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

Abstract

The humanoid dexterous finger 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 hinged to a swing part, the swing part is rotationally connected with the single finger base, 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 all connected with connecting rod driving mechanisms independently driving the fingertips, the first knuckles and the second knuckles to act, each connecting rod driving mechanism comprises a main connecting rod with at least one end provided with a fisheye bearing and a driving piece arranged on the single-finger base, and the bottom ends of the main connecting rods are rotationally connected with the driving pieces. The humanoid dexterous hand comprises a palm and the humanoid dexterous finger which is arranged on the palm and adopts any scheme. The humanoid robot adopts the humanoid dexterous hand. The utility model has the advantages that the finger has four active degrees of freedom and can adapt to more complex scenes.

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 a crucial component of humanoid robots, the dexterity of the humanoid hand largely determines its application areas. For example, the invention patent, "A Dexterous Finger Mechanism for a Robot with Degrees of Freedom," published in Chinese Patent Publication No. CN118143987A, utilizes three transmission mechanisms to control the fingers, achieving three active degrees of freedom and one passive degree of freedom. This means that the bending of the fingertips and mid-finger is synchronized and controlled by a single transmission mechanism. However, in some scenarios requiring precise control of grasping, the degree of bending of each knuckle cannot be accurately controlled, limiting the use of humanoid robots. 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, first knuckle and second knuckle are respectively connected to at least one set of connecting rod driving mechanisms for driving the fingertip, first knuckle and second knuckle to move independently; each set of the connecting rod driving mechanisms includes a main connecting rod with a fisheye bearing at at least one end and a driving member arranged on the single finger base, and one end of the main connecting rod is rotatably connected to the driving member.

[0008] 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 rotation axis of the swinging part relative to the single finger base. The first group of connecting rod drive mechanism and the second group of connecting rod drive mechanism move synchronously 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 synchronously in the opposite direction to drive the swinging part to rotate relative to the single finger base.

[0009] In the above-mentioned anthropomorphic dexterous finger, the top ends of the main connecting rods of the first and second connecting rod driving mechanisms are both rotatably connected to the first rotating shaft, and the first rotating shaft is connected to the second finger joint.

[0010] 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.

[0011] In the above-mentioned anthropomorphic dexterous finger, there are two second triangular connecting members which are arranged in parallel and spaced apart, and the connecting rod driving mechanisms connected to the fingertip and the first knuckle all pass through between the two second triangular connecting members.

[0012] 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.

[0013] 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.

[0014] In the above-mentioned human-like dexterous finger, the fingertip is connected with a set of linkage driving mechanisms, which is the fourth set of linkage driving mechanisms, the fourth set of linkage driving mechanisms further comprises a second auxiliary linkage and a second auxiliary linkage, the top end of the main linkage of the fourth set of linkage driving mechanisms is connected with a third rotating shaft, the bottom end of the second auxiliary linkage and one end of the second auxiliary linkage are rotationally connected with the third rotating shaft, the top end of the second auxiliary linkage is connected with the fingertip, and the other end of the second auxiliary linkage is rotationally connected on the second knuckle.

[0015] In the above-mentioned human-like dexterous finger, the fourth set of linkage driving mechanisms further comprises a third auxiliary linkage and a third three-angle connector, the first angle of the third three-angle connector is rotationally connected with the first knuckle or the second knuckle, the top end of the second auxiliary linkage is rotationally connected with the second angle of the third three-angle connector, and one end of the third auxiliary linkage is rotationally connected with the third angle of the third three-angle connector, and the other end of the third auxiliary linkage is rotationally connected with the fingertip.

[0016] In the above-mentioned human-like dexterous finger, the swing member is rotationally connected with the single-finger base through a fourth rotating shaft, the swing member and the single-finger base are located at two ends of the fourth rotating shaft respectively, the swing member is connected with a first abutting member, the single-finger base is provided with a second abutting member, and the first abutting member abuts against the second abutting member on the side of the second abutting member away from the swing member.

[0017] In the above-mentioned human-like dexterous finger, one of the first abutting member and the second abutting member is a sliding rail, and the other is a pull hook in sliding cooperation with the sliding rail, and when the swing member rotates relative to the single-finger base, the pull hook slides on the sliding rail.

[0018] The human-like dexterous hand comprises a palm and a human-like dexterous finger arranged on the palm and adopting any one of the above-mentioned solutions.

[0019] The human-like dexterous hand comprises a palm and a human-like dexterous finger arranged on the palm and adopting any one of the above-mentioned solutions.

[0020] Compared with the prior art, the human-like dexterous hand has the following advantages:

[0021] By providing separate connecting rod drive mechanisms for the fingertips, first knuckles, and second knuckles to drive their movements, the problem of the current humanoid dexterous fingers not being able to achieve precise bending control for each knuckle is solved. The fingertips, first knuckles, and second knuckles are hinged sequentially from top to bottom, which is consistent with the structure of human fingers. Because they are hinged in sequence, they can all bend relative to each other. The second knuckle is connected to the single finger base via a swinging member. The second knuckle and the swinging member, and the swinging member and the single finger base, respectively, rotate in non-parallel planes. The entire humanoid dexterous finger has four degrees of freedom. The fingertips, first knuckles, and second knuckles are all connected to connecting rod drive mechanisms that independently drive their movements. In other words, all four degrees of freedom are active degrees of freedom. The degree of bending or swinging of the finger at different positions under each degree of freedom can be controlled as needed, giving the humanoid dexterous finger the same degrees of freedom and control as a human finger. Each connecting rod mechanism includes a main connecting rod with a fisheye bearing at one end and a driving member arranged on the single-finger base. The fisheye bearing allows the main connecting rod to have a certain swing space while being able to rotate relatively, adapting to the connection relationship between the second finger joint and the single-finger base, ensuring that the power of the driving member can be transmitted to the corresponding finger part. The driving member is arranged on the single-finger base, which makes full use of the space inside the single-finger base and avoids setting the driving member inside the finger joint, ensuring that the size ratio of the anthropomorphic dexterous fingers is close to that of human fingers, further improving the simulation effect, and because the single-finger base has a larger space, the size requirement of the driving member is relaxed, which is conducive to reducing the cost of the driving member.

[0022] Furthermore, the second finger joint is connected to two groups of connecting rod driving mechanisms, namely the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms. The first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms are respectively located on both sides of the rotation axis of the swinging member relative to the single-finger base. The first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms move synchronously in the same direction to drive the second finger joint to rotate relative to the swinging member; the first group of connecting rod driving mechanisms and the second group of connecting rod driving mechanisms move synchronously in opposite directions to drive the swinging member 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.

[0023] Furthermore, the top ends of the main connecting rods of the first and second connecting rod drive mechanisms are both rotatably connected to a first rotating shaft, which is in turn connected to the second finger joint. The first and second connecting rod drive mechanisms are both connected to the same rotating shaft, which facilitates adjustment of the movement of the first and second connecting rod drive mechanisms when the second finger joint needs to bend or swing.

[0024] 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.

[0025] Furthermore, the second triangular connector comprises two parallel, spaced-apart members, and the connecting rod drive mechanism connecting the fingertip and the first knuckle passes between the two second triangular connectors. The two parallel second triangular connectors further enhance the strength of the second knuckle and protect the steelmaking drive mechanism passing through the second knuckle.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] Furthermore, one of the first abutment member and the second abutment member is a slide rail, and the other is a hook that slidably engages with the slide rail. When the swing member rotates relative to the single-finger base, the hook slides on the slide rail. The engagement of the hook and the slide rail allows the hook to distribute radial force applied to the fourth rotation axis without hindering the swing member from rotating about the fourth rotation axis.

[0032] 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 disclosed. Both the humanoid dexterous hand and the humanoid robot possess improved controllability and increased freedom of movement of the fingers, enabling them to adapt to more complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A three-dimensional diagram of the utility model imitating the dexterous fingers of a human;

[0034] Figure 2 This is a three-dimensional diagram of the humanoid dexterous finger of the utility model after removing a second triangular connecting piece;

[0035] Figure 3 This is an exploded view of the single-finger base and the swing member in the present utility model;

[0036] Figure 4 This is a schematic structural diagram of the driving components of the four-link driving mechanism in the present invention;

[0037] Figure 5 This is a schematic diagram of the connection structure of the fingertip, the first knuckle and the second knuckle in the present invention;

[0038] Figure 6 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;

[0039] Figure 7 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;

[0040] Figure 8 This is a schematic diagram of the connection structure between the swing member and the single-finger base in the utility model.

[0041] The accompanying drawings are:

[0042] 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, swinging member 500, fourth rotating shaft 510, first abutment member 520, main connecting rod 610, fisheye bearing 620, driving member 630, 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 connector 950. DETAILED DESCRIPTION

[0043] The humanoid dexterous finger includes 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 all connected to a connecting rod driving mechanism that independently drives their movements. Each group of the connecting rod driving mechanisms includes a main connecting rod 610 with a fisheye bearing 620 at at least one end and a driving member 630 arranged on the single-finger base 100. The bottom end of the main connecting rod 610 is rotatably connected to the driving member 630.

[0044] 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. Each linkage mechanism includes a main linkage 610 with a fisheye bearing 620 at one end and a driving member 630 arranged on the single-finger base 100. The fisheye bearing 620 allows the main linkage 610 to have a certain swing space while being able to rotate relatively, adapting to the connection relationship between the second finger joint 400 and the single-finger base 100, ensuring that the power of the driving member 630 can be transmitted to the corresponding finger part. The driving member 630 is arranged on the single-finger base 100, which makes full use of the space inside the single-finger base 100 and avoids setting the driving member 630 inside the finger joint, ensuring that the size ratio of the anthropomorphic dexterous fingers is close to that of human fingers, further improving the simulation effect, and because the single-finger base 100 has a larger space, the size requirement of the driving member 630 is relaxed, which is conducive to reducing the cost of the driving member 630.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] See Figures 1 to 8 This is an embodiment of the present invention, which includes a 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.

[0050] 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.

[0051] Since the second phalanx 400 also has the characteristic of left-right swinging, the second phalanx 400 will also drive the fingertip 200 and the first phalanx 300 to swing left-right. The connecting rod drive mechanism generally moves along a straight line. To better adapt to the swinging characteristics of the finger, each connecting rod mechanism includes a main connecting rod 610 with a fisheye bearing 620 at at least one end and a driving member 630 disposed on the single finger base 100. The main connecting rod 610 and the driving member 630 are rotatably connected. The driving member 630 transmits power to the corresponding part of the finger through the main connecting rod 610. The provision of the fisheye bearing 620 allows the main connecting rod 610 to also have a range of left-right swinging relative to the driving member 630. After the second phalanx 400 swings left-right to a certain angle, the main connecting rod 610 can still drive the corresponding part of the finger to flex and extend. Of course, to allow the main connecting rod 610 to obtain a larger range of left-right motion, in this embodiment, fisheye bearings 620 are provided at both ends of the main connecting rod 610.

[0052] Because the space within the fingertips 200 or knuckles is limited, placing the driver 630 in these locations requires the driver 630 to be smaller and have higher torque. This results in a smaller selection of driver 630s that meet these requirements, and a correspondingly higher price. In this embodiment, the driver 630 is placed on the single-finger base 100, which has a relatively larger space and can accommodate a larger driver 630. This increases the selection range of driver 630s, helps reduce the price of the driver 630, and thus reduces the price of the entire dexterous finger.

[0053] Furthermore, two groups of connecting rod drive mechanisms are connected to the second finger joint 400, namely the first group of connecting rod drive mechanism 710 and the second group of connecting rod drive mechanism 720. The swinging 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 and square axes are 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] On the basis of the above embodiment, 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 member 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 member 630 to the first finger joint 300. Therefore, the third connecting rod driving mechanism must pass through the second finger joint 400. Since 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 6 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.

[0058] like Figure 2 、 Figure 5 、 Figure 6 As shown, in order 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. The first corner of the first triangular connector 310 is rotationally connected to the second phalanx 400, and the second corner of the first triangular connector 310 is rotationally connected to the fingertip 200, with the 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 the rotation axis L7. The driving member 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.

[0059] 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 5 、 Figure 7As 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.

[0060] 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 top end of the second secondary connecting rod 910, and the rotation axis is L9; 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 member 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.

[0061] like Figure 2 、 Figure 3 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 3 、 Figure 8As 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.

[0062] 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.

[0063] 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.

[0064] The above structure not only achieves active control of the four degrees of freedom (DOF) of the flexion and extension of the second knuckle 400, the flexion and extension of the first knuckle 300, and the flexion and extension of the fingertip 200, but also enables the rapid and accurate transmission of the power of the driver 630 to the corresponding knuckle or fingertip 200 through the connecting rod structure. This allows the entire anthropomorphic dexterous finger to have the same DOF as a human finger and to actively control each DOF, 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 driving parts 630 of all connecting rod driving 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 driving parts 630 to have a larger range of choices, which is conducive to reducing the cost of the driving parts 630, and can also prevent the fingers from being too thick, maintaining the same proportions of the anthropomorphic dexterous fingers and human fingers.

[0065] 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.

[0066] 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, first knuckle and second knuckle are respectively connected to at least one set of connecting rod driving mechanisms for driving the fingertip, first knuckle and second knuckle to move independently; each set of the connecting rod driving mechanisms includes a main connecting rod with a fisheye bearing at at least one end and a driving member arranged on the single finger base, and one end of the main connecting rod is rotatably connected to the driving member.

2. The humanoid dexterous finger according to claim 1, characterized in that: 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 synchronously 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 synchronously in opposite directions to drive the swinging part to rotate relative to the single finger base.

3. The humanoid dexterous finger according to claim 2, characterized in that: The top ends of the main connecting rods of the first connecting rod driving mechanism and the second connecting rod driving mechanism are both rotatably connected to the first rotating shaft, and the first rotating shaft is connected to the second finger joint.

4. The humanoid dexterous finger according to claim 2, 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.

5. The humanoid dexterous finger according to claim 4, characterized in that: There are two second triangular connecting members which are arranged in parallel and spaced apart. The connecting rod driving mechanisms connected with the fingertips and the first knuckles pass through between the two second triangular connecting members.

6. 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.

7. The humanoid dexterous finger according to claim 6, 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.

8. 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.

9. The humanoid dexterous finger according to claim 8, 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.

10. 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.

11. The humanoid dexterous finger according to claim 10, characterized in that: One of the first abutting member and the second abutting member is a slide rail, and the other is a hook that slidably cooperates with the slide rail. When the swinging member rotates relative to the single-finger base, the hook slides on the slide rail.

12. A humanoid dexterous hand, characterized in that: The invention comprises a palm and anthropomorphic dexterous fingers according to any one of claims 1 to 11, which are arranged on the palm.

13. A humanoid robot, characterized in that The humanoid dexterous hand according to claim 12 is used.

Images