Dexterous hand finger, dexterous hand and humanoid robot

Abstract

The utility model relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a humanoid robot, the dexterous hand finger comprises a pre-tightening seat and a pre-tightening assembly, the pre-tightening seat is arranged on a palm, and the pre-tightening assembly is arranged on the pre-tightening seat; the finger driving mechanism is movably arranged on the pre-tightening seat, and the pre-tightening assembly is used for providing pre-tightening force for the finger driving mechanism; the finger module is connected to the finger driving mechanism in the moving direction of the finger driving mechanism and rotationally arranged on the palm. When the finger driving mechanism drives the finger module to move, the finger driving mechanism can overcome the pre-tightening force of the pre-tightening assembly and move on the pre-tightening base so as to charge the pre-tightening assembly. After the finger module tightly holds an object, although the finger module is limited by the grabbed object and cannot continuously do work on the grabbed object, the finger driving mechanism is not completely blocked, and the driving force of the finger driving mechanism can overcome the pre-tightening force to charge the pre-tightening assembly; therefore, the problems of serious system heating, high energy consumption and overheating damage caused by stalling of the finger driving mechanism are avoided.

Description

Technical Field

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

[0002] With the development of intelligent technology, robotics has become a research hotspot. As an end effector of a robot, the robotic hand works in conjunction with the robot as a whole to achieve various complex movements, which has also attracted increasing attention from researchers.

[0003] Existing humanoid dexterous hand mechanical structures use fingers mounted on the robotic hand to achieve actions similar to human fingers, such as grasping, releasing, or manipulating tools. However, the fingers are driven by motors, and during use, the gripping force is mainly maintained by the motors being continuously powered and stalled. This results in severe system overheating, high energy consumption, and the risk of motor overheating and damage. Utility Model Content

[0004] Based on this, this application provides a dexterous hand finger, a dexterous hand and a humanoid robot to solve the problems of severe system overheating, high energy consumption and motor overheating damage caused by motor stalling when the finger grasps.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] On one hand, this application provides a dexterous hand finger, disposed on the palm, comprising:

[0007] The pre-tensioning mechanism includes a pre-tensioning seat and a pre-tensioning assembly. The pre-tensioning seat is located on the palm of the hand, and the pre-tensioning assembly is located on the pre-tensioning seat.

[0008] A finger drive mechanism is movably mounted on a pretension seat and connected to a pretensioning assembly. The pretensioning assembly provides a pretensioning force to the finger drive mechanism so that the finger drive mechanism abuts against the pretension seat.

[0009] The finger module is connected to the finger drive mechanism along the direction of movement of the finger drive mechanism and is rotatably mounted on the palm.

[0010] When the finger drive mechanism drives the finger module to move, it can overcome the preload force of the preload component and move on the preload seat to charge the preload component.

[0011] In one possible implementation, the finger driving mechanism includes a drive seat, and the pre-tensioning assembly includes a slide rod and a pre-tensioning member. The slide rod is disposed on the pre-tensioning seat and extends along the direction of movement of the finger driving mechanism. The drive seat passes through the slide rod, and the pre-tensioning member is disposed on the slide rod. One end of the pre-tensioning member abuts against the pre-tensioning seat, and the other end abuts against the drive seat to apply a pre-tensioning force toward the finger module to the drive seat. The drive seat is provided with a pre-tensioning block, and the pre-tensioning seat is provided with a limiting block. The pre-tensioning block is used to abut against the limiting block so that the pre-tensioning member has a pre-tensioning force applied to the drive seat.

[0012] In one possible implementation, the preload element is a spring, and the preload assembly includes two slide rods symmetrically arranged on the preload seat, with preload elements provided on both sides of the slide rods respectively.

[0013] In one possible implementation, the finger module includes a knuckle assembly and a knuckle seat. The knuckle seat is rotatably mounted on the palm, and the knuckle assembly is rotatably connected to the knuckle seat and connected to a finger driving mechanism. The finger driving mechanism is used to drive the knuckle assembly to rotate around the knuckle seat to bend, and the finger driving mechanism is also used to drive the knuckle seat to rotate so that the knuckle assembly can swing laterally.

[0014] In one possible implementation, the finger driving mechanism includes two first driving members and a first driving link. The two first driving members are arranged side by side on the driving seat. The first driving link is a ball joint link. The finger module also includes two first ball joints. The two first ball joints are respectively arranged on the knuckle assembly and located on both sides of the knuckle assembly. One end of the two first driving links is connected to the corresponding first driving member, and the other end is ball-jointed to the corresponding first ball joint.

[0015] At least two first drive components are used to drive the corresponding first drive linkage to move, thereby causing the knuckle assembly to sway sideways.

[0016] In one possible implementation, the first driving element is a motor, the driving end of the first driving element is provided with a first lead screw, a first lead screw slider is connected to the first lead screw, and one end of the first driving link is connected to the first lead screw slider.

[0017] In one possible implementation, the finger driving mechanism includes a second driving member and a second driving link. The finger module also includes a triangular rocker arm, which is rotatably mounted on the knuckle seat and connected to the knuckle assembly. One end of the second driving link is connected to the second driving member, and the other end is connected to the triangular rocker arm.

[0018] The second driving component is used to drive the second driving link to move, thereby causing the triangular rocker arm to rotate, and causing the knuckle assembly connected to the triangular rocker arm to rotate and bend.

[0019] In one possible implementation, the second driving element is a motor, the driving end of the second driving element is provided with a second lead screw, a second lead screw slider is connected to the second lead screw, and one end of the second driving link is connected to the second lead screw slider.

[0020] On the other hand, this application provides a dexterous hand, including a palm and the aforementioned dexterous hand fingers, with the dexterous hand fingers disposed on the palm.

[0021] In another aspect, this application provides a humanoid robot, including the aforementioned dexterous hand.

[0022] This application provides a dexterous hand finger, a dexterous hand, and a humanoid robot. By setting a pre-tensioning mechanism between the finger drive mechanism and the palm, the finger drive mechanism is movably mounted on a pre-tensioning seat and connected to a pre-tensioning component. The pre-tensioning component provides a pre-tensioning force to the finger drive mechanism. When the finger drive mechanism drives the finger module to move, after the finger module grips an object, although the object restricts the finger module from continuing to perform work on it, the finger drive mechanism is not completely blocked. Due to the pre-tensioning force in the pre-tensioning component, the driving force of the finger drive mechanism can overcome the pre-tensioning force, charging the pre-tensioning component and converting the driving force into the internal potential energy of the pre-tensioning component. This avoids the problems of severe system overheating, high energy consumption, and overheating damage caused by the finger drive mechanism being blocked. Furthermore, when the potential energy of the pre-tensioning component reaches a certain value, the driving of the finger drive mechanism can be stopped, and the gripping force of the finger module can be maintained solely by the pre-tensioning force of the pre-tensioning component. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of a dexterous hand finger provided in an embodiment of this application;

[0025] Figure 2 for Figure 1 One of the partial exploded structural diagrams of the fingers of a dexterous hand shown;

[0026] Figure 3 for Figure 1 The second part of the exploded structural diagram of the fingers of a dexterous hand is shown.

[0027] Figure 4 for Figure 1 A partially exploded structural diagram of the finger drive mechanism of the dexterous hand shown.

[0028] Figure 5 for Figure 1 A schematic diagram showing the structural relationship between the fingers and palm of a dexterous hand;

[0029] Figure 6 for Figure 1 The diagram shows the structure of a dexterous hand before its fingers touch an object.

[0030] Figure 7 for Figure 1 The diagram shows the structure of a dexterous hand after its fingers touch an object.

[0031] Explanation of reference numerals in the attached figures:

[0032] 100-Dexterous hand fingers; 10-Pre-tensioning mechanism; 11-Pre-tensioning seat; 111-Limiting block; 12-Pre-tensioning assembly; 121-Slide rod; 122-Pre-tensioning component; 20-Finger drive mechanism; 21-Drive seat; 211-Pre-tensioning block; 22-First drive component; 221-First lead screw; 222-First lead screw slider; 23-First drive link; 24-Second drive component; 241-Second lead screw; 242-Second lead screw slider; 25-Second drive link; 30-Finger module; 31-Knuckle assembly; 311-First knuckle; 312-Second knuckle; 313-Fingert tip; 32-Knuckle seat; 33-First ball head; 34-Triangular swing arm; 40-Finger control panel; 200-Dexterous hand; 201-Palm. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0034] With the development of intelligent technology, robotics has become a research hotspot. As an end effector of a robot, the robotic hand works in conjunction with the robot as a whole to achieve various complex movements, which has also attracted increasing attention from researchers.

[0035] Existing humanoid dexterous hand mechanical structures use fingers mounted on the robotic hand to achieve actions similar to human fingers, such as grasping, releasing, or manipulating tools. However, the fingers are driven by motors, and during use, the gripping force is mainly maintained by the motors being continuously powered and stalled. This results in severe system overheating, high energy consumption, and the risk of motor overheating and damage.

[0036] To overcome the shortcomings of existing technologies, after repeated consideration and verification, the inventors discovered that by incorporating a structure on the drive motor capable of absorbing and converting driving force, a buffer can be provided when the motor is about to stall, thus preventing overheating during stall. Furthermore, the absorbed and converted driving force can also provide gripping force for the dexterous hand when the drive motor stops. This avoids the problems of severe system overheating, high energy consumption, and potential motor damage caused by motor stalling, while also maintaining finger gripping force and reducing energy consumption when the motor stops.

[0037] In view of this, this application provides a dexterous hand finger, disposed on the palm, comprising:

[0038] The pre-tensioning mechanism includes a pre-tensioning seat and a pre-tensioning assembly. The pre-tensioning seat is located on the palm of the hand, and the pre-tensioning assembly is located on the pre-tensioning seat.

[0039] A finger drive mechanism is movably mounted on a pretension seat and connected to a pretensioning assembly. The pretensioning assembly provides a pretensioning force to the finger drive mechanism so that the finger drive mechanism abuts against the pretension seat.

[0040] The finger module is connected to the finger drive mechanism along the direction of movement of the finger drive mechanism and is rotatably mounted on the palm.

[0041] When the finger drive mechanism drives the finger module to move, it can overcome the preload force of the preload component and move on the preload seat to charge the preload component.

[0042] By setting a pre-tightening mechanism between the finger drive mechanism and the palm, the finger drive mechanism is movably mounted on a pre-tightening seat and connected to a pre-tightening component. The pre-tightening component provides a pre-tightening force to the finger drive mechanism. When the finger drive mechanism drives the finger module to move, after the finger module grips an object, although the object restricts the finger module from continuing to perform work on it, the finger drive mechanism is not completely blocked. Due to the pre-tightening force of the pre-tightening component, the driving force of the finger drive mechanism can overcome the pre-tightening force and charge the pre-tightening component, converting the driving force into the internal potential energy of the pre-tightening component. This avoids the problems of severe system overheating, high energy consumption, and overheating damage caused by the finger drive mechanism being blocked. Furthermore, when the potential energy of the pre-tightening component reaches a certain value, the driving of the finger drive mechanism can be stopped, and the gripping force of the finger module can be maintained solely by the pre-tightening force of the pre-tightening component.

[0043] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0044] Figure 1 This is a schematic diagram of the structure of a dexterous hand finger provided in an embodiment of this application. Figure 2 for Figure 1One of the schematic diagrams showing the partial dissection of the fingers of a dexterous hand. Figure 3 for Figure 1 The second schematic diagram showing the partial dissection of the fingers of a dexterous hand. Figure 4 for Figure 1 A partially exploded structural diagram of the finger drive mechanism of the dexterous hand shown. Figure 5 for Figure 1 The diagram shows the structural relationship between the fingers and palm of a dexterous hand. Figure 6 for Figure 1 The diagram shows the structure of a dexterous hand before its fingers touch an object. Figure 7 for Figure 1 The diagram shows the structure of a dexterous hand after its fingers touch an object.

[0045] The following sections will provide a detailed description of the specific structure of the fingers in a dexterous hand and various possible implementation methods.

[0046] like Figure 1 and Figure 5 As shown in the embodiment of this application, the dexterous hand finger 100 is used in the dexterous hand 200. The dexterous hand 200 includes a palm 201. The dexterous hand finger 100 is disposed on the palm 201.

[0047] like Figure 2 As shown, the dexterous hand finger 100 includes a pre-tensioning mechanism 10, a finger driving mechanism 20, and a finger module 30. The pre-tensioning mechanism 10 is disposed on the palm 201. The finger driving mechanism 20 is disposed on the pre-tensioning mechanism 10. The finger module 30 is rotatably disposed on the palm 201 and connected to the finger driving mechanism 20. The finger driving mechanism 20 is used to drive the finger module 30 to move for operations such as grasping. The pre-tensioning mechanism 10 is used to provide a pre-tensioning force to the finger driving mechanism 20 toward the finger module 30.

[0048] like Figure 3 and Figure 4 As shown, specifically, the pretensioning mechanism 10 includes a pretensioning seat 11 and a pretensioning component 12. The pretensioning seat 11 is disposed on the palm 201, and the pretensioning component 12 is disposed on the pretensioning seat 11. The finger drive mechanism 20 is movably disposed on the pretensioning seat 11 and connected to the pretensioning component 12.

[0049] The pretensioning component 12 is used to provide a pretensioning force to the finger drive mechanism 20 toward the finger module 30, so that when the finger drive mechanism 20 drives the finger module 30 to move, it can overcome the pretensioning force with excess driving force when encountering resistance, and convert it into the internal potential energy of the pretensioning component 12 to charge the pretensioning component 12.

[0050] The introduction of the pre-tensioning mechanism 10 allows the dexterous hand finger 100 to better adapt to and adjust its gripping force when facing objects of different sizes and shapes, through the coordination of the pre-tensioning force and the driving force of the finger drive mechanism 20. Furthermore, the pre-tensioning mechanism 10 has a simple structure and few components, resulting in a smaller size that facilitates integration into the dexterous hand finger 100, making the overall structure of the dexterous hand finger 100 more compact.

[0051] By setting a pre-tightening mechanism 10 between the finger drive mechanism 20 and the palm 201, the finger drive mechanism 20 is movably mounted on the pre-tightening seat 11 and connected to the pre-tightening component 12. The pre-tightening component 12 provides a pre-tightening force to the finger drive mechanism 20. When the finger drive mechanism 20 drives the finger module 30 to move, after the finger module 30 grips an object, although the object gripping the finger module 30 limits its movement and prevents it from continuing to do work, the finger drive mechanism 20 is not completely blocked. Because the pre-tightening component 12 has a pre-tightening force, the driving force of the finger drive mechanism 20 can overcome the pre-tightening force and charge the pre-tightening component 12, converting the driving force into the internal potential energy of the pre-tightening component 12. This avoids the problem of severe system overheating, high energy consumption, and overheating damage caused by the finger drive mechanism 20 being blocked. Furthermore, when the potential energy of the pretensioning component 12 reaches a certain value, the driving of the finger driving mechanism 20 can be stopped. The gripping force of the finger module 30 can be maintained solely by the pretensioning force provided by the pretensioning component 12. This not only reduces the dependence on the finger driving mechanism 20, but also ensures the stability and durability of the grip, reduces energy waste, and lowers the overall energy consumption of the system.

[0052] In one possible implementation, the pretensioning assembly 12 includes a slide rod 121 and a pretensioning member 122. The slide rod 121 is disposed on the pretensioning seat 11, and the finger drive mechanism 20 is slidably disposed on the slide rod 121. The pretensioning member 122 is disposed on the slide rod 121, with one end abutting against the pretensioning seat 11 and the other end abutting against the finger drive mechanism 20 to apply a pretensioning force toward the finger module 30 to the finger drive mechanism 20.

[0053] The combination of slide bar 121 and pretensioner 122 provides a simple and effective way to transmit pretension force. Slide bar 121 provides a linear guide, allowing the finger drive mechanism 20 to slide smoothly. Pretensioner 122 is responsible for applying the necessary pretension force; the mechanical structure is simple, easy to manufacture and maintain. Furthermore, slide bar 121 ensures that the finger drive mechanism 20 slides along a predetermined path, enabling pretensioner 122 to apply pretension force precisely, which helps improve the operational accuracy and stability of dexterous hands.

[0054] The preload 122 can store excess driving force when the finger module 30 grips an object and release it when needed. This energy storage and release mechanism improves the energy utilization efficiency of the dexterous hand and reduces the burden on the finger drive mechanism 20. On the other hand, the preload 122 can also make the parts in the dexterous hand finger 100 fit more tightly, resulting in better operational accuracy for the humanoid hand.

[0055] Meanwhile, by adjusting the parameters of the pretensioner 122 (such as the stiffness of the spring or the magnitude of the pretension force), the pretension force applied to the finger drive mechanism 20 can be flexibly changed, allowing the dexterous hand to adapt to different application requirements and operating environments.

[0056] Moreover, in the event of unexpected resistance or overload, the preload 122 can absorb the impact force, protecting the finger drive mechanism 20, finger module 30 and other mechanical components from damage, thus improving the safety and reliability of the system.

[0057] In one possible implementation, the preload 122 is a spring. The spring is initially compressed on the preload seat 11, exerting a preload force on the finger drive mechanism 20 toward the finger module 30.

[0058] Springs are inexpensive to manufacture and readily available. Furthermore, springs can effectively store and release mechanical energy. When the finger drive mechanism 20 applies force, the spring is compressed and stores energy; when the finger drive mechanism 20 stops driving, this stored energy can be released to maintain or adjust the gripping force of the finger module 30.

[0059] In one possible implementation, preload members 122 are provided on both sides of the slide bar 121.

[0060] Setting preload members 122 on both sides of the slide bar 121 can achieve symmetrical force distribution, which helps to maintain the balance of the finger drive mechanism 20, reduce tilting or displacement that may be caused by unilateral force, and thus improve the stability and operating accuracy of the system.

[0061] In one possible implementation, the preload assembly 12 includes two slide rods 121. The two slide rods 121 are symmetrically arranged on the preload seat 11.

[0062] The symmetrical arrangement of the two slide bars 121 provides a more stable support structure, effectively distributing and bearing the load of the finger drive mechanism 20, reducing the excessive stress that a single slide bar 121 may bear, and improving the overall stability of the system. Furthermore, the symmetrical arrangement of the slide bars 121 ensures that the finger drive mechanism 20 maintains parallel movement during sliding, reducing the possibility of skew or tilting and improving the accuracy of dexterous hand operation.

[0063] In one possible implementation, the finger drive mechanism 20 includes a drive seat 21 that passes through the slide rod 121, and a pre-tightening block 211 is provided on the drive seat 21. The pre-tightening seat 11 is provided with a limiting block 111. The pre-tightening block 211 is used to abut against the limiting block 111 so that the pre-tightening member 122 has a pre-tightening force applied to the finger drive mechanism 20.

[0064] In one possible implementation, the limiting block 111 is located on the side of the pre-tightening seat 11 facing the drive seat 21. The pre-tightening locking block 211 is located on the side of the drive seat 21 facing the pre-tightening seat 11.

[0065] The pre-tightening block 211 provided on the drive seat 21 causes the entire drive seat 21 to be subjected to the pre-tightening force of the spring, and is locked onto the pre-tightening seat 11 by the pre-tightening block 211.

[0066] The design of the pre-tightening block 211 and the limiting block 111 ensures that the pre-tightening member 122 can accurately apply the pre-tightening force to the finger drive mechanism 20, which can better control the movement and gripping force of the finger module 30 and improve the accuracy of operation.

[0067] Meanwhile, the contact between the pre-tightening block 211 and the limiting block 111 provides additional structural support, enhances the overall stability of the system, and reduces vibration and instability that may occur during operation.

[0068] By adjusting the position or shape of the pre-tightening block 211 and the limiting block 111, the magnitude and point of application of the pre-tightening force can be flexibly changed to adapt to different operational needs and environmental conditions.

[0069] In one possible implementation, the finger module 30 includes a knuckle assembly 31 and a knuckle seat 32. The knuckle seat 32 is rotatably mounted on the palm 201, and the knuckle assembly 31 is rotatably connected to the knuckle seat 32 and connected to a finger driving mechanism 20. The finger driving mechanism 20 is used to drive the knuckle assembly 31 to rotate around the knuckle seat 32 to bend, and the finger driving mechanism 20 is also used to drive the knuckle seat 32 to rotate so that the knuckle assembly 31 can swing laterally.

[0070] The knuckle assembly 31 is rotatably mounted on the palm 201 via the knuckle base 32, allowing the knuckle assembly 31 to bend and laterally rotate around the knuckle base 32. This bending and lateral rotation allows the fingers to better wrap around and secure objects, improving grip stability and safety. The finger module 30 can simulate the complex movements of human fingers, enabling the dexterous hand 200 to perform more complex and precise operations, such as grasping irregularly shaped objects or performing precision assembly tasks.

[0071] In one possible implementation, a bearing is provided on the palm 201. The knuckle seat 32 is rotatably mounted on the palm 201 via the bearing.

[0072] In one possible implementation, the finger driving mechanism 20 includes at least two first driving members 22 and first driving links 23. The first driving members 22 are disposed on the driving base 21. One end of each of the at least two first driving links 23 is connected to the corresponding first driving member 22, and the other end is connected to the knuckle assembly 31, with the connection points between the knuckle assembly 31 and the at least two first driving links 23 located on both sides of the knuckle assembly 31.

[0073] At least two first drive members 22 are used to drive the corresponding first drive linkage 23 to move, so as to drive the knuckle assembly 31 to sway sideways.

[0074] By using at least two first drive elements 22 and a first drive linkage 23, the system can precisely control the lateral swing motion of the knuckle assembly 31. Each first drive element 22 can operate independently, thereby enabling fine adjustment and positioning of the knuckle assembly 31.

[0075] Since the first drive link 23 is connected to both sides of the knuckle assembly 31, this symmetrical arrangement helps to balance the applied forces, reduce tilting or instability caused by lateral stress, and improve the overall stability of the system.

[0076] The combination of multiple first drive elements 22 and first drive links 23 allows for more complex motion patterns, enabling the knuckle assembly 31 to achieve more flexible lateral movement. By adjusting the parameters (such as length, position, and driving force) of the first drive elements 22 and first drive links 23, the motion characteristics of the knuckle assembly 31 can be flexibly changed to adapt to different operational requirements and environmental conditions.

[0077] In one possible implementation, the first drive element 22 includes two elements, which are arranged side by side on the drive base 21.

[0078] In one possible implementation, the first drive link 23 is a ball joint link. The finger module 30 also includes two first ball joints 33. The two first ball joints 33 are respectively disposed on the knuckle assembly 31 and located on both sides of the knuckle assembly 31. The other end of the first drive link 23 is ball-jointed to the corresponding first ball joint 33.

[0079] In one possible implementation, the first driving element 22 is a motor, and the driving end of the first driving element 22 is provided with a first lead screw 221. A first lead screw slider 222 is connected to the first lead screw 221. One end of the first driving connecting rod 23 is connected to the first lead screw slider 222.

[0080] When the two first driving members 22 drive the first driving link 23 to move in opposite directions, they drive the first ball head 33 to move, thereby causing the knuckle assembly 31 to rotate around the knuckle seat 32, that is, the dexterous hand fingers 100 can swing left and right.

[0081] When the two first driving members 22 simultaneously drive the first driving link 23 to move in the same direction, they drive the first ball head 33 to move, thereby causing the knuckle assembly 31 to swing up and down.

[0082] In one possible implementation, the finger driving mechanism 20 includes a second driving member 24 and a second driving link 25. The second driving member 24 is disposed on the driving base 21. One end of the second driving link 25 is connected to the second driving member 24, and the other end is connected to the knuckle assembly 31.

[0083] The second driving member 24 is used to drive the second driving link 25 to move, so as to drive the knuckle assembly 31 to rotate and bend.

[0084] The second drive member 24 directly drives the knuckle assembly 31 to bend via the second drive linkage 25. This direct drive method provides precise control over the bending angle of the knuckle assembly 31, improving the accuracy and flexibility of operation.

[0085] In one possible implementation, the finger module 30 further includes a triangular rocker arm 34, which is rotatably mounted on the knuckle seat 32 and connected to the knuckle assembly 31. The other end of the second drive link 25 is connected to the triangular rocker arm 34.

[0086] The second driving member 24 drives the second driving link 25 to move, thereby moving the triangular rocker arm 34. Since the triangular rocker arm 34 is rotatably mounted on the knuckle seat 32, the triangular rocker arm 34 rotates around the axis, thereby causing the knuckle assembly 31 connected to the triangular rocker arm 34 to rotate and bend.

[0087] In one possible implementation, the triangular rocker arm 34 is connected to the knuckle assembly 31 via a connecting rod. The knuckle assembly 31 includes a first knuckle 311, a second knuckle 312, and a fingertip 313. The first knuckle 311 is rotatably connected to the knuckle seat 32 and to the connecting rod. The second knuckle 312 is rotatably connected to the first knuckle 311, and the fingertip 313 is rotatably connected to the second knuckle 312. A second driving member 24 drives the triangular rocker arm 34 to rotate, thereby causing the first knuckle 311 connected to the connecting rod to rotate. The first knuckle 311 drives the second knuckle 312 to rotate, and the second knuckle 312 drives the fingertip 313 to rotate, thus causing the knuckle assembly 31 to bend.

[0088] In one possible implementation, the second driving element 24 is a motor, and the driving end of the second driving element 24 is provided with a second lead screw 241. A second lead screw slider 242 is connected to the second lead screw 241. One end of the second driving connecting rod 25 is connected to the second lead screw slider 242.

[0089] like Figure 6 and Figure 7 As shown, when the finger assembly 31 is restricted in its contact with an object, the first drive member 22 and the second drive member 24 are stalled due to the fixed preload seat 11 and finger seat 32. The disappearance of the reverse electromotive force causes the internal working current to increase, generating a larger torque, and the first lead screw 221 and the second lead screw 241 can continue to rotate to push the first lead screw slider 222 and the second lead screw slider 242. The first lead screw slider 222 and the second lead screw slider 242 will exert a force on the first lead screw 221 and the second lead screw 241 away from the direction of the finger assembly 31. Since the first lead screw 221 and the second lead screw 241 are fixedly connected to the drive seat 21 through the first drive member 22 and the second drive member 24, the drive seat 21 is subjected to a gradually increasing force, which gradually counteracts the preload force initially applied to the drive seat 21 by the preload member 122.

[0090] When the force exerted by the first driving member 22 and the second driving member 24 on the first lead screw 221 and the second lead screw 241 on the first lead screw slider 222 and the second lead screw slider 242 exceeds the preload applied by the preload member 122, the driving seat 21 will slide the first driving member 22, the second driving member 24, the first lead screw 221 and the second lead screw 241 on the slide bar 121 in a direction away from the finger joint assembly 31, thereby compressing the preload member 122. This causes the preload member 122 to generate a greater elastic force to counteract the reaction force of the first lead screw slider 222 and the second lead screw slider 242 on the first lead screw 221 and the second lead screw 241. At this time, the preload locking block 211 disengages from the limiting block 111 on the preload seat 11 and no longer functions as a limiting block. During this process, the work done by the first driving member 22 and the second driving member 24 will energize the preload member 122.

[0091] When the preload 122 is charged with sufficient energy, the first drive 22 and the second drive 24 can be de-energized. Due to the self-locking of the lead screw, the first lead screw slider 222 and the second lead screw slider 242 will not slide on the first lead screw 221 and the second lead screw 241. The force of the preload 122 on the drive seat 21 still exists. At this time, the knuckle assembly 31 still maintains a gripping force on the target object.

[0092] The power consumption of the first drive unit 22 and the second drive unit 24 is only used to overcome the stiffness of the spring, and the energy storage efficiency η can reach 72%, which is 65% more energy-efficient than the stall mode.

[0093] In one possible implementation, the first drive element 22 and the second drive element 24 are miniature brushless motors with a diameter ≤12mm. This reduces the footprint and provides high driving precision.

[0094] In one possible implementation, the first drive element 22 and the second drive element 24 are coreless motors. Coreless motors are characterized by low inertia, high efficiency, low electromagnetic interference, smooth torque output, and high power density. Therefore, the first drive element 22 and the second drive element 24 have low inertia, enabling them to respond quickly to control signals and achieve rapid start and stop; they reduce eddy current losses and iron losses, resulting in higher efficiency; they have lower electromagnetic interference; they can provide smoother torque output and reduce cogging effects; and they have a compact design, providing high power output within a small volume.

[0095] In one possible implementation, the first drive member 22 is located on the side of the second drive member 24 away from the pretension seat 11, and the second drive member 24 is located between the two first drive members 22.

[0096] In one possible implementation, the finger drive mechanism 20 further includes a finger control board 40. The finger control board 40 is mounted on the drive base 21 by screws or other fasteners. The finger control board 40 is electrically connected to the first drive member 22 and the second drive member 24.

[0097] The dexterous hand finger 100 provided in this embodiment is disposed on the palm 201. The dexterous hand finger 100 includes a pre-tensioning mechanism 10, a finger driving mechanism 20, and a finger module 30. The pre-tensioning mechanism 10 includes a pre-tensioning seat 11 and a pre-tensioning component 12. The pre-tensioning seat 11 is disposed on the palm 201, and the pre-tensioning component 12 is disposed on the pre-tensioning seat 11. The finger driving mechanism 20 is movably disposed on the pre-tensioning seat 11 and connected to the pre-tensioning component 12. The pre-tensioning component 12 is used to provide a pre-tensioning force to the finger driving mechanism 20 so that the finger driving mechanism 20 abuts against the pre-tensioning seat 11. The finger module 30 is connected to the finger driving mechanism 20 along the direction of movement of the finger driving mechanism 20 and is rotatably disposed on the palm 201. When the finger driving mechanism 20 drives the finger module 30 to move, it can overcome the pre-tensioning force of the pre-tensioning component 12 and move on the pre-tensioning seat 11 to charge the pre-tensioning component 12.

[0098] By setting a pre-tightening mechanism 10 between the finger drive mechanism 20 and the palm 201, the finger drive mechanism 20 is movably mounted on the pre-tightening seat 11 and connected to the pre-tightening component 12. The pre-tightening component 12 provides a pre-tightening force to the finger drive mechanism 20. When the finger drive mechanism 20 drives the finger module 30 to move, after the finger module 30 grips an object, although the object gripping the finger module 30 limits its movement and prevents it from continuing to perform work, the finger drive mechanism 20 is not completely blocked. Due to the pre-tightening force in the pre-tightening component 12, the driving force of the finger drive mechanism 20 can overcome the pre-tightening force and charge the pre-tightening component 12, converting the driving force into the internal potential energy of the pre-tightening component 12. This avoids the problem of severe system overheating, high energy consumption, and overheating damage caused by the finger drive mechanism 20 being blocked. Furthermore, when the potential energy of the pre-tightening component 12 reaches a certain value, the driving of the finger drive mechanism 20 can be stopped, and the gripping force of the finger module 30 can be maintained solely by the pre-tightening force of the pre-tightening component 12.

[0099] On the other hand, this application embodiment also provides a dexterous hand 200. The dexterous hand 200 includes a palm 201 and dexterous hand fingers 100. The dexterous hand fingers 100 are disposed on the palm 201.

[0100] Given that the dexterous hand 200 in this embodiment includes the dexterous hand fingers 100 described in any of the above embodiments, the structural features and beneficial effects of the dexterous hand 200 including the dexterous hand fingers 100 will not be elaborated further in this embodiment.

[0101] Furthermore, embodiments of this application also provide a humanoid robot, including the aforementioned dexterous hand 200.

[0102] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0103] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0104] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0105] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A dexterous hand finger, provided on a palm (201), characterized in that, The utility model relates to a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot.

2. The dexterous hand finger of claim 1, wherein, The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot.

3. The dexterous hand finger of claim 2, wherein, The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot.

4. The dexterous hand finger of claim 2, wherein, The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. The utility model discloses a finger driving mechanism and a finger module, and belongs to the field of robot. 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The dexterous hand finger of claim 4, wherein, The finger driving mechanism (20) comprises two first driving members (22) and a first driving connecting rod (23), the two first driving members (22) are arranged side by side on the driving seat (21), the first driving connecting rod (23) is a ball head connecting rod, the finger module (30) further comprises two first ball heads (33), the two first ball heads (33) are arranged on the knuckle assembly (31) respectively and are located on both sides of the knuckle assembly (31), one end of the two first driving connecting rods (23) is connected with the corresponding first driving member (22), and the other end is ball-hinged with the corresponding first ball head (33); The at least two first driving members (22) are used for driving the corresponding first driving connecting rod (23) to move, so as to drive the knuckle assembly (31) to swing sideways.

6. The dexterous hand finger of claim 5, wherein, The first driving member (22) is a motor, a first screw rod (221) is arranged on the driving end of the first driving member (22), a first screw rod sliding block (222) is connected with the first screw rod (221), and one end of the first driving connecting rod (23) is connected with the first screw rod sliding block (222).

7. The dexterous hand finger of claim 4, wherein, The finger driving mechanism (20) comprises a second driving member (24) and a second driving connecting rod (25), the finger module (30) further comprises a triangular swing rod (34), the triangular swing rod (34) is rotatably arranged on the knuckle seat (32) and connected with the knuckle assembly (31), one end of the second driving connecting rod (25) is connected with the second driving member (24), and the other end is connected with the triangular swing rod (34). The second driving member (24) is used for driving the second driving connecting rod (25) to move, so as to drive the triangular swing rod (34) to rotate, and drive the knuckle assembly (31) connected with the triangular swing rod (34) to rotate and bend.

8. The dexterous hand finger of claim 7, wherein, The second driving member (24) is a motor, a second screw rod (241) is arranged on the driving end of the second driving member (24), a second screw rod sliding block (242) is connected with the second screw rod (241), and one end of the second driving connecting rod (25) is connected with the second screw rod sliding block (242).

9. A dexterous hand characterized by, The dexterous hand (200) comprises a palm (201) and the dexterous hand finger (100) according to any one of claims 1-8, and the dexterous hand finger (100) is arranged on the palm (201).

10. A humanoid robot, characterized by, The dexterous hand (200) comprises the dexterous hand finger (100) according to claim 9.

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