Humanoid dexterous hand and humanoid robot adopting humanoid dexterous hand

Abstract

The utility model discloses a humanoid dexterous hand which comprises a palm and a thumb rotationally connected to the palm, the thumb comprises a fingertip, a knuckle and a single-finger base which are sequentially connected in a rotating mode from top to bottom, and the lower end of the knuckle is connected to the single-finger base through a rotary connecting piece. The rotation axis of the rotary connecting piece relative to the single-finger base is not parallel to the rotation axis of the knuckles relative to the rotary connecting piece; the thumb further comprises a first driving assembly and two second driving assemblies, the first driving assembly drives the fingertips to rotate relative to the knuckles, and the two second driving assemblies drive the knuckles to bend and swing left and right. A third driving assembly for driving the thumb to rotate relative to the palm is arranged on the palm. The utility model further discloses a humanoid robot which adopts any one of the humanoid dexterous hands. The humanoid robot finger has the advantage that the problem that the flexibility of fingers of an existing humanoid robot is limited is solved. The whole thumb has four degrees of freedom and is closer to a real human thumb movement range.

Description

Technical Field

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

[0002] With the development of industrial robotics, humanoid robots are widely used in industrial production, replacing repetitive labor. Humanoid robots also possess a dexterous humanoid hand, consisting of a palm, four fingers connected to the palm, and a thumb. For example, Chinese patent publication CN 117917314A, entitled "An Underactuated Coupled Adaptive Mechanical Finger," discloses a finger that can only bend the base joint, proximal phalanx, middle phalanx, and distal phalanx, but cannot swing laterally perpendicular to the bending plane, limiting its flexibility. Utility Model Content

[0003] The purpose of the utility model is to provide a humanoid dexterous hand and a humanoid robot using the same, which can effectively solve the problem of limited finger flexibility of existing humanoid robots.

[0004] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0005] A humanoid dexterous hand comprises a palm and a thumb rotatably connected to the palm, the thumb comprising a fingertip, a knuckle, and a single-finger base, the fingertip being rotatably connected to the upper end of the knuckle, a rotatable connector being provided between the lower end of the knuckle and the single-finger base, the knuckle being rotatably connected to the rotatable connector, the rotation axis of the fingertip relative to the knuckle being parallel to the rotation axis of the knuckle relative to the rotatable connector, the rotatable connector being rotatably connected to the single-finger base, and the rotation axis of the rotatable connector relative to the single-finger base being non-parallel to the rotation axis of the knuckle relative to the rotatable connector;

[0006] The thumb further comprises a first drive assembly and two sets of second drive assemblies, wherein the first drive assembly drives the fingertip to rotate relative to the knuckle, and the two sets of second drive assemblies are both rotatably connected to the knuckle, wherein the rotation axis of each set of the second drive assembly and the knuckle does not coincide with the rotation axis of the knuckle and the rotating connector, and the two sets of the second drive assemblies are respectively located on either side of the rotation axis of the rotating connector relative to the single finger base;

[0007] The palm is provided with a third driving component for driving the thumb to rotate relative to the palm.

[0008] In the above-mentioned anthropomorphic dexterous hand, the two groups of the second driving components coincide with the rotation axis of the finger joints and are parallel to the rotation axis of the finger joints and the rotating connecting member.

[0009] In the above-mentioned anthropomorphic dexterous hand, the thumb also includes a first triangular connector and a second triangular connector, the fingertip is fixed on the first corner of the first triangular connector, the second corner of the first triangular connector is rotatably connected to the upper end of the knuckle, the third corner of the first triangular connector is rotatably connected to the first corner of the second triangular connector, the second corner of the second triangular connector is rotatably connected to the first drive assembly, the first drive assembly pushes the second corner of the second triangular connector to generate displacement in the vertical direction, the third corner of the second triangular connector is connected to a first rotating shaft, and the first rotating shaft is also rotatably connected to two groups of the second drive assemblies and the knuckle.

[0010] In the above-mentioned anthropomorphic dexterous hand, the first driving assembly and the second driving assembly both include a sliding rod, a slider slidably arranged on the sliding rod, and a first driving member that drives the slider to slide, and the slider is connected to the corresponding fingertips or knuckles through the driving rod.

[0011] In the above-mentioned anthropomorphic dexterous hand, at least one end of the driving rod is provided with a fisheye bearing; or, at least one end of the driving rod is provided with a cross connecting piece, the cross connecting piece includes a first body and a second body fixedly connected, the first body is provided with a first axial hole, the second body is provided with a second axial hole, the axis of the first axial hole and the axis of the second axial hole are not parallel, and the second body is rotatably connected to the driving rod.

[0012] In the above-mentioned anthropomorphic dexterous hand, the third driving component includes a second driving member, a swinging member driven to swing by the second driving member, and a connecting rod rotatably connected to the swinging member. A first connecting part is provided on one side of the single-finger base and is rotatably connected to the palm. The second driving member is arranged on the palm, and the connecting rod is connected to the first connecting part, driving the first connecting part to rotate relative to the palm.

[0013] In the above-mentioned anthropomorphic dexterous hand, the swinging member includes a rotating end and a swinging end, the rotating end is fixedly connected to the second driving member, the swinging end is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is connected to the first connecting part through a fisheye bearing.

[0014] In the above-mentioned anthropomorphic dexterous hand, the rotating connecting part includes a first adapter part and a second adapter part, the first adapter part is rotatably connected to the top of the single-finger base, the second adapter part is rotatably connected to the bottom of the finger joint, and the rotation axis of the first adapter part is perpendicular to the rotation axis of the second adapter part.

[0015] In the above-mentioned anthropomorphic dexterous hand, the lower part of the finger joint is also provided with a second connecting part that deviates from the rotation axis of the second adapter part, the second drive component is rotatably connected to the second connecting part, and the rotation axis of the second drive component and the second connecting part and the rotation axis of the second adapter part and the finger joint are parallel.

[0016] In the above-mentioned anthropomorphic dexterous hand, the first driving assembly and the two groups of the second driving assemblies are both arranged on a single-finger base.

[0017] A humanoid robot adopts any of the above-mentioned humanoid dexterous hands.

[0018] Compared with the prior art, the advantages of the present invention are:

[0019] By setting up a rotating connector, the knuckles can have a certain range of swing space relative to the single-finger base, solving the problem of limited finger flexibility in current humanoid robots. The rotating connector not only allows the knuckles to bend relative to the single-finger base, retaining the original mobility of the knuckles, but also allows the knuckles to swing relative to the single-finger base along with the rotating connector, giving the thumb three degrees of freedom. The thumb is connected to the palm of the hand, and the third drive component can drive the thumb to swing within a certain range relative to the palm, so that the entire thumb has four degrees of freedom, the same as the range of freedom of the human thumb. The bending is controlled by the first drive component, and two groups of second drive components are set at the same time. The two groups of second drive components move synchronously in the same direction to control the swing of the knuckles relative to the rotating connector, and the two groups of second drive components move synchronously in opposite directions to control the rotation of the rotating connector relative to the single-finger base. Using three groups of drive components, the four active degrees of freedom of the thumb are realized, greatly improving the flexibility of the thumb.

[0020] Furthermore, the two sets of second drive assemblies coincide with the rotational axis of the knuckle and are parallel to the rotational axis between the knuckle and the rotary connector. The torque generated by the two sets of second drive assemblies when driving the knuckle is equal, facilitating control of the power of each set of second drive assemblies and ensuring smoother knuckle bending or left-right swinging.

[0021] Furthermore, the thumb further includes a first triangular connector and a second triangular connector. The fingertip is fixed to the first corner of the first triangular connector. The second corner of the first triangular connector is rotatably connected to the upper end of the knuckle. The third corner of the first triangular connector is rotatably connected to the first corner of the second triangular connector. The second corner of the second triangular connector is rotatably connected to the first drive assembly. The first drive assembly drives the second corner of the second triangular connector to generate vertical displacement. The third corner of the second triangular connector is connected to a first rotating shaft. The first rotating shaft is also rotatably connected to two sets of the second drive assemblies and the knuckle. Sufficient torque is generated through the three corners of the two triangular connectors to enable the first drive assembly to drive the knuckle to rotate relative to the knuckle.

[0022] Furthermore, each of the first and second drive assemblies includes a slide rod, a slider slidably mounted on the slide rod, and a first drive member that drives the slider. The slider is connected to the corresponding fingertip or knuckle via the drive rod. The slider sliding on the slide rod provides driving force, which is more stable. Furthermore, the slider's motion trajectory is fixed, making it easier to control the flexion and swing range of the thumb.

[0023] Furthermore, at least one end of the drive rod is provided with a fisheye bearing; or at least one end of the drive rod is provided with a cross connector, the cross connector comprising a first body and a second body fixedly connected, the first body having a first axial hole, the second body having a second axial hole, the axis of the first axial hole and the axis of the second axial hole being non-parallel, and the second body being rotatably connected to the drive rod. By providing the fisheye bearing or cross connector on the drive rod, the drive rod has a certain offset relative to the movement direction of the slider, thereby better adapting to bending when directly tilted left or right.

[0024] Furthermore, the third drive assembly includes a second drive member, a swinging member driven to swing by the second drive member, and a connecting rod rotatably connected to the swinging member. A first connecting portion is provided on one side of the single-finger base and is rotatably connected to the palm. The second drive member is provided on the palm, and the connecting rod is connected to the first connecting portion to drive the first connecting portion to rotate relative to the palm. The swinging member drives the connecting rod to push and pull the thumb relative to the palm to swing. The provision of the swinging member can reduce the occupation of the palm thickness direction.

[0025] Furthermore, the swinging member includes a rotating end and a swinging end. The rotating end is fixedly connected to the second driving member, and the swinging end is rotatably connected to one end of the connecting rod. The other end of the connecting rod is connected to the first connecting portion via a fisheye bearing. The fisheye bearing allows the thumb to be driven to swing even when the swinging direction of the thumb forms a certain angle with the palm surface.

[0026] Furthermore, the rotatable connector includes a first adapter portion and a second adapter portion. The first adapter portion is rotatably connected to the top of the single-finger base, and the second adapter portion is rotatably connected to the bottom of the knuckle. The rotation axis of the first adapter portion is perpendicular to the rotation axis of the second adapter portion. The rotatable connector controls the knuckle to swing in a plane perpendicular to the knuckle's bending plane, thereby making it easier to control the knuckle's position, accurately grasp the position of the fingertip, and better grasp objects.

[0027] Furthermore, the lower portion of the knuckle is provided with a second connection portion that deviates from the rotation axis of the second adapter portion. The second drive assembly is rotationally connected to the second connection portion, and the rotation axis of the second drive assembly and the second connection portion is parallel to the rotation axis of the second adapter portion and the knuckle. Through the second connection portion at the lower portion of the knuckle, the second drive assembly can drive the knuckle to rotate relative to the rotation axis of the second adapter portion and the knuckle, thereby achieving bending of the knuckle relative to the single finger base. Moreover, when the two second drive assemblies are arranged with parallel axes and move synchronously in opposite directions, it is also easier to control the left and right swing of the rotating connector relative to the single finger base.

[0028] Furthermore, the first drive assembly and the two sets of the second drive assemblies are all disposed on the single-finger base. This fully utilizes the space on the single-finger base, reduces the space occupied by the drive assembly on the knuckle or fingertip, and makes the thumb size more consistent with the proportions of a human thumb. Furthermore, since the single-finger base has ample space, the size restrictions on the drive assembly are smaller, providing a wider range of drive assembly options and helping to reduce the cost of the drive assembly.

[0029] The utility model also discloses a humanoid robot, which adopts any one of the above-mentioned humanoid dexterous hands. The humanoid robot is more flexible, the dexterous hands have a greater degree of freedom, and the application range is also wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A three-dimensional diagram of the humanoid dexterous hand of the present utility model;

[0031] Figure 2 This is a schematic structural diagram of the thumb and palm of the humanoid dexterous hand of the present invention when they are separated;

[0032] Figure 3 The three-dimensional thumb of the utility model Figure 1 ;

[0033] Figure 4 for Figure 3 Exploded diagram;

[0034] Figure 5 This is a schematic structural diagram of the cross connector in the present invention;

[0035] Figure 6The three-dimensional thumb of the utility model Figure 2 .

[0036] The accompanying drawings are:

[0037] Palm 100, thumb 200, fingertip 210, knuckle 220, second connecting part 221, single finger base 230, first connecting part 231, rotating connecting part 240, first adapter part 241, second adapter part 242, first driving assembly 250, second driving assembly 260, sliding rod 261, slider 262, first triangular connecting part 270, second triangular connecting part 280, first rotating shaft 281, driving rod 290, cross connecting part 291, first body 2911, first shaft hole 2912, second body 2921, second shaft hole 2922, third driving assembly 300, second driving part 310, swinging part 320, connecting rod 330. DETAILED DESCRIPTION

[0038] A humanoid dexterous hand comprises a palm 100 and a thumb 200 rotatably connected to the palm 100, wherein the thumb 200 comprises a fingertip 210, a knuckle 220 and a single-finger base 230, wherein the fingertip 210 is rotatably connected to the upper end of the knuckle 220, a rotating connector 240 is provided between the lower end of the knuckle 220 and the single-finger base 230, the knuckle 220 is rotatably connected to the rotating connector 240, the rotation axis of the fingertip 210 relative to the knuckle 220 is parallel to the rotation axis of the knuckle 220 relative to the rotating connector 240, the rotating connector 240 is rotatably connected to the single-finger base 230, and the rotation axis of the rotating connector 240 relative to the single-finger base 230 is parallel to the rotation axis of the knuckle 220 relative to the rotating connector 240. The thumb 200 is not parallel to the rotation axis of the rotating connection 240; the thumb 200 also includes a first drive component 250 and two groups of second drive components 260, the first drive component 250 drives the fingertip 210 to rotate relative to the knuckle 220, and the two groups of second drive components 260 are both rotatably connected to the knuckle 220, and the rotation axis of each group of the second drive components 260 and the knuckle 220 does not coincide with the rotation axis of the knuckle 220 and the rotating connection 240, and the two groups of the second drive components 260 are respectively located on both sides of the rotation axis of the rotating connection 240 relative to the single finger base 230; the palm 100 is provided with a third drive component 300 for driving the thumb 200 to rotate relative to the palm 100.

[0039] By providing a rotating connector 240, the knuckle 220 can swing a certain amount relative to the single-finger base 230, solving the problem of limited finger flexibility in current humanoid robots. The rotating connector 240 not only allows the knuckle 220 to bend relative to the single-finger base 230, preserving its original mobility, but also allows the knuckle 220 to swing relative to the single-finger base 230 along with the rotating connector 240, giving the thumb 200 three degrees of freedom. Furthermore, the thumb 200 is rotatably connected to the palm 100, and the third drive assembly 300 can drive the thumb 200 to swing within a certain range relative to the palm 100. This gives the thumb 200 four degrees of freedom, the same range of freedom as a human thumb 200. The bending between them is controlled by the first drive component 250, and two groups of second drive components 260 are set at the same time. The synchronous and unidirectional movement of the two groups of second drive components 260 can control the swing of the knuckle 220 relative to the rotating connection 240, and the synchronous reverse movement of the two groups of second drive components 260 can control the rotation of the rotating connection 240 relative to the single finger base 230. By using three groups of drive components, the four active degrees of freedom of the thumb 200 are realized, which greatly improves the flexibility of the thumb 200.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] See Figures 1 to 6 This utility model discloses an embodiment of a humanoid dexterous hand and a humanoid robot employing the same. The hand comprises a palm 100 and fingers, wherein the fingers are divided into four fingers and a thumb 200. The four fingers have the same structure, differing only in length. The thumb 200 has one less knuckle 220. This embodiment primarily improves the structure of the thumb 200. The thumb 200 is rotatably connected to the palm 100 about a rotation axis L4, and the rotation direction of the thumb 200 is not parallel to the bending direction of the knuckle 220 on the thumb 200. This provides the thumb 200 with a new degree of freedom and makes the thumb 200 of the humanoid dexterous hand more similar to the structure of a real human hand.

[0045] The thumb 200 includes a fingertip 210, a knuckle 220 and a single finger base 230. The fingertip 210 is rotatably connected to the upper end of the knuckle 220, with a rotation axis L1; the lower end of the knuckle 220 is connected to the single finger base 230 via a rotational connection 240, with a rotation axis L2, and the knuckle 220 and the rotational connection 240 are rotatably connected, so that the fingertip 210 bends in the same plane relative to the knuckle 220 and the knuckle 220 bends in the same plane relative to the rotational connection 240. The rotational connection 240 is rotatably connected to the single finger base 230, with a rotation axis L3. Moreover, the rotation plane of the rotational connection 240 relative to the single finger base 230 is not parallel to the bending plane of the knuckle 220, that is, the rotation axis of the rotational connection 240 relative to the single finger base 230 is not parallel to the rotation axis of the knuckle 220 relative to the rotational connection 240. The rotation axis L1 is parallel to the rotation axis L2, and the rotation axes L2, L3, and L4 are not parallel to each other. Thus, the fingertip 210 rotates and bends relative to the knuckle 220, the knuckle 220 rotates and bends relative to the rotating connector 240, the rotating connector 240 rotates relative to the single finger base 230, and the thumb 200 rotates relative to the palm 100, so that the thumb 200 can obtain four degrees of freedom in three rotation planes.

[0046] The thumb 200 also includes a first drive assembly 250, two sets of second drive assemblies 260, and a third drive assembly 300. The first drive assembly 250 drives the fingertip 210 to rotate about the rotation axis L1 relative to the knuckle 220. The two sets of second drive assemblies 260 are both rotatably connected to the knuckle 220. The rotation axes of the two sets of second drive assemblies 260 and the knuckle 220 can coincide or be arranged parallel. To facilitate control of the motion trajectory of the knuckle 220 driven by the two sets of second drive assemblies 260, in this embodiment, the rotation axis of the two sets of second drive assemblies 260 coincides with the knuckle 220, which is rotation axis L5. To propel the knuckle 220 to rotate about the rotation axis L2, the rotation axis L5 of the two sets of second drive assemblies 260 does not coincide with the rotation axis L2. This allows the two sets of second drive assemblies 260 to synchronously push and pull the knuckle 220, generating a torque relative to the rotation axis L2, thereby achieving the purpose of the two sets of second drive assemblies 260 driving the knuckle 220 to bend. To achieve the purpose of driving the rotating connector 240 to rotate about the rotation axis L3, the two sets of second drive assemblies 260 are located on opposite sides of the rotation axis L3. When the two sets of second drive assemblies 260 move synchronously in opposite directions, the two sets of second drive assemblies 260 simultaneously generate two opposite torques about the rotation axis L3 on the knuckle 220. By synchronously moving the two sets of second drive assemblies 260 in the same direction or in opposite directions, the bending of the knuckle 220 and the rotation of the rotating connector 240 about the single finger base 230 are controlled.

[0047] A third drive assembly 300 is provided on the palm 100 for driving the thumb 200 to rotate relative to the palm 100 around the rotation axis L4. Disposing the third drive assembly 300 on the palm 100 fully utilizes the space on the palm 100, avoids the third drive assembly 300 from increasing the size of the thumb 200, and makes the thumb 200 more consistent with the structural proportions of a human thumb.

[0048] Furthermore, the thumb 200 also includes a first triangular connector 270 and a second triangular connector 280. The fingertip 210 is fixed on the first corner of the first triangular connector 270, and the second corner of the first triangular connector 270 is rotatably connected to the upper end of the knuckle 220, that is, the rotation axis L1 passes through the second corner of the first triangular connector 270, and the third corner of the first triangular connector 270 is rotatably connected to the first corner of the second triangular connector 280, with a rotation axis L6; the second corner of the second triangular connector 280 is rotatably connected to the first drive assembly 250, with a rotation axis L7; the third corner of the second triangular connector 280 is connected to the first rotating shaft 281, and the first rotating shaft 281 is also connected to two groups of second drive assemblies 260 and the knuckle 220, that is, the axis of the first rotating shaft 281 is the rotation axis L5. Through the above-mentioned structural arrangement, according to Figure 3 、 Figure 4As shown in FIG, the positional relationship between the three corners of the first triangular connector 270 and the second triangular connector 280 is such that when the first driving assembly 250 pushes the second corner of the second triangular connector 280 upward, the second triangular connector 280 rotates about the first axis, that is, about the rotation axis L5. At this time, the second corner of the second triangular connector 280 rotates upward, while the first corner of the second triangular connector moves downward, driving the third corner of the first triangular connector 270 to also move downward. The first triangular connector 270 rotates about the rotation axis L1, and the fingertip 210 located at the first corner of the first triangular connector 270 moves downward. Of course, the different included angles and different side lengths of the three corners of the first triangular connector 270 and the second triangular connector 280 will affect whether the upward or downward movement of the first driving assembly results in the fingertip 210 being driven to swing downward or upward. This can be selected based on the design requirements of the thumb 200. The use of the first triangular connector 270 does not drive the knuckle 220 to move when the first driving component 250 drives the fingertip 210 to flex and extend around the rotation axis L1; the use of the second triangular connector 280 not only avoids interference with components on the knuckle 220 when driving the fingertip 210 to flex and extend, but also makes the rotation of the second triangular connector 280 more stable with the rotation axis L7 as the rotation axis, thereby making the flexion and extension of the fingertip 210 more stable.

[0049] Based on the above embodiment, the first drive assembly 250 and the second drive assembly 260 utilize the same structure, which facilitates installation and procurement. Each of the first drive assembly 250 and the second drive assembly 260 includes a slide bar 261, a slider 262 slidably disposed on the slide bar 261, and a first drive member that drives the slider 262. The first drive member can be a cylinder, a rack and pinion combination, or a motor and cable combination. The coordinated movement of the slider 262 and the slide bar 261 can define the motion trajectory of the slider 262, thereby more accurately controlling the motion state of the thumb 200 through the movement of the slider 262. The slider 262 is connected to the corresponding joint or knuckle 220 via the drive rod 290.

[0050] Furthermore, since the knuckle 220 has two degrees of freedom, bending and rotation, and the slider 262 only reciprocates in one direction along the slide bar 261, in order to allow the drive rod 290 to move up and down with the slider 262 and also drive the knuckle 220 to bend when the knuckle 220 swings left and right or after swinging left and right a certain angle, the following solution can be adopted:

[0051] One is to provide a fisheye bearing at at least one end of the driving rod 290, so that the driving rod 290 has a certain swing distance in the axial direction along the rotation axis L5 through the fisheye bearing.

[0052] Another method is that at least one end of the driving rod 290 is provided with a cross connecting member 291, such as Figure 5 As shown, the cross connector 291 includes a first body 2911 and a second body 2921 that are fixedly connected. The first body 2911 and the second body 2921 are both circular. The first body 2911 is provided with a first axial hole 2912, and the second body 2921 is provided with a second axial hole 2922. The projections of the axis of the first axial hole 2912 and the axis of the second axial hole 2922 on the horizontal plane are perpendicular, and the angle between the projections of the rotation axis L2 and the rotation axis L3 on the horizontal plane is also perpendicular. The first body 2911 is rotationally connected to the corresponding slider 262 or finger joint 220, and the second body 2921 is rotationally connected to the drive rod 290. Figure 5 As shown, a cross connector 291 is provided at each end of the drive rod 290. Thus, the second body 2921 of the cross connector 291 located above the drive rod 290 is rotatably connected to the knuckle 220, while the second body 2921 of the cross connector 291 located below the drive rod 290 is rotatably connected to the slider 262. When the rotary connector 240 rotates about the rotation axis L3, the first body 2911 rotates about the drive rod 290 so that the drive rod 290 does not obstruct the rotation of the rotary connector 240.

[0053] On the basis of the above embodiment, in order to better control the angle between the thumb 200 and the palm 100, as shown in FIG. Figure 1 、 Figure 2 As shown, the third drive assembly 300 includes a second drive member 310, an oscillating member 320 driven to swing by the second drive member 310, and a connecting rod 330 rotatably connected to the oscillating member 320. A first connecting portion 231 is provided on one side of the single-finger base 230 for rotatably connecting to the palm 100. In this embodiment, the first connecting portion 231 is provided with a rotation hole, and a corresponding position on the palm 100 is provided with a rotating shaft, allowing the thumb 200 to rotate about the rotation axis L4 of the shaft. The connecting rod 330 is rotatably connected to the first connecting portion 231. The swinging of the oscillating member 320 pushes and pulls the connecting rod 330, thereby driving the thumb 200 to rotate about the rotation axis L4.

[0054] Furthermore, in order not to increase the thickness of the palm 100, the swinging member 320 swings in a plane parallel to the palm 100. The swinging member 320 includes a rotating end and a swinging end. The rotating end is fixedly connected to the second driving member 310. The second driving member 310 generally adopts a stepping motor to accurately control the swinging angle of the swinging member 320. The swinging end is rotatably connected to the connecting rod 330, and the other end of the connecting rod 330 is rotatably connected to the first connecting part 231 through a fisheye bearing. In this way, the connecting rod 330 has a moving offset without setting the connecting rod 330 to a position parallel to the swinging plane of the thumb 200.

[0055] Based on the above embodiment, the rotating connecting member 240 includes a first adapter portion 241 and a second adapter portion 242. The first adapter portion 241 is rotatably connected to the top of the single-finger base 230, and the second adapter portion 242 is rotatably connected to the bottom of the knuckle 220. The rotation axis L3 of the first adapter portion 241 is perpendicular to the rotation axis L2 of the second adapter portion 242. This makes it easier to control the bending and left and right swinging of the knuckle 220 through two sets of second drive components 260.

[0056] Furthermore, a second connecting portion 221 is provided at the lower part of the knuckle 220, and the second connecting portion 221 is rotatably connected to the second drive assembly 260, and its rotation axis L5 does not coincide with the rotation axis L2 of the knuckle 220 and the rotating connection member 240, so as to ensure that the force applied by the second drive assembly 260 to the knuckle 220 can generate a torque relative to the rotation axis L2, thereby driving the knuckle 220 to bend or stretch, and the rotation axis L2 is arranged parallel to the rotation axis L5, so that it is easier to achieve synchronous movement of the two second drive assemblies 260 at the same distance to drive the knuckle 220 to bend or stretch, thereby reducing the difficulty of control.

[0057] Based on the above embodiment, the first drive assembly 250 and the second drive assembly 260 in this embodiment are both fixed to the single-finger base 230, reducing the space occupied by the drive assembly on the knuckle 220 or fingertip 210, fully utilizing the space in the single-finger base 230, and making the overall proportions of the thumb 200 closer to those of a real human thumb 200. If the first drive assembly 250 and the second drive assembly 260 were placed on the knuckle 220, the size of the drive assembly would be limited, and they would also need to generate a large torque. Qualified drive assemblies would be very expensive. In this embodiment, the first drive assembly 250 and the second drive assembly 260 are placed within the single-finger base 230, which has sufficient space. This reduces the size restrictions on the drive assembly, expands the range of drive assemblies available, and helps reduce the manufacturing cost of the entire dexterous hand.

[0058] In the above embodiment, a six-axis force sensor can be set on the fingertip 210 and / or knuckle 220 to detect the force of the thumb 200 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 an egg.

[0059] The rotating connector 240 not only allows the knuckle 220 to bend relative to the single-finger base 230, preserving the original range of motion of the knuckle 220, but also allows the knuckle 220 to swing relative to the single-finger base 230 along with the rotating connector 240, thus providing the thumb 200 with three degrees of freedom. Furthermore, the thumb 200 is rotationally connected to the palm 100, and the third drive assembly 300 drives the thumb 200 to swing within a certain range relative to the palm 100, resulting in four degrees of freedom for the entire thumb 200, the same as the range of freedom of a human thumb 200. The first drive assembly 250 controls the bending, while two sets of second drive assemblies 260 are provided. The synchronized, same-direction movement of the two sets of second drive assemblies 260 controls the swing of the knuckle 220 relative to the rotating connector 240, while the synchronized, opposite-direction movement of the two sets of second drive assemblies 260 controls the rotation of the rotating connector 240 relative to the single-finger base 230. Using three sets of drive assemblies, the thumb 200 achieves four active degrees of freedom, significantly enhancing its flexibility.

[0060] This embodiment also discloses a humanoid robot, which uses a humanoid dexterous hand according to any of the above solutions. The humanoid robot is closer to the dexterity of a real person's hand, has a greater degree of freedom, and has a wider range of applications.

[0061] 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. A humanoid dexterous hand comprising a palm and a thumb rotatably connected to the palm, characterized in that: The thumb includes a fingertip, a knuckle, and a single-finger base, the fingertip is rotatably connected to the upper end of the knuckle, a rotatable connector is provided between the lower end of the knuckle and the single-finger base, the knuckle and the rotatable connector are rotatably connected, the rotation axis of the fingertip relative to the knuckle is parallel to the rotation axis of the knuckle relative to the rotatable connector, the rotatable connector is rotatably connected to the single-finger base, and the rotation axis of the rotatable connector relative to the single-finger base is not parallel to the rotation axis of the knuckle relative to the rotatable connector; The thumb further comprises a first drive assembly and two sets of second drive assemblies, wherein the first drive assembly drives the fingertip to rotate relative to the knuckle, and the two sets of second drive assemblies are both rotatably connected to the knuckle, wherein the rotation axis of each set of the second drive assembly and the knuckle does not coincide with the rotation axis of the knuckle and the rotating connector, and the two sets of the second drive assemblies are respectively located on either side of the rotation axis of the rotating connector relative to the single finger base; The palm is provided with a third driving component for driving the thumb to rotate relative to the palm.

2. The humanoid dexterous hand according to claim 1, characterized in that: The two groups of the second driving components coincide with the rotation axis of the finger joint and are parallel to the rotation axis of the finger joint and the rotating connection member.

3. The humanoid dexterous hand according to claim 2, characterized in that: The thumb also includes a first triangular connector and a second triangular connector, the fingertip is fixed on the first corner of the first triangular connector, the second corner of the first triangular connector is rotatably connected to the upper end of the knuckle, the third corner of the first triangular connector is rotatably connected to the first corner of the second triangular connector, the second corner of the second triangular connector is rotatably connected to the first drive assembly, the first drive assembly pushes the second corner of the second triangular connector to generate displacement in the vertical direction, the third corner of the second triangular connector is connected to a first rotating shaft, and the first rotating shaft is also rotatably connected to two groups of the second drive assemblies and the knuckle.

4. The humanoid dexterous hand according to claim 1 or 2, characterized in that: The first driving assembly and the second driving assembly both include a sliding rod, a slider slidably arranged on the sliding rod, and a first driving member that drives the slider to slide. The slider is connected to the corresponding fingertip or knuckle through the driving rod.

5. The humanoid dexterous hand according to claim 4, characterized in that: At least one end of the driving rod is provided with a fisheye bearing; or, at least one end of the driving rod is provided with a cross connecting piece, the cross connecting piece includes a first body and a second body fixedly connected, the first body is provided with a first axial hole, the second body is provided with a second axial hole, the axis of the first axial hole and the axis of the second axial hole are not parallel, and the second body is rotatably connected to the driving rod.

6. The humanoid dexterous hand according to claim 1, characterized in that: The third driving assembly includes a second driving member, a swinging member driven to swing by the second driving member, and a connecting rod rotatably connected to the swinging member. A first connecting part is provided on one side of the single-finger base and is rotatably connected to the palm. The second driving member is arranged on the palm, and the connecting rod is connected to the first connecting part, driving the first connecting part to rotate relative to the palm.

7. The humanoid dexterous hand according to claim 6, characterized in that: The swing member includes a rotating end and a swing end, the rotating end is fixedly connected to the second driving member, the swing end is rotationally connected to one end of the connecting rod, and the other end of the connecting rod is connected to the first connecting part through a fisheye bearing.

8. The humanoid dexterous hand according to claim 1, characterized in that: The rotating connecting member includes a first adapter part and a second adapter part, the first adapter part is rotatably connected to the top of the single-finger base, the second adapter part is rotatably connected to the bottom of the finger joint, and the rotation axis of the first adapter part is perpendicular to the rotation axis of the second adapter part.

9. The humanoid dexterous hand according to claim 8, characterized in that: The lower part of the knuckle is also provided with a second connecting portion deviating from the rotation axis of the second adapter portion, the second drive assembly is rotatably connected to the second connecting portion, and the rotation axis of the second drive assembly and the second connecting portion is parallel to the rotation axis of the second adapter portion and the knuckle.

10. The humanoid dexterous hand according to claim 1, characterized in that: The first driving assembly and the two groups of the second driving assemblies are both arranged on a single-finger base.

11. A humanoid robot, characterized in that A humanoid dexterous hand according to any one of claims 1 to 10 is used.

Images