Dexterous finger driving device, dexterous hand and humanoid robot

Abstract

The embodiment of the utility model provides a dexterous finger driving device, a dexterous hand and a humanoid robot. The dexterous finger driving device comprises a support driving module and a transmission module. The driving module is installed at one end of the support and comprises a plurality of driving pieces, and the driving pieces are used for providing driving force. The transmission module is installed on the support and comprises a plurality of moving parts which do linear motion in the same direction, the moving parts are at least in transmission connection with one driving part, and the driving part is used for driving the moving parts to move. The transmission module further comprises a plurality of guiding parts, the length direction of the guiding parts is arranged in the moving direction of the moving parts, the guiding parts are connected to the support, at least two moving parts are connected to one guiding part, and one guiding part is used for guiding the at least two moving parts. The dexterous finger driving device is compact in structure, small in size and convenient to assemble and disassemble.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a dexterous finger actuator, a dexterous hand, and a humanoid robot. Background Technology

[0002] As a new type of end effector for humanoid robots, the humanoid dexterous hand has become an indispensable key component of humanoid robots. The dexterous hand imitates the structure and function of the human hand, so it usually has multiple humanoid fingers.

[0003] To ensure a higher degree of anthropomorphism in the fingers of a dexterous hand, the fingers are typically designed to have multiple movement postures, such as bending and swinging, to achieve grasping or other dexterous operations. In related technologies, a drive structure is usually set in the palm area of ​​the dexterous hand to drive the bending or swinging of the dexterous fingers.

[0004] However, the drive structure in related technologies is relatively complex and has a relatively large number of parts, which makes the size of a single dexterous finger large and affects the precision operation of the dexterous hand. Utility Model Content

[0005] This application provides a dexterous finger driving device, a dexterous hand, and a humanoid robot to solve the problems of the dexterous finger's non-compact structure and large size, thereby enabling the dexterous hand to operate with relative precision.

[0006] In a first aspect, embodiments of this application provide a dexterous finger driving device, including a bracket, a driving module, and a transmission module. The driving module is mounted on one end of the bracket and includes multiple driving members that provide driving force. The transmission module is mounted on the bracket and includes multiple moving members that move linearly in the same direction. Each moving member is tractively connected to at least one of the driving members, and the driving member drives the moving member to move. The transmission module also includes multiple guide members whose length direction is along the moving direction of the moving member. The guide members are connected to the bracket, and at least two moving members are connected to one guide member, so that one guide member guides at least two moving members.

[0007] The dexterous finger driving device provided in this application integrates the driving module and the transmission module onto a bracket, allowing for modular arrangement of the bracket, driving module, and transmission module. This improves structural compactness, enhances integration, and facilitates assembly and disassembly of the driving device, making maintenance easier. In this application, the movement of movable components enables the bending of the dexterous finger, while guide components restrict the movement path of these components. These guide components can be connected to multiple movable components, allowing one guide component to guide multiple components. This reduces the number of parts mounted on the bracket, lowers its complexity, and makes the bracket structure more compact and smaller, thus reducing the size of the dexterous hand and increasing its operational precision.

[0008] In one possible implementation, the transmission module includes a transmission component connected to the driving component and also connected to the moving component. The transmission component drives the moving component to move along a first direction. The moving component has a guide portion connected to the guide component. By providing the transmission component, the driving force of the driving component can be transmitted to the moving component to drive it to move. The guide portion and the guide component are connected, and the guide portion can move along the extension direction of the guide component to define the direction of movement of the moving component.

[0009] In one possible implementation, the guide portions of at least two of the moving members are arranged to overlap in a first direction, and the overlapping guide portions are together sleeved on one of the guide members.

[0010] Alternatively, the guide portions of the moving parts do not overlap in the first direction, and the guide portions of at least two moving parts are respectively connected to different positions of the same guide. Furthermore, the guide portions of moving parts guided by one guide overlap, which facilitates the guide passing through two guide portions along the moving direction of the moving parts; and the guide portions of moving parts guided by one guide do not overlap, but can be simultaneously connected to the same guide, thus enabling one guide to guide multiple moving parts.

[0011] In one possible implementation, the transmission component is a lead screw structure, rotatably connected to the bracket, and the movable component is screwed to the transmission component. The transmission component is configured as a lead screw, and the movable component is configured to be screwed to the transmission component. Thus, when the transmission component rotates, the guide component can restrict the rotation of the movable component, but the movable component can rotate relative to the transmission component, thereby allowing the movable component to move along the extension direction of the transmission component.

[0012] In one possible implementation, the bracket includes an adapter portion with an adapter hole. One end of the transmission member is connected to the output end of the drive member, and the other end of the transmission member is rotatably connected to the adapter hole on the bracket. The adapter hole facilitates the rotatable connection between the transmission member and the bracket.

[0013] In one possible implementation, the transmission component includes at least a first transmission component, a second transmission component, and a third transmission component, and the moving component includes at least a first moving component, a second moving component, and a third moving component. The first moving component is screwed to the first transmission component, the second moving component is screwed to the second transmission component, and the third moving component is screwed to the third transmission component. This allows three transmission components to drive three moving components respectively, which is beneficial for driving multiple degrees of freedom of movement in dexterous fingers.

[0014] In one possible implementation, the first moving member has a first guide portion, the second moving member has a second guide portion, and the third moving member has a third guide portion and a fourth guide portion. Two guide portions are provided, one of which is connected to the first and third guide portions, and the other is connected to the second and fourth guide portions. By connecting one guide portion to the first and third guide portions and the other guide portion to the second and fourth guide portions, one guide portion can simultaneously guide multiple moving members.

[0015] In one possible implementation, the first and second transmission members are spaced apart along a second direction, and the third transmission member is located between the first and second transmission members, and is spaced apart relative to the first transmission member along a third direction. This arrangement creates a triangular arrangement of the three transmission members in a plane perpendicular to the first direction, which improves the compactness of the arrangement.

[0016] In one possible implementation, the support includes a frame with a first receiving position, a second receiving position, and a third receiving position. The first transmission member is located in the first receiving position, the second transmission member is located in the second receiving position, and the third transmission member is located in the third receiving position. The receiving positions on the frame not only reduce the material used in the frame but also accommodate the transmission member and the moving member.

[0017] In one possible implementation, the drive module includes a first drive member, a second drive member, and a third drive member. The first drive member is connected to the first transmission member, the second drive member is connected to the second transmission member, and the third drive member is connected to the third transmission member. By setting three drive members, each transmission member is driven by its corresponding drive member, allowing for separate control of the three transmission members. This makes the operation more flexible and facilitates the realization of different movements of dexterous fingers.

[0018] In one possible implementation, the bracket further includes a fixing part, a first mounting cover, and a second mounting cover. The first driving member, the second driving member, and the third driving member are all connected to the fixing part. The first mounting cover is used to fix the first driving member and the second driving member to the fixing part, and the second mounting cover is used to fix the third driving member to the fixing part. By providing the cooperation between the first mounting cover and the fixing part, the first driving member and the second driving member can be mounted and fixed on the bracket. By providing the cooperation between the second mounting cover and the fixing part, the third driving member can be fixed on the bracket.

[0019] In one possible implementation, a detection module is further included, disposed on the bracket. The detection module includes a first detection element, a second detection element, a third detection element, a fourth detection element, and a fifth detection element. The first, second, and third detection elements are arranged along a first direction and are used to detect the movement position of the third moving element. The fourth detection element is used to detect the position of the first moving element, and the fifth detection element is used to detect the position of the second moving element. The second detection element is located between the first and third detection elements. The second detection element can be used to detect the initial position of the third moving element. The first and third detection elements can be used to detect the extreme positions of the third moving element along the first direction. The fourth and fifth detection elements can respectively detect the extreme movement positions of the first and second moving elements, ensuring the accuracy of the movement distance of the first and second moving elements.

[0020] In one possible implementation, a control structure is also included, connected to the bracket. The first, second, and third detection elements are connected to the control structure via a second conductive element, and the fourth and fifth detection elements are mounted on the control structure. The control structure can receive position information detected by each detection element and can also be connected to the drive module, controlling the opening and closing of the drive element based on the detected information. Furthermore, since the control structure is also mounted on the bracket, the drive module, transmission module, and control structure are integrated onto the bracket. The wiring between structures that previously required wire connections only needs to be routed on the bracket, reducing the number and complexity of wiring. Moreover, the entire integrated structure can be assembled and disassembled simply by assembling and disassembling the bracket, facilitating maintenance.

[0021] Secondly, this application also provides a dexterous hand, including the dexterous finger driving device described above.

[0022] Thirdly, this application also provides a humanoid robot, including the aforementioned dexterous hand. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] Figure 1 Exploded view of the dexterous finger driving device provided in this application;

[0025] Figure 2 A schematic diagram of the dexterous finger driving device provided in this application;

[0026] Figure 3 This is a schematic diagram of the transmission module provided in this application;

[0027] Figure 4 A schematic diagram of the dexterous finger driving device and the structure of the dexterous finger during installation provided in this application;

[0028] Figure 5 A schematic diagram of a structure of the support provided in this application;

[0029] Figure 6 Another structural schematic diagram of the stent provided in this application;

[0030] Figure 7 This is a sectional view along AA in section 6;

[0031] Figure 8 A schematic diagram of the control structure provided in this application.

[0032] Explanation of reference numerals in the attached figures:

[0033] 10. Bracket; 11. Frame; 111. First receiving position; 112. Second receiving position; 113. Third receiving position; 114. Slot; 12. Fixing part; 13. First mounting cover; 14. Second mounting cover; 15. Adapter part; 151. Adapter hole; 16. Adapter bearing;

[0034] 20. Drive module; 21. First drive component; 22. Second drive component; 23. Third drive component; 24. Drive control component; 25. Conductive component;

[0035] 30. Transmission module; 31. First transmission component; 32. Second transmission component; 33. Third transmission component; 34. First moving component; 341. First guide portion; 342. First connecting portion; 35. Second moving component; 351. Second guide portion; 352. Second connecting portion; 36. Third moving component; 361. Third guide portion; 362. Fourth guide portion; 363. Third connecting portion; 37. Guide component;

[0036] 40. Control structure; 41. Drive interface; 42. Detection interface;

[0037] 50. Detection module; 51. Detection control board; 52. First detection component; 53. Second detection component; 54. Third detection component; 55. Fourth detection component; 56. Fifth detection component;

[0038] 60. Dexterous fingers; 61. First connecting rod; 62. Second connecting rod; 63. Third connecting rod.

[0039] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0040] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0041] Dexterous hands are used in the field of robotics, especially in humanoid robots, to mimic human hand movements. A dexterous hand has multiple fingers, including the thumb and the rest. When performing tasks, the dexterous hand's dexterity and degrees of freedom determine whether it can perform complex tasks. The dexterity of the dexterous fingers is closely related to their size; larger dexterous fingers result in a larger overall dexterous hand, leading to lower dexterity and less precise manipulation.

[0042] The dexterous hand also includes a dexterous palm, within which dexterous fingers are mounted. In related technologies, the drive structure for driving the movement of the dexterous fingers is installed within the dexterous palm or directly within the dexterous fingers. To drive the dexterous fingers to move in multiple degrees of freedom, the drive structure typically includes multiple drive components. These drive components transmit driving force to the dexterous fingers through a transmission structure to drive their movement. However, in related technologies, these drive components and their associated transmission structures are distributed rather dispersedly within the dexterous fingers or the dexterous palm. This results in an unreasonable internal layout of the dexterous hand, increasing its size and complicating its internal wiring. Furthermore, the dispersed nature of the drive components and transmission structures makes disassembly and assembly during maintenance difficult.

[0043] Furthermore, the transmission structures used in related technologies are often complex, with numerous components, resulting in a less compact structure. For example, some technologies typically include a transmission component with a moving component attached to it. The moving component is connected to the dexterous finger, and the transmission component transmits the driving force from the driving component to the moving component, which in turn drives the dexterous finger to bend or swing. Because multiple driving components are needed to drive the multi-degree-of-freedom movement of the dexterous finger, each driving component has a corresponding transmission component and moving component. To make the movement of the moving component more stable, related technologies connect at least one guide component to each moving component, which increases the number of structures and the size of the dexterous hand.

[0044] To address the aforementioned issues, this application provides a dexterous finger driving device. The dexterous finger driving device of this application has a reasonable structural layout, which not only facilitates the maintenance and repair of the dexterous finger, but also makes the structure of the dexterous finger compact, reducing the size of the dexterous hand and increasing the operational precision of the dexterous hand.

[0045] To achieve the above objectives, refer to Figure 1 and Figure 2As shown, the first aspect of this application provides a dexterous finger driving device for driving the bending motion of the fingers of a dexterous hand. In some possible implementations, the dexterous finger driving device includes a bracket 10, a driving module 20, and a transmission module 30. The bracket 10 provides an installation environment, and the driving module 20 and the transmission module 30 are both integrated on the bracket 10. It should be noted that the bracket 10 can be made of metal to ensure its strength, such as stainless steel or titanium. Alternatively, to reduce the overall weight of the bracket 10, it can also be made of plastic. This application does not impose any limitations on the embodiments described.

[0046] The drive module 20 is mounted on one end of the bracket 10. The drive module 20 includes at least one drive component. At least one drive component means that there can be one or more drive components, such as two or three, depending on the actual needs. The drive component is used to provide driving force. It should be noted that the driving force provided by the drive component can be a linear driving force or a rotary driving force, which needs to be determined according to the specific settings of the transmission module 30.

[0047] The transmission module 30 is mounted on the bracket 10. The transmission module 30 includes at least one moving member that moves in a straight line. "At least one" means that there can be one or more moving members. In this application, multiple moving members are provided. Multiple moving members can reciprocate in the same direction. The moving member is at least tractively connected to a driving member. The driving force output by the driving member is used to drive the moving member to move.

[0048] In this embodiment, the moving direction of the moving member can be, for example, a first direction. For ease of description, see [link to relevant documentation]. Figure 1 In the figure, the X-axis is parallel to the first direction, the Y-axis is parallel to the second direction, and the Z-axis is parallel to the third direction. The first, second, and third directions are all perpendicular to each other.

[0049] The transmission module 30 also includes multiple guide members 37, which guide the moving parts to make their movement more stable and less prone to deviation. The length direction of the guide member 37 is set along the movement direction of the moving part, so that the guide member 37 can guide the moving part along its movement direction (first direction), making the movement path of the moving part extend along the first direction. The guide member 37 is connected to the bracket 10, and at least two moving parts are connected to one guide member 37, so that one guide member 37 is used to guide at least two moving parts.

[0050] By integrating the drive module 20 and the transmission module 30 together onto the bracket 10, the bracket 10, drive module 20, and transmission module 30 can be modularly configured. This not only improves the compactness of the structure and the high degree of integration of the modular configuration, but also facilitates the assembly and disassembly of the drive device, making maintenance and repair easier. In this application, the movement of the moving parts enables the bending of the dexterous finger, and the guide 37 can restrict the movement path of the moving parts. The guide 37 of this application can be connected to multiple moving parts, so that one guide 37 can guide multiple moving parts. In this way, the number of parts installed on the bracket 10 can be reduced, the complexity of the bracket 10 can be reduced, the structure of the bracket 10 can be made compact, the volume of the bracket 10 can be reduced, and the volume of the dexterous hand can be reduced, thereby increasing the dexterous hand's operational precision.

[0051] See also Figure 3 As shown, in some possible implementations, the transmission module 30 further includes a transmission element for transmitting the driving force of the driving element to the moving element. Specifically, one end of the transmission element can be connected to the driving element, and the transmission element is also connected to the moving element. The transmission element is used to drive the moving element to move along a first direction.

[0052] The driving component can output linear or rotary driving force. The transmission component can be selected according to the driving method of the driving component, or the corresponding output method of the driving component can be selected according to the transmission type of the transmission component. For example, the transmission component can be a lead screw structure, and the moving component has a threaded hole through it, making the moving component approximately a nut structure. The moving component is screwed to the transmission component through the threaded hole. In this case, the driving component can be a drive motor, whose output end outputs rotary motion. The transmission component can be coaxially connected to the output shaft of the driving component. When the output shaft of the driving component rotates, it can drive the transmission component to rotate. Due to the limiting effect of the guide component 37, the moving component can rotate relative to the transmission component and can move along the first direction.

[0053] For example, the transmission component can also be a telescopic rod that reciprocates along the first direction. In this case, the driving component can be a hydraulic cylinder or a pneumatic cylinder, and the transmission component is the plunger of the hydraulic cylinder or the pneumatic cylinder. The moving component is connected to the transmission component. The hydraulic rod or the pneumatic cylinder can use its plunger to drive the moving component to move along the first direction. Under the action of the guide component 37, the moving component is made more stable during the movement.

[0054] Whether the driving component is a hydraulic cylinder, a pneumatic cylinder, or a drive motor is not specified here. This application uses a drive motor as the driving component and a lead screw structure as the transmission component as an example. When the transmission component is a lead screw, the transmission component is rotatably connected to the bracket 10, and the axis of rotation of the transmission component is parallel to the first direction.

[0055] In some feasible embodiments, the guide member 37 can be connected to a portion of the moving member's structure. This movable connection ensures that the guide member 37 does not interfere with the movement of the moving member, allowing it to move smoothly along the first direction. For example, the moving member may have a guide section, and the guide member 37 may be positioned along the guide section's movement path in the first direction, with the guide section serving as a connection to the guide member 37.

[0056] In one feasible approach, the guide portions of at least two moving parts are arranged to overlap in a first direction, and the overlapping guide portions can be connected together to a guide 37. Specifically, a through hole can be made on the guide portion along the first direction, and the guide 37 is inserted into the through hole. The through holes of the two guide portions that can overlap in the first direction are also arranged to overlap in the first direction. The shape and size of the through hole are adapted to the outer dimensions of the guide 37. In this way, a guide 37 can be inserted into the two guide portions, thereby guiding the two moving parts.

[0057] For example, when the guide 37 is inserted into the hole, the outer wall of the guide 37 fits against the hole wall of the hole. The radial dimension of the guide 37 needs to match the radial dimension of the hole. The cross-section of the guide 37 can be circular or polygonal. The shape of the hole can be the same as the shape of the guide 37 or different from the cross-sectional shape of the guide 37.

[0058] In this embodiment, the guide member 37 is a cylindrical structure.

[0059] In another possible implementation, the guide portions of the moving parts do not overlap in the first direction, but the guide portions of at least two moving parts can be connected to different positions of the same guide 37. For example, at least a portion of the structure of one guide 37 can overlap with the guide portions of two moving parts in the first direction, and the overlapping structures of the guide 37 and the guide portions of the two moving parts are at different positions. In this case, a corresponding groove structure can be formed on the guide portion, and the shape and size of the groove can be adapted to the shape and size of the overlapping structure on the corresponding guide 37, so that a portion of the structure on the guide 37 can be inserted into the groove of the guide portion.

[0060] Specifically, taking the example of a guide member 37 being connected to two moving members, two protruding edges can be provided on the guide member 37. Both protruding edges extend along the first direction and are spaced apart. The two protruding edges are located on the moving path of the guide part of one of the moving members in the first direction. If the guide part does not have a groove, the guide part will inevitably abut against the protruding edge when it moves with the moving member, and the protruding edge will interfere with the movement of the moving member. However, after a groove is provided on the guide part to fit the protruding edge, the protruding edge can be inserted into the groove of the guide part. At this time, the protruding edge will not only not interfere with the movement of the guide part, but the protruding edge can also play a guiding and limiting role.

[0061] For example, when the guide member 37 is a cylindrical structure, the guide portions of the two moving members connected to it can be located on opposite radial sides of the cylindrical structure, and semi-circular grooves are respectively provided on the guide portions. The size of the semi-circular grooves is half of the radial dimension of the guide member 37, so that the guide member 37 can be clamped between the two guide portions.

[0062] In some feasible methods, in order to rotatably connect the transmission component to the bracket 10, the bracket 10 includes a transition part 15, and a certain distance is provided between the transition part 15 and the output end of the drive component. The transition part 15 is provided with a transition hole 151 corresponding to the position of the output end of each drive component. One end of the transmission component is coaxially connected to the output end of the drive component, and the other end of the transmission component is rotatably connected to the transition hole 151 on the bracket 10.

[0063] For example, in order to ensure that the transmission component rotates flexibly, a transition bearing 16 is also provided in the transition hole 151. The axis of the transition bearing 16 is parallel to the first direction. The outer ring of the transition bearing 16 is fixedly connected in the transition hole 151, and the transmission component is connected in the inner ring of the transition bearing 16.

[0064] For example, the number of driving components and transmission components used to drive finger bending are equal, and the number of corresponding moving components is equal to the number of transmission components. In this way, each transmission component can be driven by one driving component, and each moving component can be driven by a corresponding transmission component, so that the movement of each moving component can be controlled independently, so as to better perform complex movement operations on the fingers.

[0065] To achieve a high degree of simulation of the dexterous finger, each joint of the dexterous finger is designed to rotate around its joint axis, and the dexterous finger as a whole is designed to rotate around the support 10. It should be noted that the axes of rotation of the dexterous finger joints and the axes of rotation of the dexterous finger around the support 10 are both parallel to the second direction. In addition, the dexterous finger as a whole can also swing in a plane parallel to the second direction.

[0066] Reference Figures 1 to 3 As shown, the aforementioned movements of the dexterous fingers require the cooperation of multiple driving components, transmission components, and moving components. Specifically, in some feasible embodiments, the transmission components include at least a first transmission component 31, a second transmission component 32, and a third transmission component 33, and the moving components include at least a first moving component 34, a second moving component 35, and a third moving component 36. The first moving component 34 is screwed to the first transmission component 31, the second moving component 35 is screwed to the second transmission component 32, and the third moving component 36 is screwed to the third transmission component 33.

[0067] For example, the first transmission member 31, the second transmission member 32, and the third transmission member 33 are all lead screw structures, and the first transmission member 31, the second transmission member 32, and the third transmission member 33 are parallel, and their axes are all parallel to the first direction.

[0068] It should be noted that the first moving member 34 has a first guide portion 341, the second moving member 35 has a second guide portion 351, and the third moving member 36 has a third guide portion 361 and a fourth guide portion 362. The first guide portion 341 and the third guide portion 361 are at least partially structurally overlapping in a first direction, and the second guide portion 351 and the fourth guide portion 362 are at least partially structurally overlapping in a first direction. In this application, two guide members 37 are provided, one guide member 37 is connected to the first guide portion 341 and the third guide portion 361, and the other guide member 37 is connected to the second guide portion 351 and the fourth guide portion 362. This allows one guide portion to guide two moving members, reducing the number of guide members 37.

[0069] In some feasible arrangements, the first transmission member 31, the second transmission member 32, and the third transmission member 33 are arranged on the bracket 10 such that the first transmission member 31 and the second transmission member 32 are spaced apart along a second direction, and the third transmission member 33 is located between the first transmission member 31 and the second transmission member 32, and is spaced apart relative to the first transmission member 31 along a third direction. The distance between the third transmission member 33 and the first transmission member 31, as well as the distance between the third transmission member 33 and the second transmission member 32, are equal.

[0070] For example, the first moving part 34 is also provided with a first connecting part 342, the second moving part 35 is also provided with a second connecting part 352, and the third moving part 36 is also provided with a third connecting part 363. The first connecting part 342, the second connecting part 352 and the third connecting part 363 can all be connected to the dexterous finger through a connecting rod.

[0071] Please combine them together Figure 4 The dexterous finger 60 may also be provided with a first connecting rod 61, a second connecting rod 62 and a third connecting rod 63, wherein the two ends of the first connecting rod 61 are rotatably connected to the dexterous finger 60 and the first connecting part 342 respectively, the two ends of the second connecting rod 62 are rotatably connected to the dexterous finger 60 and the second connecting part 352 respectively, and the two ends of the third connecting rod 63 are rotatably connected to the dexterous finger 60 and the third connecting part 363 respectively.

[0072] It should be noted that the first connecting rod 61, the second connecting rod 62, and the third connecting rod 63 can be rotatably connected to their respective connecting parts via spherical joints, while the first connecting rod 61 and the second connecting rod 62 are rotatably connected to the dexterous finger 60 via the same pivot. The connection of the first connecting rod 61, the second connecting rod 62, and the third connecting rod 63 to their respective connecting parts via spherical joints allows not only rotation relative to the connecting parts but also oscillation relative to the connecting parts.

[0073] In the initial state, the dexterous finger 60 is in an extended state. At this time, the third moving member 36 is located in the middle position of the third transmission member 33. When the third transmission member 33 is driven to drive the third moving member 36 away from the dexterous finger 60, the third moving member 36 drives the third connecting rod 63 to pull the dexterous finger backward. The dexterous finger 60 drives the finger joint to rotate by relying on the internal linkage structure.

[0074] In the initial state, the dexterous finger 60 has not yet rotated relative to the support 10. At this time, the first moving part 34 and the second moving part 35 are located away from the dexterous finger 60. When the first transmission part 31 and the second transmission part 32 are driven to rotate at the same speed and respectively drive the first moving part 34 and the second moving part 35 to move towards the dexterous finger 60, the first connecting rod 61 and the second connecting rod 62 can be driven to move towards the dexterous finger 60. At this time, the first connecting rod 61 and the second connecting rod 62 can drive the dexterous finger 60 to rotate relative to the support 10.

[0075] When the first moving member 34 does not move while the second moving member 35 moves, or when the first moving member 34 moves but its moving speed is less than that of the second moving member 35, the moving speed of the second connecting rod 62 is faster than that of the first connecting rod 61, and the dexterous finger 60 swings towards the first connecting rod 61; when the second moving member 35 does not move while the first moving member 34 moves, or when the second moving member 35 moves but its moving speed is less than that of the first moving member 34, the moving speed of the first connecting rod 61 is faster than that of the second connecting rod 62, and the dexterous finger 60 swings towards the second connecting rod 62.

[0076] See Figures 5 to 7 As shown, in some feasible embodiments, to accommodate three transmission components and three moving components, the support 10 further includes a frame 11, on which a first receiving position 111, a second receiving position 112, and a third receiving position 113 are provided, extending along a first direction. A first transmission component 31 is located at the first receiving position 111, a second transmission component 32 is located at the second receiving position 112, and a third transmission component 33 is located at the third receiving position 113.

[0077] Specifically, the first accommodating position 111, the second accommodating position 112 and the third accommodating position 113 are formed by a slot opened in the frame 11 along the first direction, wherein the first accommodating position 111 and the second accommodating position 112 are arranged along the second direction, and the third accommodating position 113 is located between the first accommodating position 111 and the second accommodating position 112.

[0078] It should be noted that the first accommodating position 111 and the second accommodating position 112 are located above the third accommodating position 113, and the corresponding first transmission member 31 and the second transmission member 32 are located above the third transmission member 33.

[0079] For example, the first accommodating bit 111 and the second accommodating bit 112 are connected in a second direction, and the third accommodating bit 113 is connected in a third direction to the first accommodating bit 111 and the second accommodating bit 112.

[0080] It is worth mentioning that, combined with Figure 1 and Figure 2 The first moving member 34, the second moving member 35, and the third moving member 36 are respectively movable in the first receiving position 111, the second receiving position 112, and the third receiving position 113. At this time, the first guide portion 341 of the first moving member 34 is positioned below the first connecting portion 342 in a third-dimensional direction, and the position where the first moving member 34 and the first transmission member 31 are connected is located between the first guide portion 341 and the first connecting portion 342. The second guide portion 351 of the second moving member 35 is positioned below the second connecting portion 352 in a third-dimensional direction, and the position where the second moving member 35 and the second transmission member 32 are connected is located between the second guide portion 351 and the second connecting portion 352. The third guide portion 361 of the third moving member 36 is positioned opposite the first guide portion 341, and the fourth guide portion 362 is positioned opposite the second guide portion 351. The connection position between the third moving member 36 and the third transmission member 33 is positioned below the third connecting portion 363 in a third-dimensional direction.

[0081] In some feasible implementations, in order to drive the three transmission components, the drive module 20 includes a first drive component 21, a second drive component 22, and a third drive component 23. The output shaft of the first drive component 21 is coaxially connected to the first transmission component 31, the output shaft of the second drive component 22 is coaxially connected to the second transmission component 32, and the output shaft of the third drive component 23 is coaxially connected to the third transmission component 33. The first drive component 21 can drive the first transmission component 31 to rotate, the second drive component 22 can drive the second transmission component 32 to rotate, and the third drive component 23 can drive the third transmission component 33 to rotate.

[0082] It should be noted that the bracket 10 is also provided with a structure for connecting the drive component. For example, the bracket 10 also includes a fixing part 12, a first mounting cover 13 and a second mounting cover 14. The fixing part 12 is located at the end of the frame 11 away from the adapter part 15. The fixing part 12 and the adapter part 15 can be detachably connected to the frame 11 by a snap-fit ​​structure, a fastening structure or by screws or other structures. Alternatively, the fixing part 12, the adapter part 15 and the frame 11 can be integrally formed as in the embodiments of this application.

[0083] The fixing part 12 has mounting positions on both ends of its third-direction surface. These mounting positions can be groove structures. The upper end face has two mounting positions, and the lower end face has one. The two upper mounting positions are used to mount the first driving member 21 and the second driving member 22, while the lower mounting position is used to mount the third driving member 23. For example, the first driving member 21 and the second driving member 22, near their output ends, can be placed in the two upper mounting positions of the fixing part 12. The first mounting cover 13 can be connected to the upper end face of the fixing part 12 with screws, clamping the ends of the first driving member 21 and the second driving member 22 onto the fixing part 12. Similarly, the third driving member 23, near its output end, can be placed in the lower mounting position of the fixing part 12. The second mounting cover 14 can be connected to the lower end face of the fixing part 12 with screws, clamping the end of the third driving member 23 onto the lower end face of the fixing part 12.

[0084] See Figure 1 , Figure 2 and Figure 8 As shown, in some possible implementations, the dexterous finger driving device of this application further includes a detection module 50, which is used to detect the initial position and extreme position of each moving component during its movement. Specifically, the detection module 50 includes a first detection element 52, a second detection element 53, and a third detection element 54, which are arranged along a first direction to detect the movement position of the third moving component 36.

[0085] The first detection element 52 is located on the support 10 away from the dexterous finger. The second detection element 53 is located between the first detection element 52 and the third detection element 54. The second detection element 53 is located in the middle of the third transmission element 33. The second detection element 53 is used to detect the initial position of the third moving element 36. The first detection element 52 is used to detect the extreme position of the third moving element 36 when it moves away from the dexterous finger. The third detection element 54 is used to detect the extreme position of the third moving element 36 when it moves toward the dexterous finger.

[0086] For example, the detection element is a sensor, such as an infrared switch or similar structure. The third moving element 36 is also provided with a protruding structure for triggering the detection element. The detection head of the detection element is located on the moving path of the protruding structure. When the third moving element 36 moves along the first direction, the protruding structure on the third moving element 36 can pass through the detection heads of the first detection element 52, the second detection element 53, and the third detection element 54.

[0087] For example, the detection module also includes a detection control board 51. The first detection element 52, the second detection element 53, and the third detection element 54 are all electrically connected to the detection control board 51. The detection control board 51 is used to receive the detection signals from the detection elements. A slot 114 is also provided through the frame 11 along the first direction. The slot 114 is connected to the third receiving position 113. The detection control board 51 is connected to the slot 114 of the frame 11 by screws. The first detection element 52, the second detection element 53, and the third detection element 54 are all inserted into the slot 114 so as to cooperate with the protrusion structure on the third moving member 36.

[0088] In some possible implementations, the detection module 50 further includes a fourth detection element 55 and a fifth detection element 56, wherein the fourth detection element 55 is used to detect the position of the first moving element 34 and the fifth detection element 56 is used to detect the position of the second moving element 35.

[0089] Specifically, the fourth detection element 55 and the fifth detection element 56 are located on the frame 11 near the fixed part 12. The fourth detection element 55 and the fifth detection element 56 can be sensors such as infrared switches. The ends of the first moving part 34 and the second moving part 35 facing the fixed part 12 are also provided with protruding structures. The fourth detection element 55 and the fifth detection element 56 are respectively located on the moving paths of the protruding structures of the first moving part 34 and the second moving part 35. When the first moving part 34 and the second moving part 35 move towards the fixed part 12, the protruding structures of the two can trigger the fourth detection element 55 and the fifth detection element 56 respectively to detect the extreme positions of the first moving part 34 and the second moving part 35.

[0090] By setting up the detection module 50, the position of each moving part can be detected, which is beneficial to the accuracy of the movement of the moving parts. The detection module 50 has multiple detection elements, which are not set on the dexterous finger, but integrated on the bracket 10, which helps to optimize the structural layout to the greatest extent, reduce the number of wires and reduce the complexity of the wiring.

[0091] In some feasible implementations, a control structure 40 is also included. The control structure 40 provides power to the detection module 50 and the drive module 20 and controls their operation based on information. For example, the control structure 40 can control the rotation of the output end of the drive component of the drive module 20 and control the speed of the output end. In addition, the control structure 40 can also control the drive component to stop based on the position information of the moving component detected by the detection component, so that the moving component can stop moving in time when it is at the limit position.

[0092] For example, the control structure 40 is provided with multiple drive interfaces 41, and the first drive element 21, the second drive element 22, and the third drive element 23 are respectively connected to the drive interfaces 41 of the control structure 40 through conductive elements 25. The control structure 40 is also provided with multiple detection interfaces 42, and the first detection element 52, the second detection element 53, and the third detection element 54 are connected to the detection control board 51, which is connected to the detection interfaces 42 through signal lines.

[0093] For example, the conductive element 25 can be an FPC (Flexible Printed Circuit) signal line, and the detection control board 51 can be an FPC (Flexible Printed Circuit) circuit board.

[0094] For example, a drive control unit 24 is also connected to the drive unit. The drive control unit 24 is located at the end of the drive unit away from the bracket 10. The drive control unit 24 can be, for example, a motor encoder. The drive control unit 24 is connected to the drive interface 41 on the control structure 40 through a conductive element 25.

[0095] For example, the control structure 40 is connected to the bracket 10. Specifically, one end of the control structure 40 can be fixedly connected to the first mounting cover 13 by screws. When the control structure 40 is installed on the first mounting cover 13, the other end of the control structure 40 extends toward the drive control member 24 of the drive member. The drive interface 41 is located on the control structure 40 near the drive control member 24, and the detection interface 42 is located on the control structure 40 near the first mounting cover 13. The fourth detection member 55 and the fifth detection member 56 are installed on the end of the control structure 40 near the fixing part 12, and the fourth detection member 55 and the fifth detection member 56 are directly connected to the control structure 40.

[0096] This allows the drive module 20, transmission module 30, and control structure 40 to be integrated onto the bracket 10, enabling these modules to be installed and removed individually along with the bracket 10, thus improving maintainability.

[0097] Furthermore, by directly mounting the fourth detection element 55 and the fifth detection element 56 onto the control structure 40, the number of wires can be reduced, and the assembly complexity can be lowered. Also, by connecting the control structure 40 to the first mounting cover 13, with one end of the control structure 40 close to the detection control board 51 and a detection interface 42 provided at that end, and the other end of the control structure 40 close to the drive control element 24 and a drive interface 41 provided at that end, the layout can be optimized, minimizing the wiring length between the detection control board 51 and the control structure 40, as well as the wiring length between the drive control element 24 and the control structure 40. This not only optimizes space but also reduces wiring complexity.

[0098] Secondly, embodiments of this application provide a dexterous hand, which includes a plurality of dexterous fingers and the aforementioned dexterous finger driving device. The movable part of the dexterous finger driving device can be connected to the dexterous fingers to drive the bending and swinging of the dexterous fingers.

[0099] Thirdly, embodiments of this application also provide a humanoid robot, including the aforementioned dexterous hand.

[0100] Finally, it should be noted that other embodiments of this utility model will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This utility model is intended to cover any variations, uses, or adaptations of this utility model that follow the general principles of this utility model and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this utility model is limited only by the appended claims.

Claims

1. A dexterous finger drive apparatus for driving flexion of a dexterous hand finger, characterized by, The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device.

2. The device of claim 1, wherein The application relates to a dexterous finger driving device.

3. The device of claim 2, wherein: The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device.

4. The device according to claim 2 or 3, wherein The application relates to a dexterous finger driving device.

5. The drive apparatus for a dexterous finger according to claim 4, wherein The application relates to a dexterous finger driving device.

6. The drive apparatus for a dexterous finger according to claim 5, wherein The application relates to a dexterous finger driving device.

7. The drive apparatus for a dexterous finger according to claim 6, wherein The application relates to a dexterous finger driving device.

8. The drive apparatus for a dexterous finger according to claim 5, wherein The application relates to a dexterous finger driving device.

9. A dexterous hand characterized by, The application relates to a dexterous finger driving device.

10. A humanoid robot, characterized by, The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. The application relates to a dexterous finger driving device. 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