Multi-degree-of-freedom bionic hand and humanoid robot

Abstract

The utility model provides a multi-degree-of-freedom bionic hand. A finger assembly comprises a first joint module and a second joint module. The first joint module and the second joint module are connected through a second joint base, a first joint driver is arranged on the first joint module, and the first joint driver is in transmission connection with the second joint module through a bevel gear set; the second joint base is connected with and rotationally supported on the first joint module, and the second joint module is hinged to the second joint base; the first joint module is further provided with a second joint rotating driver, and the second joint rotating driver is in transmission connection with the second joint base through a gear set. The utility model further provides the humanoid robot. The multi-degree-of-freedom bionic hand provided by the utility model can realize multi-degree-of-freedom movement, can complete various complicated hand-shaped actions, and is more suitable for being applied to humanoid robots.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a multi-degree-of-freedom bionic hand and humanoid robot. Background Technology

[0002] Bionic hands are crucial for humanoid robots, so developing specialized bionic hands has significant economic implications and promising application prospects. Currently, the driving methods for humanoid robot bionic hands include: electric cylinder screw type, rope drive type, and linkage mechanism type.

[0003] The three drive methods mentioned above are complex in structure, making it difficult to directly install the actuators in the joint area between the fingers of the bionic hand. Furthermore, the electric cylinder screw drive method has the following disadvantages: due to the large deceleration, it can cause self-locking, cannot reverse drive, and all finger bending and extension movements require actuator input; forced reverse drive or encountering sudden large loads can damage the reducer or motor. The drawstring drive method has the following disadvantages: it is an indirect drive method, with significantly limited performance compared to direct drive methods. The linkage mechanism drive method has the following disadvantages: all finger joints extend and contract simultaneously with the designed movements, making object grasping similar to that of a conventional actuator. Utility Model Content

[0004] To address at least one of the aforementioned technical problems, the purpose of this invention is to provide a multi-degree-of-freedom bionic hand and humanoid robot with a simple structure and high reliability. Furthermore, this multi-degree-of-freedom bionic hand and humanoid robot is simple to manufacture, has low cost, and offers higher load capacity and precision; its modular design facilitates large-scale production and application.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A multi-degree-of-freedom bionic hand is provided, comprising a base assembly and a finger assembly, the finger assembly being disposed on the base assembly; the finger assembly includes a first joint module and a second joint module; the first joint module and the second joint module are connected via a second joint base, the first joint module being provided with a first joint actuator, the first joint actuator being drivenly connected to the second joint module via a bevel gear set; the second joint base is rotatably supported on the first joint module, the second joint module being hingedly disposed on the second joint base; the first joint module is also provided with a second joint rotation actuator, the second joint rotation actuator being drivenly connected to the second joint base via a gear set.

[0007] Furthermore, the bevel gear set includes a first bevel gear and a second bevel gear; the first bevel gear is disposed at the output end of the first joint driver, and the second bevel gear is rotatably supported on the second joint base via the first bevel gear shaft; both the second bevel gear and the second joint base are fixedly connected to the first bevel gear shaft.

[0008] Furthermore, the second joint base includes a gear disk and two connecting seats; the output end of the second joint rotary actuator is provided with a first gear, which meshes with the gear disk for transmission; the first bevel gear shaft is rotatably supported on the two connecting seats.

[0009] Furthermore, the first joint module includes a first joint housing, the first joint housing includes a cylindrical joint base, the first joint actuator is disposed within the joint base, and the second joint rotation actuator is disposed outside the joint base.

[0010] Furthermore, the joint base is provided with a first connecting piece and a second connecting piece; the first connecting piece and the second connecting piece are arranged in parallel, and the first connecting piece and the second connecting piece are set at an angle to the axis of the joint base.

[0011] Furthermore, the base assembly includes a base, the base including two connecting plates and a mounting plate; the mounting plate is fixedly connected to the two connecting plates; the first connecting piece is fixedly connected to the mounting plate.

[0012] Furthermore, the second joint module includes a second joint housing, on which a second joint driver is fixedly mounted, and a third bevel gear is fixedly disposed at the output end of the second joint driver. A fourth bevel gear meshes with the third bevel gear, and the fourth bevel gear is rotatably supported on the second joint housing via a second bevel gear shaft. The finger assembly also includes a third joint module, and both the fourth bevel gear and the third joint module are fixedly connected to the second bevel gear shaft.

[0013] Furthermore, the finger assembly includes a first finger assembly, a second finger assembly, and a third finger assembly; the first finger assembly, the second finger assembly, and the third finger assembly are arranged sequentially on the base assembly, the first finger assembly is fixedly connected to the base assembly, the second finger assembly is rotatably supported on the first finger assembly, and the third finger assembly is rotatably supported on the second finger assembly.

[0014] Furthermore, the first joint actuator, and / or the second joint actuator, and / or the second joint rotation actuator are biomimetic toothless harmonic actuators.

[0015] This utility model also provides a humanoid robot, including the aforementioned multi-degree-of-freedom bionic hand, which is part of the arm of the humanoid robot.

[0016] Compared with existing technologies, the multi-degree-of-freedom bionic hand and humanoid robot provided by this utility model have the following advantages:

[0017] The multi-degree-of-freedom bionic hand and humanoid robot provided in this application can achieve at least 11 degrees of freedom of movement through multiple actuators. It can complete various complex hand movements according to actual working conditions and is more suitable for application in humanoid robots. Each finger of the multi-degree-of-freedom bionic hand provided in this application is modularly designed, and more joint modules can be sequentially connected at the end of the third joint module according to actual working conditions to achieve more degrees of freedom and complete more complex tasks.

[0018] The multi-degree-of-freedom bionic hand provided in this application, by employing a bionic toothless harmonic actuator, can directly drive the fingers, resulting in better performance compared to indirect driving methods. The bionic toothless harmonic reducer component in the actuator drives the fingers by generating a drum-like deformation similar to a lunar eclipse. This allows the output flange to reverse relative to the power component when the output load is large or when reverse driving occurs, providing self-protection and preventing damage.

[0019] The multi-degree-of-freedom bionic hand provided in this application uses bevel gears for transmission between the finger joints, which reduces the size of the fingers. At the same time, since the actuator uses a bionic toothless harmonic actuator, it can perform reverse actuation and protect the internal structure of the multi-degree-of-freedom bionic hand from damage during reverse actuation.

[0020] The multi-degree-of-freedom bionic hand provided in this application can select different finger sizes and corresponding actuators according to actual needs, thereby adapting to different working scenarios. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the multi-degree-of-freedom bionic hand provided by this utility model;

[0022] Figure 2 This is a schematic diagram of the structure of the base assembly provided by this utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the finger assembly provided by this utility model;

[0024] Figure 4 This is a schematic diagram of the internal structure of the finger assembly provided by this utility model;

[0025] Figure 5 This is a partial structural schematic diagram of the multi-degree-of-freedom bionic hand provided by this utility model;

[0026] Figure 6 This is a partial structural schematic diagram from another perspective of the multi-degree-of-freedom bionic hand provided by this utility model;

[0027] Figure 7 yes Figure 6 A sectional view along line AA.

[0028] Figure 8 This is a schematic diagram of the overall structure of another multi-degree-of-freedom bionic hand provided by this utility model;

[0029] Figure 9 yes Figure 8 A magnified view of a section at point B in the middle;

[0030] The reference numerals in the attached figures are explained as follows:

[0031] 1. Base assembly, 1-1 connecting plate, 1-2 base, 1-20 connecting plate, 1-21 mounting plate, 2. First finger assembly, 2-1 first joint module, 2-10 first joint housing, 2-101 first connecting piece, 2-102 second connecting piece, 2-103 driver mounting part, 2-11 first joint driver, 2-2 second joint module, 2-20 second joint housing, 2-21 second joint driver, 2-22 third bevel gear, 2-23 fourth bevel gear, 2-230 second bevel gear shaft, 2-3 second joint base, 2-301 gear disk, 2-302 connecting seat, 2-31 second joint rotation driver, 2-32 first gear, 2-33 first bevel gear, 2-34 second bevel gear, 2-340 first bevel gear shaft, 2-4 third joint... Section module, 2-5 fixed friction ring, 2-6 moving friction ring, 2-61 first friction inclined surface, 2-62 internal tooth, 2-7 coupling output ring, 2-71 coupling post, 2-72 external tooth, 2-8 output flange, 2-9 spring ring, 3 second finger assembly, 3-101 third connecting piece, 3-102 fourth connecting piece, 4 third finger assembly, 4-101 fifth connecting piece, 4-102 sixth connecting piece, 5 power assembly, 5-1 output shaft, 6 bionic toothless harmonic reducer assembly, 6-1 bottom cover, 6-2 housing, 6-3 eccentric ring, 6-4 bearing, 6-5 fixed friction ring, 6-6 moving friction ring, 6-7 coupling output ring, 6-8 output flange, 7-1 central shaft, 7-2 dial, 7-3 fixing screw, 8-1 second dial, 8-2 positioning protrusion. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to specific embodiments. Please note that the embodiments described below are exemplary and are only used to explain the present utility model, and should not be construed as limiting the present utility model. Where specific techniques or conditions are not specified in the embodiments, they shall be performed in accordance with the techniques or conditions described in the literature in the art or in accordance with the product manual.

[0033] In the description of this utility model, it should be understood that 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 indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0035] The following will provide a detailed description of the multi-degree-of-freedom bionic hand and humanoid robot of this utility model through specific embodiments:

[0036] In this implementation, such as Figure 1-9 As shown, the multi-degree-of-freedom bionic hand provided in this embodiment includes components such as a base component 1, a first finger component 2, a second finger component 3, and a third finger component 4. The first finger component 2, the second finger component 3, and the third finger component 4 are mounted on the base component 1.

[0037] In this embodiment, the base component 1 includes a connecting disk 1-1 and a base 1-2. The base 1-2 is fixedly connected to the connecting disk 1-1. The base 1-2 can be separately mounted from the connecting disk 1-1 or manufactured as a single unit; this application does not impose any restrictions on this. The connecting disk 1-1 can be connected to other power sources to drive the multi-degree-of-freedom bionic hand to rotate. For example, the connecting disk 1-1 can be connected to the end output shaft of a robotic arm, rotating under the drive of the robotic arm, thus forming the arm portion of the humanoid robot.

[0038] The base 1-2 includes two connecting plates 1-20, and a mounting plate 1-21 is provided on one side of the two connecting plates 1-20. The mounting plate 1-21 and the two connecting plates 1-20 form a gate-like structure; the other side of the two connecting plates 1-20 is fixedly connected to the connecting plate 1-1.

[0039] The first finger assembly 2 includes components such as a first joint module 2-1, a second joint module 2-2, and a third joint module 2-4. The first joint module 2-1 includes a first joint housing 2-10 and a first joint actuator 2-11. The first joint housing 2-10 includes a joint base that is cylindrical in shape. The first joint actuator 2-11 is fixedly installed inside the first joint housing 2-10, and the output shaft of the first joint actuator 2-11 extends to the outside of the first joint housing 2-10.

[0040] A driver mounting portion 2-103 is provided on the first joint housing 2-10. A second joint rotary driver 2-31 is fixedly mounted inside the driver mounting portion 2-103. A first gear 2-32 is fixedly mounted on the end of the second joint rotary driver 2-31 extending out of the driver mounting portion 2-103. A second joint base 2-3 is rotatably supported on one end of the first joint housing 2-10. The connection method between the first joint housing 2-10 and the second joint base 2-3 can be selected from methods commonly used in the art, and this application does not impose any restrictions on this.

[0041] The second joint base 2-3 includes a gear disk 2-301 and connecting seats 2-302. The gear disk 2-301 meshes with the first gear 2-32 for transmission. The two connecting seats 2-302 are fixedly connected to the gear disk 2-301. When the second joint rotation driver 2-31 is driven, the second joint base 2-3 can be rotated relative to the first joint module 2-1 through gear transmission, realizing the first degree of freedom of the finger.

[0042] A first bevel gear 2-33 is fixedly mounted on the portion of the output shaft of the first joint actuator 2-11 extending out of the gear disk 2-301. A second bevel gear 2-34 meshes with the first bevel gear 2-33 and is rotatably supported on two connecting seats 2-302 via a first bevel gear shaft 2-340. The second bevel gear 2-34 is fixedly connected to the first bevel gear shaft 2-340. The second joint module 2-2 includes a second joint housing 2-20. One end of the second joint housing 2-20 is fixedly connected to the first bevel gear shaft 2-340. When the first joint actuator 2-11 is driven, the second joint module 2-2 can be driven to swing relative to the first joint module 2-1 through bevel gear transmission, realizing the second degree of freedom of the finger.

[0043] A second joint actuator 2-21 is fixedly installed inside the second joint housing 2-20. The second joint housing 2-20 is generally cylindrical. The output shaft of the second joint actuator 2-21 extends out of the other end of the second joint housing 2-20 and is fixedly connected to a third bevel gear 2-22. A fourth bevel gear 2-23, meshing with the third bevel gear 2-22, is rotatably supported on two side walls at the other end of the second joint housing 2-20 via a second bevel gear shaft 2-230. The fourth bevel gear 2-23 is fixedly connected to the second bevel gear shaft 2-230. One end of the third joint module 2-4 is fixedly connected to the second bevel gear shaft 2-230. When the second joint actuator 2-21 is driven, it can drive the third joint module 2-4 to swing relative to the second joint module 2-2 through bevel gear transmission, realizing the third degree of freedom of the finger.

[0044] The joint base of the first joint housing 2-10 is further provided with a first connecting piece 2-101 and a second connecting piece 2-102. The first connecting piece 2-101 and the second connecting piece 2-102 are arranged parallel to each other, and both are set at a certain angle to the axis of the cylindrical joint base of the first joint housing 2-10, preferably between 30° and 60°. The first connecting piece 2-101 is used for fixed connection with the mounting plate 1-21. The fact that the first connecting piece 2-101 is set at a certain angle to the axis of the joint base of the first joint housing 2-10 can increase the spacing between the various finger components, increase the range of motion of each finger component, and enhance the bionic hand's ability to grasp objects.

[0045] The second finger assembly 3 includes a third joint housing, on which a third connecting piece 3-101 and a fourth connecting piece 3-102 are disposed. The third finger assembly 4 includes a fourth joint housing, on which a fifth connecting piece 4-101 and a sixth connecting piece 4-102 are disposed. The structures of the second finger assembly 3 and the third finger assembly 4 are the same as those of the first finger assembly 2, and will not be described again here. As can be seen from the above, each finger assembly has three degrees of freedom, and the three finger assemblies can achieve nine degrees of freedom of movement.

[0046] The first finger assembly 2, the second finger assembly 3, and the third finger assembly 4 are arranged sequentially on the base assembly 1. The first finger assembly 2 is fixedly connected to the base assembly 1, the second finger assembly 3 is rotatably supported on the first finger assembly 2, and the third finger assembly 4 is rotatably supported on the second finger assembly 3. The specific connection structure of the three finger assemblies is as follows: the first connecting piece 2-101 of the first finger assembly 2 is fixedly connected to the mounting plate 1-21 of the base assembly 1, the third connecting piece 3-101 is rotatably supported on the first connecting piece 2-101, and the fifth connecting piece 4-101 is rotatably supported on the third connecting piece 3-101; similarly, the fourth connecting piece 3-102 is rotatably supported on the second connecting piece 2-102, and the sixth connecting piece 4-102 is rotatably supported on the fourth connecting piece 3-102.

[0047] A second finger rotation actuator 3-2 is installed within the gate-like structure formed by mounting plate 1-21 and two connecting plates 1-20. The output shaft of the second finger rotation actuator 3-2 passes through the first connecting piece 2-101, the third connecting piece 3-101, and the fifth connecting piece 4-101. The second finger rotation actuator 3-2 is drive-connected to the third connecting piece 3-101, but not drive-connected to the first connecting piece 2-101 and the fifth connecting piece 4-101. The portion of the output shaft of the second finger rotation actuator 3-2 that extends out of the fifth connecting piece 4-101 may be equipped with an axial limiting device, such as a snap ring or a screw; this application does not impose further restrictions on this. When the second finger rotation actuator 3-2 is driven, it can drive the second finger assembly 3 to rotate relative to the first finger assembly 2, thereby achieving the first degree of freedom between the fingers.

[0048] A third finger rotation actuator 4-2 is installed in the space between the second connecting piece 2-102 and the fifth connecting piece 4-101. The third finger rotation actuator 4-2 is fixedly installed below the second connecting piece 2-102, and its output shaft passes through the second connecting piece 2-102, the fourth connecting piece 3-102, and the sixth connecting piece 4-102. The third finger rotation actuator 4-2 is drive-connected to the sixth connecting piece 4-102, but not drive-connected to the second connecting piece 2-102 or the fourth connecting piece 3-102. An axial limiting device is also provided on the portion of the output shaft of the third finger rotation actuator 4-2 that extends beyond the sixth connecting piece 4-102; details are omitted here. When the third finger rotation actuator 4-2 is activated, it can drive the third finger assembly 4 to rotate relative to the first finger assembly 2, thus achieving a second degree of freedom between the fingers.

[0049] All actuators in the multi-degree-of-freedom bionic hand provided in this embodiment can be common actuators in the art, with bionic toothless harmonic actuators being preferred. When the bionic toothless harmonic actuator of this embodiment is applied to the bionic hand of a humanoid robot, under light loads, such as when the fingers freely bend, extend, or pick up an object, the power component can drive the output flange to rotate in the same direction to complete the corresponding action. Under heavy loads, such as when the fingers of the bionic hand are pried open by external force or when the fingers of the bionic hand are subjected to a large impact, the output flange can reverse relative to the power component, thereby preventing damage to the bionic toothless harmonic reducer assembly and / or the power component, and the bionic toothless harmonic actuator plays a self-protection role.

[0050] The bionic toothless harmonic driver provided in this embodiment can use a small-diameter motor. Compared with existing drivers, the bionic toothless harmonic driver is smaller in size, making it easier to place in the bionic hand, especially to be directly installed between the joints of the fingers. At the same time, the bionic toothless harmonic reducer assembly achieves speed reduction output, improving the driver's load capacity.

[0051] In another embodiment of this application, a different type of multi-degree-of-freedom bionic hand is provided. The first finger assembly, the second finger assembly, and the third finger assembly of the multi-degree-of-freedom bionic hand are sequentially mounted on the central shaft 7-1, and the positions of the finger assemblies can be manually adjusted. A scale 7-2 is installed at one end of the central shaft 7-1; after the positions of the first finger assembly, the second finger assembly, and the third finger assembly are adjusted, each finger assembly can be fixed by fixing screws 7-3.

[0052] The first joint module 2-1 and the second joint base 2-3 in the first finger assembly 2 are positioned relative to each other by manual adjustment. A second dial 8-1 is provided at the end of the first joint housing 2-10, and a positioning protrusion 8-2 is provided on the second joint base 2-3. After adjusting the positions of the first joint module and the second joint base, they can be fixed together with screws.

[0053] The multi-degree-of-freedom bionic hand provided in this embodiment has a hand shape operation space and a finger operation space. The hand shape operation space allows for various hand shapes to be achieved by adjusting the relative positions of the first finger component 2, the second finger component 3, and the third finger component 4. For example, the hand shape can be three fingers arranged close together, three fingers arranged symmetrically in a triangle, or two fingers close together and opposite to another finger. The finger operation space allows for adjusting the position of each joint module in each finger after the hand shape is determined, enabling finger bending and extension, thereby achieving various finger movements such as pinching, gripping, and holding. The hand shape operation space and the finger operation space are two independent operation spaces, meaning that the joint modules of the fingers can remain stationary when changing the hand shape, and finger operations can be performed after the hand shape is determined. The changes in hand shape and finger movements can be varied according to actual needs, and this application does not impose excessive restrictions on this.

[0054] The multi-DOF bionic hand provided in this application can achieve at least 11 degrees of freedom of movement through multiple actuators. It can perform various complex hand movements according to actual working conditions and is more suitable for humanoid robots. Each finger in the multi-DOF bionic hand provided in this application is modularly designed, and more joint modules can be sequentially connected at the end of the third joint module according to actual working conditions to achieve more degrees of freedom and complete more complex tasks.

[0055] The multi-degree-of-freedom bionic hand provided in this application, by employing a bionic toothless harmonic actuator, can directly drive the fingers, resulting in better performance compared to indirect driving methods. The bionic toothless harmonic actuator drives the fingers by generating a drum-like deformation similar to a lunar eclipse. This allows the output flange to reverse relative to the power component when the output load of the bionic toothless harmonic actuator is high, providing self-protection and preventing damage.

[0056] The multi-degree-of-freedom bionic hand provided in this application uses bevel gears for transmission between the finger joints, which reduces the size of the fingers. At the same time, since the actuator uses a bionic toothless harmonic actuator, it can perform reverse actuation and protect the internal structure of the multi-degree-of-freedom bionic hand from damage during reverse actuation.

[0057] The multi-degree-of-freedom bionic hand provided in this application can select different finger sizes and corresponding actuators according to actual needs, thereby adapting to different working scenarios.

[0058] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A multi-degree-of-freedom bionic hand, characterized in that: It includes a base component and a finger component, the finger component being disposed on the base component; the finger component includes a first joint module and a second joint module; The first joint module and the second joint module are connected by a second joint base. The first joint module is provided with a first joint driver, which is connected to the second joint module through a bevel gear set. The second joint base is rotatably supported on the first joint module, and the second joint module is hinged on the second joint base. The first joint module is also provided with a second joint rotation driver, which is connected to the second joint base via a gear set.

2. The multi-degree-of-freedom bionic hand according to claim 1, characterized in that: The bevel gear set includes a first bevel gear and a second bevel gear; the first bevel gear is disposed at the output end of the first joint driver, and the second bevel gear is rotatably supported on the second joint base via the first bevel gear shaft; both the second bevel gear and the second joint base are fixedly connected to the first bevel gear shaft.

3. The multi-degree-of-freedom bionic hand according to claim 2, characterized in that: The second joint base includes a gear disk and two connecting seats; the output end of the second joint rotary driver is provided with a first gear, which meshes with the gear disk for transmission; the first bevel gear shaft is rotatably supported on the two connecting seats.

4. The multi-degree-of-freedom bionic hand according to claim 3, characterized in that: The first joint module includes a first joint housing, the first joint housing includes a cylindrical joint base, the first joint actuator is disposed in the joint base, and the second joint rotation actuator is disposed outside the joint base.

5. The multi-degree-of-freedom bionic hand according to claim 4, characterized in that: The joint base is provided with a first connecting piece and a second connecting piece; the first connecting piece and the second connecting piece are arranged in parallel, and the first connecting piece and the second connecting piece are set at an angle to the axis of the joint base.

6. The multi-degree-of-freedom bionic hand according to claim 5, characterized in that: The base assembly includes a base, which includes two connecting plates and a mounting plate; the mounting plate is fixedly connected to the two connecting plates; and the first connecting piece is fixedly connected to the mounting plate.

7. The multi-degree-of-freedom bionic hand according to claim 6, characterized in that: The second joint module includes a second joint housing, on which a second joint driver is fixedly mounted. A third bevel gear is fixedly disposed at the output end of the second joint driver. A fourth bevel gear meshes with the third bevel gear. The fourth bevel gear is rotatably supported on the second joint housing via a second bevel gear shaft. The finger assembly also includes a third joint module, on which both the fourth bevel gear and the third joint module are fixedly connected to the second bevel gear shaft.

8. The multi-degree-of-freedom bionic hand according to claim 7, characterized in that: The finger assembly includes a first finger assembly, a second finger assembly, and a third finger assembly; the first finger assembly, the second finger assembly, and the third finger assembly are arranged sequentially on the base assembly, the first finger assembly is fixedly connected to the base assembly, the second finger assembly is rotatably supported on the first finger assembly, and the third finger assembly is rotatably supported on the second finger assembly.

9. The multi-degree-of-freedom bionic hand according to claim 8, characterized in that: The first joint actuator, and / or the second joint actuator, and / or the second joint rotation actuator are biomimetic toothless harmonic actuators.

10. A humanoid robot, comprising a multi-degree-of-freedom bionic hand according to any one of claims 1-9, characterized in that: The multi-degree-of-freedom bionic hand is part of the arm of the humanoid robot.

Images