope 650 to drive the connecting seat 670 to reciprocate along the slide rail 660. Similarly, a sensor can be added to detect the movement position of the double-ended cylinder piston to accurately adjust the movement position of the finger.

[0065] Furthermore, the power element 640 is positioned within the single-finger base 100, below the slide rail 660. This fully utilizes the space within the single-finger base 100, lowers the center of gravity of the entire anthropomorphic dexterous hand, and reduces the diameter of the fingers, making them closer to the size of human fingers. Of course, the power element 640 can also be positioned at the end of the slide rail 660 closer to the single-finger base 100. In this case, the first pulley 680 is located at the end of the slide rail 660 away from the single-finger base 100, allowing the connecting base 670 to slide on the slide rail 660 between the first base and the power element 640. If the power element 640 is positioned on the knuckle, its size is limited and it would also need to generate a large torque. A suitable power element 640 would be very expensive. In this embodiment, the power element 640 is positioned within the single-finger base 100, providing ample space within the base 100. This reduces the size restrictions on the power element 640, allowing for a wider range of power element 640 options and helping to reduce the manufacturing cost of the entire dexterous hand.

[0066] If the length of the slide rail 660 is too long or the diameter of the first pulley 680 is too short, the upper pulley section 651 may interfere with or be entangled with the connecting seat 670 after it passes around the first pulley 680, thereby affecting the normal sliding of the connecting seat 670. Therefore, a second pulley 690 is also provided on the slide rail 660 between the first pulley 680 and the power member 640. The upper pulley section 651 and the lower pulley section 652 are respectively located on both sides of the second pulley 690. Through the restriction of the first pulley 680 and the second pulley 690, the pull ropes 650 on the left and right sides between the first pulley 680 and the second pulley 690 maintain a certain distance, thereby avoiding the occurrence of the above-mentioned problem.

[0067] Furthermore, a protective tube is provided between the second pulley 690 and the power part 640 and is sleeved on the outer periphery of the pull rope 650. Since multiple sets of drive components 630 are provided on the single-finger base 100, in order to prevent the pull ropes 650 of adjacent drive components 630 from being entangled, and to prevent the pull ropes 650 from touching other parts of the dexterous hand, the above functions are realized through the protective tube. The diameter of the protective tube can be smaller than the diameter of the second pulley 690, so that the two sections of the pull rope 650 below the second pulley 690 are in a retracted state.

[0068] The first pulley 680 and the second pulley 690 are both mounted on the slide rail 660 via the fifth rotating shaft 620. Positioning sleeves 621 are provided on the fifth rotating shaft 620 on both sides of the first pulley 680 and the second pulley 690. The sleeves limit the relative positions of the first pulley 680 and the second pulley 690 in the axial direction of the fifth rotating shaft 620, preventing them from axially moving along the fifth rotating shaft 620 when the rollers roll, thereby preventing the pull rope 650 from detaching from the pulleys. In addition to using an optical axis, the fifth rotating shaft 620 can also be replaced by a bolt. The pulley is mounted on the unthreaded portion of the bolt, and the bolt can also be used to secure the single-finger base 100. This eliminates the need for other components to secure the slide rail 660 to the single-finger base 100, simplifying the overall structure.

[0069] In the above embodiment, the first pulley 680 and the second pulley 690 are both arranged on the slide rail 230 through the fifth rotating shaft 620. The first pulley 680 and the second pulley 690 are both fixed pulleys. The pull rope 650 cooperates with the fixed pulley to control the movement of the connecting seat 670. The moving speed of the connecting seat 670 is consistent with the retraction and extension speed of the pull rope 650. This method has a higher response speed. The movement of the power part 640 can be quickly transmitted to the connecting seat 670 and drive the corresponding finger joint movement through the main connecting rod 610.

[0070] Based on the above embodiment, the connecting base 670 includes a base body 671 and a slider 672 that is detachably fixed to the connecting base 670. The slider 672 and the base body 671 can be connected by screws or by a detachable connection such as a snap connection. The detachable connection between the slider 672 and the base body 671 facilitates the manufacture of the connecting base 670 and can also meet the functional requirements of different positions of the connecting base 670. The slider 672 is a wearable part, while the base body 671 serves to connect the pull rope 650, the main connecting rod 610 and other components. Therefore, the detachable connection method also facilitates replacement and maintenance of the slider 672 after it wears.

[0071] The slider 672 is provided with a slide groove 6721 that cooperates with the slide rail 660. The cross-sectional shape of the slide groove 6721 is adapted to the cross-sectional shape of the slide rail 660. For example, the slide rail 660 and the slider 672 can be made into a dovetail shape or a concave-convex cross-sectional shape.

[0072] The base body 671 is provided with a first connecting portion 6711 fixed to the pull rope 650. The pull rope 650 can be fixed to the first connecting portion 6711 by means of clipping or screwing. For example, a clip can be provided on the first connecting portion 6711 to clamp the pull rope 650. A fixing groove 6712 can also be provided on the first connecting portion 6711. The fixing groove 6712 can be provided with a spring clip to clamp the pull rope 650. The pull rope 650 can also be fixed in the fixing groove 6712 by a bolt passing through the fixing groove 6712.

[0073] The seat body 671 is also provided with a second connecting portion 6713 connected to the main connecting rod 610. The second connecting portion 6713 and the main connecting rod 610 are generally connected by a movable connection to provide the main connecting rod 610 with more degrees of freedom. For example, a sliding rod is provided on the second connecting portion 6713, and the main connecting rod 610 is slidably connected to the sliding rod.

[0074] In order to avoid interference, the first connection part 6711 and the second connection part 6713 are respectively located on opposite sides of the slide rail 660. In this embodiment, the first connection part 6711 and the pull rope 650 are located on the same side of the slide rail 660, while the second connection part 6713 and the slider 672 are located on the other side of the slide rail 660, thereby avoiding the first pulley 680 or the pull rope 650 from affecting the movement of the main connecting rod 610.

[0075] Based on the above embodiments, Figure 2 、 Figure 3 、 Figure 9 As shown, the second finger joint 400 is connected to two groups of connecting rod drive mechanisms, namely the first group of connecting rod drive mechanism 710 and the second group of connecting rod drive mechanism 720. The swing member 500 rotates around the single finger base 100, and its rotation axis is L1. The first group of connecting rod drive mechanism 710 and the second group of connecting rod drive mechanism 720 are arranged side by side and are respectively located on both sides of the rotation axis L1. In this way, when the first group of connecting rod drive mechanism 710 and the second group of connecting rod drive mechanism 720 move synchronously in the same direction, two equal-sized squares will be generated relative to the rotation axis L1. The opposite torque causes the swing member 500 to not rotate about the rotation axis L1, but instead causes the second finger joint 400 to rotate relative to the swing member 500 about the rotation axis L2. In this embodiment, the first and second connecting rod drive mechanisms 710, 720 simultaneously push the second finger joint 400 upward to swing upward about the rotation axis L2, presenting an extension movement, while the first and second connecting rod drive mechanisms 710, 720 simultaneously pull the second finger joint 400 downward about the rotation axis L2 to swing downward, presenting a flexion movement. However, when the first and second connecting rod drive mechanisms 710, 720 simultaneously move in opposite directions, a torque in the same rotational direction about the rotation axis L1 is generated on the swing member 500, causing the swing member 500 to rotate about the rotation axis L1, thereby achieving left and right swinging of the finger.

[0076] Furthermore, the top ends of the main connecting rods 610 of the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 are both rotatably connected to the first rotating shaft 410, and the first rotating shaft 410 is rotatably connected to the second finger joint 400. The rotation axis of the first rotating shaft 410 is L3, so that the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 share the first rotating shaft 410, so that the force when the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720 drive the second finger joint 400 to flex and extend is equal, which makes it easier to control the synchronous movement of the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720.

[0077] The second finger joint 400 includes a second triangular connector 420, which has three corners, corresponding to the connection of the swinging member 500, the connecting rod drive mechanism and the first finger joint 300 respectively. Specifically, the first corner of the second triangular connector 420 is hinged to the swinging member 500, the second corner of the second triangular connector 420 is connected to the first group of connecting rod drive mechanisms 710 and the second group of connecting rod drive mechanisms 720, and the third corner of the second triangular connector 420 is hinged to the first finger joint 300, and its rotation axis is L4.

[0078] Since the second knuckle 400 needs to support the first knuckle 300 and the fingertip 200, and the left and right swinging of the finger also needs to be achieved by driving the second knuckle 400 to drive the swinging member 500 to rotate through the first group of connecting rod driving mechanisms 710 and the second group of connecting rod driving mechanisms 720, therefore, in this embodiment, the second knuckle 400 includes two second triangular connecting members 420 arranged in parallel and spaced apart. This not only improves the strength of the second knuckle 400, but also forms a space in the middle of the second knuckle 400. The connecting rod driving mechanisms connected to the fingertip 200 and the first knuckle 300 all pass through between the two second triangular connecting members 420, and the two second triangular connecting members 420 can also protect the passing connecting rod driving mechanisms.

[0079] Based on the above embodiments, Figure 2 、 Figure 9 、 Figure 10As shown, since the first finger joint 300 only needs to realize flexion and extension, a group of connecting rod driving mechanisms are connected to the first finger joint 300, which is the third group of connecting rod driving mechanisms 800. The driving assembly 630 of the third group of connecting rod driving mechanisms 800 is set on the single finger base 100. Therefore, the main connecting rod 610 of the third group of connecting rod driving mechanisms 800 needs to be set very long to transmit the power of the driving assembly 630 to the first finger joint 300. The third connecting rod driving mechanism must pass through the second finger joint 400. The second knuckle 400 can bend and extend, and the first knuckle 300 can also bend and extend. When the first knuckle 300 and the second knuckle 400 simultaneously reach the maximum flexion position and the maximum extension position, if the power is transmitted only by the main connecting rod 610, the main connecting rod 610 will sweep a huge range, which will interfere with other components provided on the second knuckle 400. In addition, the main connecting rod 610 alone will also significantly exceed the range of the second knuckle 400, making it impossible for the second knuckle 400 to maintain the proportions of a human finger. Figure 2 、 Figure 10 As shown, in order to solve the above problems, the third group of connecting rod driving mechanism 800 also includes a first secondary connecting rod 810 and a first auxiliary connecting rod 820. The top of the main connecting rod 610 of the third group of connecting rod driving mechanism 800 is connected to the second rotating shaft 830, and the bottom end of the first secondary connecting rod 810 is also rotatably connected to the second rotating shaft 830. The top of the first secondary connecting rod 810 is rotatably connected to the first finger joint 300, and one end of the first auxiliary connecting rod 820 is also rotatably connected to the second rotating shaft 830. The rotation axis of the second rotating shaft 830 is L5. The other end of the first auxiliary connecting rod 820 is rotatably connected to the second finger joint 400. Through the first auxiliary connecting rod 820, when driving the first finger joint 300 to flex and extend, the motion trajectory of the rotation axis L5 is limited. When realizing the flexion and extension of the first finger joint 300, the angle between the main connecting rod 610 and the first secondary connecting rod 810 can change, thereby avoiding some components on the second finger joint 400. The other end of the optimal first auxiliary link 820 is rotatably connected to the first rotating shaft 410 of the second finger joint 400, which can reduce the number of parts of the entire device and save costs.

[0080] Furthermore, to enable the first phalanx 300 to be driven by the third linkage drive mechanism 800 to rotate relative to the second phalanx 400 and to be rotationally connected to the fingertip 200, the first phalanx 300 includes a first triangular connector 310. A first corner of the first triangular connector 310 is rotationally connected to the second phalanx 400, and a second corner of the first triangular connector 310 is rotationally connected to the fingertip 200, with a rotation axis L6. The third corner of the first triangular connector 310 is rotationally connected to the third linkage drive mechanism 800, that is, the third corner of the first triangular connector 310 is rotationally connected to the top of the first secondary link 810, with a rotation axis L7. The drive assembly 630 of the third linkage drive mechanism 800 transmits power from the main link 610 to the first secondary link 810. The first secondary link 810 pushes and pulls the first phalanx 300, causing it to rotate about the rotation axis L4, thereby achieving the purpose of the third linkage drive mechanism 800 driving the first phalanx 300 to flex and extend.

[0081] On the basis of the above embodiment, a set of connecting rod driving mechanisms is connected to the fingertip 200, which is the fourth connecting rod driving mechanism 900. The problem encountered when driving the first finger joint 300 to flex and extend is the same. The fourth connecting rod driving mechanism 900 also needs to avoid the components in the second finger joint 400 and the components in the first finger joint 300. Therefore, Figure 2 、 Figure 9 、 Figure 11 As shown, the fourth connecting rod drive mechanism 900 includes a second secondary connecting rod 910 and a second auxiliary connecting rod 920. The top end of the main connecting rod 610 of the fourth connecting rod drive mechanism 900 is connected to a third rotating shaft 930. The bottom end of the second secondary connecting rod 910 and one end of the second auxiliary connecting rod 920 are both rotatably connected to the third rotating shaft 930. In other words, the main connecting rod 610, the second secondary connecting rod 910, and the second auxiliary connecting rod 920 of the fourth connecting rod drive mechanism 900 can all rotate about the third rotating shaft 930, with the rotation axis L8 being the axis of rotation. The top end of the second secondary connecting rod 910 is connected to the fingertip 200, and the other end of the second auxiliary connecting rod 920 is rotatably connected to the second finger joint 400. The second auxiliary connecting rod 920 defines the motion trajectory of the third rotating shaft 930. This structural design serves the same purpose as the third connecting rod drive mechanism 800. The optimal arrangement of the second auxiliary connecting rod 920 with its other end rotatably connected to the first rotating shaft 410 of the second finger joint 400 can reduce the number of parts in the entire device, saving costs. Since the fingertip 200 is equipped with a fourth group of connecting rod driving mechanisms 900 that independently drives its flexion and extension, the fingertip 200 has an active flexion and extension function, and the flexion and extension of the fingertip 200 is directly driven by the fourth group of connecting rod driving mechanisms 900. The driving force of the fourth group of connecting rod driving mechanisms 900 is directly transmitted to the fingertip 200, ensuring that the fingertip 200 has sufficient force.

[0082] Furthermore, the fourth group of connecting rod drive mechanism 900 also includes a third secondary connecting rod 940 and a third triangular connecting member 950. The first angle of the third triangular connecting member 950 is rotatably connected to the first finger joint 300 or the second finger joint 400. In this embodiment, the first angle of the third triangular connecting member 950 is coaxial with the rotation connection between the second finger joint 400 and the first finger joint 300, that is, the first angle of the third triangular connecting member 950 can also rotate around the rotation axis L4; the second angle of the third triangular connecting member 950 is rotatably connected to the top end of the second secondary connecting rod 910, and the rotation axis is L9; the third angle of the third triangular connecting member 950 is rotatably connected to the first finger joint 300 or the second finger joint 400. One end of the third secondary connecting rod 940 is rotatably connected, and the rotation axis is L10; the other end of the third secondary connecting rod 940 is rotatably connected to the fingertip 200, and the rotation axis is L11. The rotation axis L11 does not coincide with the rotation axis L6. The power of the driving component 630 of the fourth group of connecting rod driving mechanism 900 drives the third triangular connecting member 950 to rotate around the rotation axis L4 through the main connecting rod 610 and the second secondary connecting rod 910. The rotation of the third triangular connecting member 950 drives the fingertip 200 to rotate around the rotation axis L6 through the third secondary connecting rod 940, thereby realizing the control of the flexion and extension of the fingertip 200 by the fourth group of connecting rod driving mechanism 900. The fourth group of connecting rod drive mechanisms 900 of the above structure can not only avoid the rotating shafts set in the second knuckle 400 and the first knuckle 300, but also make the second sub-connecting rod 910 close to the flexion and extension trajectory of the second knuckle 400 and the third sub-connecting rod 940 close to the flexion and extension trajectory of the first knuckle 300. It can reduce the distance between the second sub-connecting rod 910 and the second knuckle 400, and the distance between the third sub-connecting rod 940 and the first knuckle 300, or be completely wrapped by the corresponding knuckles, so that the size ratio of the second knuckle 400 and the first knuckle 300 is closer to the actual ratio of human fingers.

[0083] like Figure 2 、 Figure 8 As shown, in order to prevent the single-finger base 100 from interfering with the movement of the swing member 500 and the second finger joint 400, the swing member 500 is rotatably connected to the single-finger base 100 via the fourth shaft 510. The swing member 500 and the single-finger base 100 are respectively located at the two ends of the fourth shaft 510, and the second finger joint 400, the first finger joint 300 and the fingertip 200 are also connected to the swing member 500. These weights will use the position where the shaft is connected to the single-finger base 100 as a fulcrum to generate a huge torque, causing the fourth shaft 510 to bend, resulting in changes in the left and right swing trajectory of the finger, affecting the finger's inability to accurately complete the intended action. In order to solve the above technical problems, as Figure 8 、 Figure 12As shown, a first abutment 520 is provided on the swinging member 500, and a second abutment 110 is provided on the single-finger base 100. The first abutment 520 abuts against the second abutment 110 on the side of the second abutment 110 facing away from the swinging member 500. That is, the abutment between the first abutment 520 and the second abutment 110 generates a force to pull the swinging member 500, thereby reducing the influence of gravity on the swinging member 500 on the fourth rotating shaft 510.

[0084] Furthermore, one of the first abutment 520 and the second abutment 110 is a slide rail, and the other is a hook that cooperates with the slide rail. When the swinging member 500 rotates relative to the single-finger base 100, the hook slides on the slide rail. In this embodiment, the hook is fixed to the swinging member 500, and the slide rail is set on the single-finger base 100. The slide rail is arc-shaped and coaxial with the fourth rotating shaft 510. For example, the slide rail is set at the top of the connection position between the single-finger base 100 and the swinging member 500, which will not affect the rotation of the swinging member 500. In addition to the above-mentioned structure of the first abutment 520 and the second abutment 110, a slide groove can be opened on the single-finger base 100, and the first abutment 520 is bolted. The head of the bolt passes through the slide groove and is fixedly connected to the swinging member 500 above the fourth rotating shaft 510. The tail of the bolt abuts against the side wall of the single-finger base 100 next to the slide groove, thereby reducing the influence of gravity on the fourth rotating shaft 510.

[0085] Based on the above embodiment, one of the fingertip 200, the first knuckle 300, and the second knuckle 400, or all of them can be provided with a six-axis force sensor, which can detect the force of the humanoid dexterous finger touching the object, and control the finger position state through the corresponding drive component to achieve the ability to grasp fragile objects, such as the ability to grasp eggs.

[0086] The above structure not only achieves active control of the four degrees of freedom (DOF) of flexion and extension of the second knuckle 400, flexion and extension of the first knuckle 300, and flexion and extension of the fingertip 200, but also enables the rapid and accurate transmission of power from the drive assembly 630 to the corresponding knuckle or fingertip 200 through the connecting rod structure. This allows the entire anthropomorphic dexterous finger to have the same degrees of freedom as a human finger, and to actively control each degree of freedom, achieving the same functions as a human finger. Triangular connectors are used in both the first knuckle 300 and the second knuckle 400. These connectors not only maintain the flexion angle of the knuckles, but also prevent the movement of the other knuckle when one knuckle is bent. For example, when the first knuckle 300 is bent, the second knuckle 400 is not affected, and the angle between the first knuckle 300 and the second knuckle 400 remains unchanged. Similarly, when the second knuckle 400 is flexed and extended, the first knuckle 300 is not affected, and the angle between the first knuckle 300 and the second knuckle 400 remains unchanged. In addition, the present invention also arranges the drive components 630 of all connecting rod drive mechanisms on the single-finger base 100, which not only reduces the center of gravity of the anthropomorphic dexterous fingers, but also makes full use of the space of the single-finger base 100, allowing the drive components 630 to have a larger range of choices, which is beneficial to reducing the cost of the drive components 630, and can also prevent the fingers from being too thick, maintaining the same proportions of the anthropomorphic dexterous fingers as human fingers.

[0087] The utility model also discloses a humanoid dexterous hand comprising a palm and humanoid dexterous fingers disposed on the palm and employing any of the above-described solutions. Furthermore, a humanoid robot employing the above-described humanoid dexterous hand is disclosed. Both the humanoid dexterous hand and the humanoid robot possess improved controllability and increased finger freedom, enabling them to adapt to more complex scenarios.

[0088] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by any technician in this field within the scope of the present invention are included in the patent scope of the present invention.

Claims

1. Humanoid dexterous fingers, characterized by: The finger grip comprises a single finger base and a fingertip, a first finger joint, and a second finger joint hingedly connected in sequence from top to bottom. The bottom end of the second finger joint is hingedly connected to a swinging member, and the swinging member is rotatably connected to the single finger base. The rotation plane of the second finger joint relative to the swinging member is not parallel to the rotation plane of the swinging member relative to the single finger base. The fingertip, the first knuckle and the second knuckle are respectively connected to at least one set of connecting rod driving mechanisms for driving the fingertip, the first knuckle and the second knuckle to move independently; Each group of the connecting rod driving mechanism includes a main connecting rod and a driving assembly that drives the main connecting rod to move. The driving assembly includes a power piece, a pull rope driven by the power piece, a slide rail fixed on the single-finger base and a connecting seat slidably arranged on the slide rail. The connecting seat is movably connected to the main connecting rod. The pull rope includes an upper pull section and a lower pull section. The upper pull section and the lower pull section are fixedly connected to the connecting seat at both ends of the sliding direction of the connecting seat. The power piece drives the connecting seat to slide back and forth along the slide rail through the pull rope.

2. The humanoid dexterous finger according to claim 1, characterized in that: A first pulley is provided at one end of the slide rail, one of the upper pull-up section and the lower pull-down section passes around the first pulley, and the upper pull-up section and the lower pull-down section are connected to the same power member.

3. The humanoid dexterous finger according to claim 2, characterized in that: A second pulley is further provided between the first pulley and the power member. The upper pull section and the lower pull section are respectively located on both sides of the second pulley. The connecting seat is slidably provided on a slide rail between the first pulley and the second pulley.

4. The humanoid dexterous finger according to claim 2 or 3, characterized in that: The first pulley is located on a side of the slide rail away from the single-finger base, the power component is arranged at an end of the slide rail close to the single-finger base, or the power component is arranged on the single-finger base.

5. The humanoid dexterous finger according to claim 1, wherein: The second finger joint is connected to two groups of connecting rod driving mechanisms, namely the first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism. The first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism are respectively located on both sides of the rotation axis of the swinging part relative to the single-finger base. The first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism move in the same direction to drive the second finger joint to rotate relative to the swinging part; the first group of connecting rod driving mechanism and the second group of connecting rod driving mechanism move in opposite directions to drive the swinging part to rotate relative to the single-finger base.

6. The humanoid dexterous finger according to claim 5, characterized in that: The second finger joint includes a second triangular connecting member, the first corner of the second triangular connecting member is hinged to the swinging member, the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms are respectively rotatably connected to the second corner of the second triangular connecting member through the main connecting rod, and the third corner of the second triangular connecting member is hinged to the bottom end of the first finger joint.

7. The humanoid dexterous finger according to claim 1, characterized in that: The first finger joint is connected to a group of connecting rod driving mechanisms, which is the third group of connecting rod driving mechanisms. The third group of connecting rod driving mechanisms also includes a first secondary connecting rod and a first auxiliary connecting rod. The top end of the main connecting rod of the third group of connecting rod driving mechanisms is connected to a second rotating shaft. The bottom end of the first secondary connecting rod and one end of the first auxiliary connecting rod are both rotatably connected to the second rotating shaft. The top end of the first secondary connecting rod is rotatably connected to the first finger joint, and the other end of the first auxiliary connecting rod is rotatably connected to the second finger joint.

8. The humanoid dexterous finger according to claim 7, characterized in that: The first knuckle includes a first triangular connector, a first corner of the first triangular connector is hinged to the second knuckle, a second corner of the first triangular connector is hinged to the fingertip, and a third corner of the first triangular connector is connected to the third set of connecting rod drive mechanisms.

9. The humanoid dexterous finger according to claim 1, wherein: The fingertips are connected to a group of connecting rod drive mechanisms, which are the fourth group of connecting rod drive mechanisms. The fourth group of connecting rod drive mechanisms also includes a second secondary connecting rod and a second auxiliary connecting rod. The top end of the main connecting rod of the fourth group of connecting rod drive mechanisms is connected to a third rotating shaft, the bottom end of the second secondary connecting rod and one end of the second auxiliary connecting rod are both rotatably connected to the third rotating shaft, the top end of the second secondary connecting rod is connected to the fingertips, and the other end of the second auxiliary connecting rod is rotatably connected to the second knuckle.

10. The humanoid dexterous finger according to claim 9, characterized in that: The fourth group of connecting rod drive mechanisms also includes a third secondary connecting rod and a third triangular connecting member, the first angle of the third triangular connecting member is rotatably connected to the first finger joint or the second finger joint, the second angle of the third triangular connecting member is rotatably connected to the top end of the second secondary connecting rod, the third angle of the third triangular connecting member is rotatably connected to one end of the third secondary connecting rod, and the other end of the third secondary connecting rod is rotatably connected to the fingertip.

11. The humanoid dexterous finger according to claim 1, characterized in that: The swinging member is rotatably connected to the single-finger base via a fourth rotating shaft. The swinging member and the single-finger base are respectively located at two ends of the fourth rotating shaft. The swinging member is connected to a first abutment member, and the single-finger base is provided with a second abutment member. The first abutment member abuts against the second abutment member on the side of the second abutment member facing away from the swinging member.

12. The humanoid dexterous finger according to claim 11, characterized in that: One of the first abutting member and the second abutting member is a guide rail, and the other is a hook that slides with the guide rail. When the swinging member rotates relative to the single-finger base, the hook slides on the slide rail.

13. A humanoid dexterous hand, characterized in that: The invention comprises a palm and anthropomorphic dexterous fingers according to any one of claims 1 to 12 arranged on the palm.

14. A humanoid robot, characterized in that The humanoid dexterous hand according to claim 13 is used.

Images