Humanoid robot hand structure

Abstract

The utility model relates to a humanoid robot hand structure which comprises five fingers, a finger base, a wrist and a finger diverging device. Each finger joint (totally 14 joints) can be controlled by the finger joint bending device of the joint to bend or unbend towards the palm, and the thumb can be controlled by the finger base bending device to bend or unbend towards the palm. The wrist can be controlled by the wrist bending device to bend or unbend towards the palm surface, the thumb, the index finger, the ring finger and the little finger (totally four fingers) can be controlled by respective finger diverging devices 7 to complete finger diverging or folding actions, and the middle finger is fixed with the finger base. The movement freedom degree of the hand is 19, the space of the hand is limited, and in order to achieve finger forking or folding control, a finger forking driving element is installed in the small arm. The finger is flexible, the structure is compact, the number of components of the same structure is large, and production and manufacturing are facilitated.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, and in particular to a humanoid robotic hand structure. Background Technology

[0002] With the continuous development of humanoid robot technology, humanoid robots have entered fields such as disaster relief, industrial product manufacturing, and commerce. At present, humanoid robot hands can have basic functions similar to human hands, and can perform actions such as grasping, carrying, and manipulating objects. Due to their dexterity and versatility, they have become a research hotspot at home and abroad.

[0003] The dexterity of the human hand stems from the bone structure of the hand, which has evolved over a long period of time to accommodate multiple degrees of freedom of movement, and the complex nerves that control the fingers. Generally, the human hand has no fewer than 20 degrees of freedom of movement. However, due to the small space in the hand, the number of motors that can be installed is limited. Therefore, current humanoid robot hand products generally only have a few degrees of freedom of movement. As a result, the dexterity of humanoid robot hands is much worse than that of human hands.

[0004] In order to improve the structure of the unidirectional swing joint of humanoid robots and increase the swing torque of the unidirectional swing joint, I have filed a utility model patent application with the State Intellectual Property Office entitled "A Unidirectional Swing Structure for Humanoid Robots", application number "2023218600601". Summary of the Invention

[0005] In view of the above, the purpose of this utility model is to provide a humanoid robot hand structure that increases hand flexibility and expands the range of hand use. The hand has 5 fingers, 14 bendable joints, a thumb that can rotate towards the palm, and fingers that can spread apart, achieving 19 degrees of freedom of movement. The hand's drive elements are linear motors or power cylinders. To fully utilize the hand's space, drive elements are installed on all phalanges except the fingertips. To enable the thumb to rotate towards the palm, a drive element is installed transversely to the finger direction between the fingers and wrist. The drive element for finger spreading is installed inside the forearm.

[0006] To achieve the above objectives, a humanoid robotic hand structure is provided, comprising fingers, a finger base, a wrist, and a finger spreading device; and

[0007] The fingers include the thumb, index finger, middle finger, ring finger, and little finger; and

[0008] The thumb of the fingers has three phalanges, while the index, middle, ring, and little fingers each have four phalanges; and

[0009] The finger structure includes a fingertip, a finger joint bending device, a base finger connecting hinge; and

[0010] The fingertip is the phalanx at the top of the finger, which is cylindrical in shape, and has an arc-shaped cap fixed to the top surface of the cylinder; and

[0011] The finger joint bending device is a device that allows the finger to bend and swing at the joint. Each phalanx below the fingertip is a structure of the finger joint bending device. The bottom surface of the phalanx above the root phalanx is fixed to the swinging component fixing rod of the finger joint bending device below it, and the bending drive element fixing rod of the finger joint bending device is located in the palm direction; and

[0012] The base finger connecting hinge enables a hinged connection between the finger base and the finger with one degree of freedom of movement. Its bottom surface is fixed to the finger base, and its top surface is fixed to the bottom surface of the phalanges at the base of the thumb, index finger, ring finger, and little finger. Furthermore, the hinge axis of the base finger connecting hinge is perpendicular to the long side of the finger base.

[0013] The finger base includes a base frame A, a finger base bending device, and a base frame B. Base frame A is a U-shaped groove with unequal sidewall heights. The bottom surface of the U-shaped groove is flat. Four rectangular holes are opened on both sides along the height direction of the U-shaped groove. The size and position of the rectangular holes match the size and position of the finger-spreading force transmission rod, which passes through the holes. The higher sidewall of the U-shaped groove is fixed to one open end of a rectangular tube on the wrist. The lower sidewall of the U-shaped groove is fixed to the bottom surface of the base finger connecting hinge for the index, ring, and little fingers, and to the bottom surface of the middle finger. The finger base bending device is embedded in the U-shaped groove.

[0014] The bottom surface of the finger base bending device is fixed to the bottom surface of the inner wall of the U-shaped groove. Its bending drive element fixing rod is located on the palm side, and its swinging component fixing rod is fixed to one side of the base frame B. The base frame B is a trapezoidal cube with an inclined plane. The swinging component fixing rod is fixed to the face intersecting the inclined plane at an acute angle. The inclined plane is fixed to the bottom surface of the thumb base finger connecting hinge.

[0015] The wrist includes a wrist power fixation frame, a wrist flexion device, and a wrist rectangular tube; and

[0016] The wrist power fixation frame is a rectangular frame, within which a wrist flexion device is fixed. The frame surface at the bottom of the wrist flexion device is a rectangular plate, which is fixed to the finger-spreading drive elements for the thumb, index finger, ring finger, and little finger; and

[0017] The wrist flexion device is a device that causes the wrist joint to flex and swing. The bottom surface of the rectangular wrist tube is fixed to the swinging component fixing rod of the wrist flexion device, and the bending drive element fixing rod of the wrist flexion device is located in the palm direction. The top surface of the rectangular wrist tube is fixed to the finger base, and the long side of the finger base is perpendicular to the swinging component fixing rod; and

[0018] The finger-spreading device includes a finger-spreading driving element, a finger-spreading push-pull rod, a finger-spreading connecting rod, and a finger-spreading force transmission rod; and

[0019] The finger-spreading drive element is a linear reciprocating motion actuator, and the finger-spreading push-pull rod is a rod in the finger-spreading drive element that performs linear reciprocating motion. This rod has a rectangular cross-section, passes through the positioning hole on the crossbar of frame B of the wrist power fixation frame, and its top end is bent at an acute angle. The bending direction is perpendicular to the long side of the finger base and bends towards the palm. The acute angle plate of the bent section has a groove for installing the finger-spreading connecting rod; and

[0020] The cross-section of the finger-spreading connecting rod is rectangular, and its thickness matches the slot width of the finger-spreading push-pull rod, allowing the connecting rod to pass just through the slot. One end of the connecting rod passes through the slot, and a rod cap is installed on the connecting rod on both slotted surfaces, ensuring that the connecting rod is perpendicular to the slotted plate and can only move parallel to the length of the slot. The other end of the connecting rod is connected to one end of the finger-spreading force transmission rod via hinge A. The axis of hinge A is parallel to the slotted surface of the finger-spreading push-pull rod and perpendicular to the long side of the slot. The cross-section of the finger-spreading force transmission rod is rectangular, and its other end passes through a matching hole on the finger base and is hinged to the root phalanx of the finger.

[0021] The finger-spreading force transmission rod and the base of the finger's phalanx hinge each use two hinges: one hinges to the base of the finger's phalanx, and the other hinges to the finger-spreading force transmission rod. The two hinges are connected by a rod.

[0022] The two hinges connecting the base phalanges of the index, ring, and little fingers to the finger-spreading force transmission rods each employ a single degree of freedom of motion. The centerlines of the two hinges are parallel, and also parallel to the centerline of the base finger-connecting hinge; and

[0023] The two hinges connecting the base of the thumb phalanx to the finger spread force transmission rod both adopt three-degree-of-freedom hinges. The three-degree-of-freedom hinges are composed of a one-degree-of-freedom hinge and a cross-axis hinge. The center lines of the one-degree-of-freedom hinge axis of the two hinges are parallel and parallel to the center line of the base finger connection hinge axis.

[0024] As a further improvement to the above solution, the wrist power fixation frame includes a rectangular plate, frame A, frame B, and a rectangular rod. The rectangular plate has the same cross-sectional size as frames A and B. Both frames A and B are rectangular frames. Frame A is located at the tail of the bending drive element of the wrist bending device, and frame B is located at the front of the bending drive element of the wrist bending device. The four corners of the rectangular plate, frame A, and frame B are all fixedly connected by rectangular rods to form a rectangular frame with rectangular plate and frame B on two sides. A crossbar is set above the bending drive element of the wrist bending device in frame B, and four rectangular holes are opened on the side of the crossbar parallel to the rectangular plate. The size of the holes matches the finger spreading push-pull rod, and the position of the holes matches the installation position of the finger spreading device. The finger spreading push-pull rod passes through the holes on the crossbar.

[0025] As a further improvement to the above solution, the cross-axis hinge includes a cross-axis, a cross-axis hinge seat, and a cross-axis hinge rod. The cross-axis is formed by two round shafts crossing each other. The cross-axis hinge seat is a U-shaped groove with a flat bottom, fixed to the bottom surface of the rotating hinge head. Circular hinge holes are opened on both sides of the groove, and the diameter of the circular hinge holes matches the diameter of one shaft of the cross-axis. This shaft passes through the circular hinge hole of the U-shaped groove and is constrained at both ends. The cross-axis is fitted into the U-shaped groove and can swing about the center line of the circular hinge hole. The two ends of the other shaft of the cross-axis are hinged to the cross-axis hinge rod. The section of the cross-axis hinge rod that is hinged to the cross-axis is a U-shaped groove with circular hinge holes opened on both sides of the groove. The diameter of the circular hinge holes matches the diameter of the shaft rod. The shaft rod passes through the circular hinge holes and is constrained at both ends. The cross-axis hinge rod swings about the center line of the hinged shaft rod.

[0026] As a further improvement to the above solution, the base finger connection hinge includes a hinge seat, a hinge head, and a hinge rod. The hinge seat is a U-shaped groove with a flat bottom surface and an arc-shaped top surface. Circular hinge holes are opened on both sides of the groove. The hinge head is a long strip plate with an arc-shaped top surface and a circular hinge hole on the arc-shaped end plate surface. The circular hinge hole matches the circular hinge hole of the U-shaped groove and is inserted into the U-shaped groove. A matching hinge rod is inserted into the circular hinge hole.

[0027] The beneficial effects of this utility model compared to the prior art are:

[0028] 1. This utility model discloses a humanoid robotic hand structure with 19 degrees of freedom of movement. Currently, most humanoid robot hands have only a few degrees of freedom of movement. Therefore, the humanoid robot hand of this utility model is more flexible than the existing humanoid robot hands and can better meet various complex action requirements.

[0029] 2. This utility model provides a humanoid robotic hand structure with a compact structure and many identical components, which is beneficial for manufacturing. Attached Figure Description

[0030] Figure 1 This is a three-dimensional schematic diagram of the hand structure in this utility model;

[0031] Figure 2 This is a schematic diagram of the hand structure in this utility model;

[0032] Figure 3 for Figure 2 A schematic diagram of the AA cross-section;

[0033] Figure 4 for Figure 2 BB cross-sectional diagram;

[0034] Figure 5 for Figure 2 A schematic diagram of the CC cross-section;

[0035] Figure 6 This is a schematic elevation view of the index finger, ring finger, and little finger structure in this utility model;

[0036] Figure 7 This is a schematic diagram of the thumb structure in this utility model.

[0037] Figure 8 This is a schematic diagram of the elevation of the middle finger structure in this utility model;

[0038] Figure 9 This is a schematic diagram of the wrist structure in this utility model;

[0039] Figure 10 This is a plan view of the finger, ring finger, and little finger spreading device in this utility model;

[0040] Figure 11 This is a schematic elevation view of the index finger, ring finger, and little finger spreading device in this utility model;

[0041] Figure 12 This is a plan view of the thumb-spreading device in this utility model;

[0042] Figure 13 This is a schematic elevation view of the thumb-spreading device in this utility model;

[0043] Figure 14 This is a schematic diagram of the elevation of the wrist power fixation frame in this utility model;

[0044] Figure 15 for Figure 14 DD cross-sectional schematic diagram;

[0045] Figure 16 for Figure 14 EE cross-sectional schematic diagram;

[0046] Figure 17 This is a schematic diagram of the finger base in this utility model;

[0047] Figure 18 for Figure 17A schematic diagram of the GG cross-section;

[0048] Figure 19 This is a planar schematic diagram of the finger-spreading connecting rod in this utility model;

[0049] Figure 20 This is a schematic diagram of the elevation of the finger-spreading connecting rod in this utility model;

[0050] Figure 21 This is a schematic diagram of the hinge plane with three degrees of freedom of motion in this utility model;

[0051] Figure 22 This is a schematic diagram of the hinge plane with three degrees of freedom of motion in this utility model;

[0052] Figure 23 This is a schematic diagram of the base finger connection hinge plane in this utility model;

[0053] Figure 24 This is a schematic diagram of the elevation of the base finger connection hinge in this utility model;

[0054] Figure 25 This is a schematic diagram of the elevation of the base finger connection hinge seat in this utility model;

[0055] Figure 26 This is a schematic elevation view of the bending device structure of the finger joint, wrist, and finger base in this utility model;

[0056] Figure 27 This is a side view of the bending device structure of the finger joint, wrist, and finger base in this utility model;

[0057] Figure 28 This is a schematic plan view of the bending device for the finger joint, wrist, and finger base in this utility model.

[0058] Figure 29 This is a simplified diagram of the movement of the finger-spreading force transmission rod in this utility model;

[0059] In the diagram: 1-Thumb, 2-Index finger, 3-Middle finger, 4-Ring finger, 5-Little finger, 6-Wrist, 7-Finger spreading device, 8-Finger joint bending device, 9-Wrist bending device, 10-Finger base, 11-Finger base bending device, 12-Wrist power fixation frame, 13-Finger tip, 14-Wrist rectangular tube, 15-Finger spreading drive element, 16-Finger spreading push-pull rod, 17-Finger spreading connecting rod, 18-Finger spreading force transmission rod, 19-Rectangular plate, 20- Frame A, 21-Frame B, 22-Base finger connection hinge, 23-Hinge seat, 24-Hinge head, 25-Hinge A, 26-Hinge with three degrees of freedom of motion, 27-Rotary hinge seat, 28-Rotary hinge head, 29-Cross axis hinge, 30-Base frame A, 31-Base frame B, 32-Bending drive element, 33-Bending power push-pull rod, 34-Bending power connecting rod, 35-Bending drive element fixing rod, 36-Oscillating element fixing rod, 37-Hinge B, 38-Hinge C, 39-Hinge D. Detailed Implementation

[0060] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0061] The structures of the finger joint bending device 8, wrist bending device 9, and finger base bending device 11 in this article are similar to the utility model patent "A Humanoid Robot Unidirectional Swing Structure" that I have applied for with the State Intellectual Property Office, application number "2023218600601".

[0062] Example 1:

[0063] Reference Figures 1 to 28 This utility model is implemented as follows: a humanoid robot hand structure, comprising fingers, a finger base 10, a wrist 6, and a finger spreading device 7; and

[0064] The fingers include thumb 1, index finger 2, middle finger 3, ring finger 4, and little finger 5; and

[0065] The thumb (1) of the fingers has three phalanges, while the index finger (2), middle finger (3), ring finger (4), and little finger (5) each have four phalanges; and

[0066] The finger structure includes a fingertip 13, a finger joint bending device 8, and a base finger connecting hinge 22; and

[0067] The fingertip 13 is the phalanx at the top of the finger, which is cylindrical in shape, and has an arc-shaped cap fixed to the top surface of the cylinder; and

[0068] The finger joint bending device 8 is a device that allows the finger to bend and swing at the joint. Each phalanx below the fingertip 13 is a structure of the finger joint bending device 8. The bottom surface of the phalanx above the root phalanx is fixed to the swinging element fixing rod 36 of the finger joint bending device 8 below it, and the bending drive element fixing rod 35 of the finger joint bending device 8 is located in the palm direction; and

[0069] The base finger connecting hinge 22 enables a hinged connection between the finger base 10 and the finger with one degree of freedom of movement. Its bottom surface is fixed to the finger base 10, and its top surface is fixed to the base of the phalanges of the thumb 1, index finger 2, ring finger 4, and little finger 5. Furthermore, the hinge axis of the base finger connecting hinge 22 is perpendicular to the long side of the finger base 10.

[0070] The finger base 10 includes a base frame A30, a finger base bending device 11, and a base frame B31. The base frame A30 is a U-shaped groove with unequal sidewall heights. The bottom surface of the U-shaped groove is flat. Four rectangular holes are opened on both sides along the height direction of the U-shaped groove. The size and position of the rectangular holes match the size and position of the finger spreading force transmission rod 18, which passes through the holes. The higher sidewall of the U-shaped groove is fixed to one open end of the wrist rectangular tube 14. The lower sidewall of the U-shaped groove is fixed to the bottom surface of the base finger connecting hinge 22 of the index finger 2, ring finger 4, and little finger 5, and to the bottom surface of the middle finger 3. The finger base bending device 11 is embedded in the U-shaped groove.

[0071] The bottom surface of the finger base bending device 11 is fixed to the bottom surface of the inner wall of the U-shaped groove. Its bending drive element fixing rod 35 is located on the palm side, and its swinging element fixing rod 36 is fixed to one side of the base frame B31. The base frame B31 is a trapezoidal cube with an inclined plane. The swinging element fixing rod 36 is fixed to the face intersecting the inclined plane at an acute angle. The inclined plane is fixed to the bottom surface of the base finger connecting hinge 22 of the thumb 1.

[0072] The wrist 6 includes a wrist power fixation frame 12, a wrist bending device 9, and a wrist rectangular tube 14; and

[0073] The wrist power fixation frame 12 is a rectangular frame, and a wrist bending device 9 is fixed inside the rectangular frame. The frame surface at the bottom of the wrist bending device 9 is a rectangular plate 19, which is fixed to the finger spreading drive element 15 of the thumb 1, index finger 2, ring finger 4, and little finger 5; and

[0074] The wrist bending device 9 is a device that causes the wrist joint 6 to bend and swing. The bottom surface of the wrist rectangular tube 14 is fixed to the swinging component fixing rod 36 of the wrist bending device 9, and the bending drive element fixing rod 35 of the wrist bending device 9 is located in the palm direction. The top surface of the wrist rectangular tube 14 is fixed to the finger base 10, and the long side of the finger base 10 is perpendicular to the swinging component fixing rod 36.

[0075] The finger-spreading device 7 includes a finger-spreading driving element 15, a finger-spreading push-pull rod 16, a finger-spreading connecting rod 17, and a finger-spreading force transmission rod 18; and

[0076] The finger-spreading drive element 15 is a linear reciprocating motion actuator, and the finger-spreading push-pull rod 16 is a rod in the finger-spreading drive element 15 that performs linear reciprocating motion. This rod has a rectangular cross-section, passes through the positioning hole on the crossbar of frame B21 of the wrist power fixation bracket 12, and has an acute-angle bend at its top. The bending direction is perpendicular to the long side of the finger base 10 and bends towards the palm. The acute-angle plate of the bent section has a groove for installing the finger-spreading connecting rod 17; and

[0077] The finger-spreading connecting rod 17 has a rectangular cross-section, and its thickness matches the slot width of the finger-spreading push-pull rod 16, allowing the finger-spreading connecting rod 17 to pass through the slot. One end of the finger-spreading connecting rod 17 passes through the slot, and a rod cap is installed on the finger-spreading connecting rod 17 on both slotted surfaces, making the finger-spreading connecting rod 17 perpendicular to the slotted plate surface and only able to move parallel along the length of the slot. The other end of the finger-spreading connecting rod 17 is connected to one end of the finger-spreading force transmission rod 18 by hinge A25. The axis of hinge A25 is parallel to the slotted surface of the finger-spreading push-pull rod 16 and perpendicular to the long side of the slot of the finger-spreading push-pull rod 16. The finger-spreading force transmission rod 18 has a rectangular cross-section, and its other end passes through the matching hole on the finger base 10 and is hinged to the root phalanx of the finger; and

[0078] The finger-spreading force transmission rod 18 is hinged to the base of the finger phalanx using two hinges: one hinges to the base of the finger phalanx, and the other hinges to the finger-spreading force transmission rod 18. The two hinges are connected by a rod.

[0079] The two hinges connecting the base phalanges of the index finger 2, ring finger 4, and little finger 5 to the finger spreading force transmission rod 18 are both single-degree-of-freedom hinges. The center lines of the two hinges are parallel and also parallel to the center line of the base finger connecting hinge 22; and

[0080] The two hinges connecting the base of the thumb 1 phalanx to the finger spreading force transmission rod 18 both adopt three-degree-of-freedom hinges 26. The three-degree-of-freedom hinges are composed of one-degree-of-freedom hinge and a cross-axis hinge 29. The center lines of the one-degree-of-freedom hinge axis of the two hinges are parallel and parallel to the center line of the axis of the base finger connection hinge 22.

[0081] Reference Figures 14-16The wrist power fixation frame 12 includes a rectangular plate 19, frame A20, frame B21, and a rectangular rod. The rectangular plate 19 has the same cross-sectional size as frames A20 and B21. Frames A20 and B21 are both rectangular frames. Frame A20 is located at the tail of the bending drive element 32 of the wrist bending device 9, and frame B21 is located at the front of the bending drive element 32 of the wrist bending device 9. The four corners of the rectangular plate 19, frame A20, and frame B21 are fixedly connected by rectangular rods to form a rectangular frame with rectangular plate 19 and frame B21 on the two sides. A crossbar is set above the bending drive element 32 of the wrist bending device 9 on frame B21, and four rectangular holes are opened on the side of the crossbar parallel to the rectangular plate 19. The size of the holes matches the finger spreading push-pull rod 16, and the position of the holes matches the installation position of the finger spreading device 7. The finger spreading push-pull rod 16 passes through the holes on the crossbar.

[0082] Reference Figures 21-22 The cross-axis hinge 29 includes a cross-axis, a cross-axis hinge seat, and a cross-axis hinge rod. The cross-axis is formed by two round shafts crossing each other. The cross-axis hinge seat is a U-shaped groove with a flat bottom, fixed to the bottom surface of the rotating hinge head 28. Circular hinge holes are opened on both sides of the groove, and the diameter of the circular hinge holes matches the diameter of one shaft of the cross-axis. The shaft passes through the circular hinge hole of the U-shaped groove and is constrained at both ends. The cross-axis is fitted into the U-shaped groove and can swing about the center line of the circular hinge hole. The two ends of the other shaft of the cross-axis are hinged to the cross-axis hinge rod. The section of the cross-axis hinge rod that is hinged to the cross-axis is a U-shaped groove with circular hinge holes opened on both sides of the groove. The diameter of the circular hinge holes matches the diameter of the shaft rod. The shaft rod passes through the circular hinge holes and is constrained at both ends. The cross-axis hinge rod swings about the center line of the hinged shaft rod.

[0083] Reference Figures 23-25 The base finger connecting hinge 22 includes a hinge seat 23, a hinge head 24, and a hinge rod. The hinge seat 23 is a U-shaped groove with a flat bottom surface and an arc-shaped top surface. Circular hinge holes are opened on both sides of the groove. The hinge head 24 is a long strip plate with an arc-shaped top surface and a circular hinge hole opened on the arc-shaped end plate surface. The circular hinge hole matches the circular hinge hole of the U-shaped groove and is inserted into the U-shaped groove. A matching hinge rod is inserted into the circular hinge hole.

[0084] Combination Figures 1 to 29 As shown, the working principle of this utility model is as follows:

[0085] This utility model discloses a humanoid robot hand structure, including fingers, finger base 10, wrist 6, and finger spreading device 7.

[0086] The fingers include thumb 1, index finger 2, middle finger 3, ring finger 4, and little finger 5, a total of 5 fingers. The distribution of the phalanges of the fingers is as follows: thumb 1 has three phalanges, index finger 2, middle finger 3, ring finger 4, and little finger 5 each have four phalanges, for a total of 19 phalanges. Phalanges are small long bones distributed in the fingers. The part between the phalanges of each finger that can bend is the finger joint. Thumb 1 has two joints, and index finger 2, middle finger 3, ring finger 4, and little finger 5 each have three joints, for a total of 14 finger joints. The bending and straightening movements of the finger joints are controlled by the finger joint bending device 8.

[0087] The finger joint bending device 8, wrist bending device 9, and finger base bending device 11 have similar structures, all consisting of a bending drive element 32, a bending power push-pull rod 33, a bending power connecting rod 34, a bending drive element fixing rod 35, a swinging component fixing rod 36, hinge B37, hinge C38, and hinge D39. The bending drive element 32 is a linear motor or a power cylinder, which is the power source for controlling the swinging motion of the swinging component. The bending power push-pull rod 33 is directly connected to the power of the bending drive element 32. Taking a power cylinder as an example, the bending power push-pull rod 33 is the piston rod of the power cylinder. One end of the bending power push-pull rod 33 is hinged to the bending power connecting rod 34 using hinge C38, and the other end of the bending power connecting rod 34 is connected to the swinging component. One end of the fixed rod 36 is hinged with hinge D39. The bending drive element fixed rod 35 is fixed to the outer shell of the bending drive element 32 and is hinged with the other end of the swinging element fixed rod 36 with hinge B37. At this time, two hinges are installed at both ends of the swinging element fixed rod 36. One hinge (hinge B37) is connected to the bending drive element fixed rod 35 and serves as the swing axis of the swinging element fixed rod 36. The other hinge (hinge D39) is connected to the power connecting rod. When the bending power push-pull rod 33 performs linear reciprocating motion, the bending power connecting rod 34 transmits the motion force to the hinge D39 of the swinging element fixed rod 36, causing the swinging element fixed rod 36 to swing around the swing axis, while the bending power connecting rod 34 swings around the hinge C38, which performs linear reciprocating motion.

[0088] In order to enable the finger joints to bend in a controlled manner, each phalanx below the fingertip 13 is a finger joint bending device 8 structure. The bottom surface of the finger phalanx above the root phalanx is fixed to the swinging element fixing rod 36 of the finger joint bending device 8 below it, and the bending drive element fixing rod 35 of the finger joint bending device 8 is located in the palm direction. At both ends of the fingers, the phalanges at the fingertips are called fingertip 13, and the phalanges connected to the finger base 10 are called root phalanges. The root phalanges of the thumb 1, index finger 2, ring finger 4, and little finger 5 are fixed to the base finger connecting hinge 22. The bottom surface of the base finger connecting hinge 22 is fixed to the finger base 10, and the top surface of the base finger connecting hinge 22 is fixed to the bottom surface of the finger joint bending device 8. The bottom surface of the finger phalanges above the root phalanges is fixed to the swing element fixing rod 36 of the finger joint bending device 8 below it, and the bending drive element fixing rod 35 of the finger joint bending device 8 is located in the palm direction. At this time, the rotation axis (hinge B37) is located in the palm direction, so that the phalanges can bend around the axis of hinge B37 of the joint bending device 8 towards the palm direction under the pushing action of the bending drive element 32 of the adjacent finger joint bending device 8 below them. Accordingly, all 14 finger joints can bend or straighten and swing towards the palm under the power of the finger joint bending device 8 below them.

[0089] The fingers are bound together by a finger base 10, which consists of a base frame A30, a finger base bending device 11, and a base frame B31. The index finger 2, ring finger 4, and little finger 5 are connected to the base frame A30 via a base finger connecting hinge 22. This hinge 22 is a hinge with one degree of freedom of motion; during installation, the hinge axis is perpendicular to the long side of the finger base 10, allowing the index finger 2, ring finger 4, and little finger 5 to swing left and right along the long side of the finger base 10. The base of the middle finger 3 is fixed to the base frame A30. The finger base bending device 11 is embedded in a U-shaped groove in the base frame A30, with the bottom surface of the finger base bending device 11 fixed to the bottom surface of the U-shaped groove. The bending drive element fixing rod 35 of the finger base bending device 11 is located on the palm side. At this time, the direction of the swinging element fixing rod 36 is the line connecting the back of the hand and the palm. The rotation axis (hinge B37) is located on the palm side. The base frame B31 is a trapezoidal cube with an inclined surface. The face intersecting the inclined surface at an acute angle fixes the swinging element fixing rod 36 of the finger base bending device 11. The inclined surface is fixed to the bottom surface of the base finger connecting hinge 22 of the thumb 1. Under the thrust of the bending drive element 32 of the finger base bending device 11, the base frame B31 rotates towards the palm side with the axis of hinge B37 of the finger base bending device 11 as the center. At this time, the thumb is controlled by the power of the finger base bending device 11 and can bend or straighten towards the palm side.

[0090] The wrist bending device 9 is a device that causes the wrist joint 6 to bend and swing. The wrist bending device 9 is fixed inside the wrist power fixing frame 12. The swinging component fixing rod 36 of the wrist bending device 9 is fixed to the bottom surface of the wrist rectangular tube 14, and the bending drive element fixing rod 35 of the wrist bending device 9 is located in the palm direction. The finger base 10 is fixed to the top surface of the wrist rectangular tube 14. The long side of the finger base 10 is perpendicular to the swinging component fixing rod 36 of the wrist bending device 9. Under the power control of the bending drive element 32 of the wrist bending device 9, the wrist joint 6 bends or straightens in the direction of the palm with the hinge B37 of the wrist bending device 9 as the axis of rotation, and the hand also bends or straightens in the direction of the palm.

[0091] The finger spreading device 7 is used to control the thumb 1, index finger 2, ring finger 4 and little finger 5 to swing along the long side of the finger base 10. It includes a finger spreading drive element 15, a finger spreading push-pull rod 16, a finger spreading connecting rod 17 and a finger spreading force transmission rod 18. The finger-spreading drive element 15 is an actuator capable of linear reciprocating motion, such as a linear motor or a power cylinder. Its bottom surface is fixed to a rectangular plate 19 on the wrist power fixing frame 12 located behind the wrist bending device 9. The finger-spreading push-pull rod 16 is the rod in the finger-spreading drive element 15 that performs linear reciprocating motion. Taking a power cylinder as an example, the finger-spreading push-pull rod 16 is the piston rod of the power cylinder. It passes through the positioning hole on the crossbar of frame B21 of the wrist power fixing frame 12, which can prevent the finger-spreading push-pull rod 16 from swinging left and right or up and down. The top of the rod is bent at an acute angle, and the bending direction is perpendicular to the long side of the finger base and bends towards the palm. The acute angle plate surface of the bent section is slotted for installing the finger-spreading connecting rod 17. One end of the connecting rod 17 passes through the groove, and a rod cap is installed on the finger-spreading connecting rod 17 on the two slotted surfaces, so that the finger-spreading connecting rod 17 is perpendicular to the slotted plate surface and can only move parallel to the length of the groove. The other end of the finger-spreading connecting rod 17 is connected to one end of the finger-spreading force transmission rod 18 by hinge A25. The axis of hinge A25 is parallel to the slotted surface of the finger-spreading push-pull rod 16 and perpendicular to the long side of the slot of the finger-spreading push-pull rod 16. The finger-spreading force transmission rod 18 can rotate around the axis of hinge A25. The other end of the finger-spreading force transmission rod 18 passes through the matching hole on the finger base 10 and is hinged to the finger bone at the root of the finger. The finger-spreading force transmission rod 18 passes through the matching hole on the finger base 10 to increase the stability of the finger-spreading force transmission rod 18.

[0092] Reference Figure 29The movement trajectory of the finger-spreading force transmission rod 18: the CD rod is the slotted section of the finger-spreading push-pull rod 16, point A is the opening position of the finger base 10 for installing the finger-spreading force transmission rod 18 (hereinafter referred to as the opening position), point O is the hinge B37 of the wrist bending device 9, when the wrist 6 bends, the opening position rotates around O, the LA rod is the finger-spreading force transmission rod 18, the GL rod is the finger-spreading connecting rod 17, the GL rod is perpendicular to the CD rod, and the GL rod passes through the middle of the slot of the CD rod. The G end of the GL rod and the two sides of the CD rod are constrained by baffles, so that the GL rod can only slide parallel to the CD rod. The GL rod and the LA rod are hinged, and the L point is the hinge position. The LA rod can rotate in a plane around the L point. When wrist 6 is bent, the opening position rotates from A to B. At this time, the finger-spreading force transmission rod 18 rotates relative to the finger-spreading connecting rod 17 around the hinge. The MB line is the finger-spreading force transmission rod 18 when wrist 6 is bent, and the GL rod translates to HM. The hinge moves from position L to position M. Since OL is not equal to OM, if the finger-spreading state needs to remain unchanged, the finger-spreading push-pull rod 16 needs to perform a linear reciprocating motion coordinated with the bending of wrist 6 so that OL dynamically equals OM. When wrist 6 is not bent and the angle of finger-spreading changes, the CD rod moves to position EF, the GL rod translates to position IK, and the hinge moves from position L to position K. When the CD rod moves to position EF and wrist 6 is bent, the LA rod rotates to position NB, the finger-spreading force transmission rod 18 rotates relative to the finger-spreading connecting rod 17 around the hinge, the GL rod translates to position JN, and the hinge moves from position L to position N.

[0093] The finger-spreading force transmission rod 18 is hinged to the finger root using two hinges. One hinge connects to the finger root phalanx, and the other hinges to the finger-spreading force transmission rod 18. The two hinges are connected by a rod. The two hinges connecting the finger root phalanx of the index finger 2, ring finger 4, and little finger 5 to the finger-spreading force transmission rod 18 are both hinges with one degree of freedom of motion. The center lines of the two hinges are parallel and parallel to the center line of the base finger connection hinge 22. When the finger-spreading force transmission rod 18 makes a linear reciprocating motion, both hinges rotate, causing the fingers to swing.

[0094] The thumb can rotate towards the palm and spread out, performing two degrees of freedom of motion. The connection structure between the finger spreading force rod 18 and the thumb phalanx is more complex than that of other fingers; therefore, the two hinges employ three degrees of freedom hinges 26. (Refer to...) Figure 20 and Figure 21The three-degree-of-freedom hinge 26 is composed of one-degree-of-freedom hinge and a cross-axis hinge 29. One-degree-of-freedom hinge includes a rotary hinge seat 27 and a rotary hinge head 28. The rotary hinge seat 27 is a hollow cylinder with a circular hole on its top surface communicating with the hollow interior. The diameter of the circular hole is smaller than the diameter of the hollow interior. The rotary hinge head 28 is similar in shape to the screw of a circular nut. Its larger cylindrical portion matches the hollow interior of the rotary hinge seat 27, and its smaller cylindrical portion matches the circular hole on the top surface of the rotary hinge seat 27. The larger cylindrical end of the rotary hinge head 28 is embedded within the hollow interior of the rotary hinge seat 27. The rotary hinge head 28 can only rotate relative to the rotary hinge seat 27; the cross-axis hinge 29 includes a cross-axis, a cross-axis hinge seat, and a cross-axis hinge rod. The cross-axis is formed by two round shafts crossing each other. The cross-axis hinge seat is a U-shaped groove with a circular hinge hole on the side wall. The bottom of the groove is fixed to the bottom surface of the rotary hinge head 28. One shaft of the cross-axis passes through the circular hinge hole of the U-shaped groove and is capped at both ends for constraint. The cross-axis is fitted into the U-shaped groove. The two ends of the other shaft of the cross-axis are hinged to the cross-axis hinge rod. The cross-axis can swing around the center line of the circular hole on the cross-axis hinge seat, and the cross-axis hinge rod can swing around its hinge axis. During installation, the center lines of one degree of freedom of motion of the two hinges are parallel and parallel to the center line of the axis of the base finger connection hinge 22.

[0095] To illustrate the motion of the finger-spreading force transmission rod 18 and the hinge point of the thumb phalanx, let the hinge connecting the thumb base phalanx when the hand is at rest be called hinge Q, and the hinge connecting the finger-spreading force transmission rod 18 be called hinge P. The rod between the two hinges is rod PQ. During motion, the center line of hinge P is always parallel to the center line of the index finger base finger connection hinge 22, and the center line of hinge Q is always parallel to the center line of the thumb base finger connection hinge 22. The center lines of the hinge axes connecting the two ends of rod PQ remain parallel, with a fixed spacing, and are parallel to the surface of plate PQ. The three-dimensional coordinate system is established as follows: with point P when the hand is at rest as the origin, the axis parallel to the long side of finger base 10 is the X-axis, the axis parallel to the width of finger base 10 is the Y-axis (the width direction of finger base 10 is parallel to the hand plane), and the axis parallel to the height of finger base 10 is the Z-axis. Therefore, it can be deduced that: when the hand is at rest, the center lines of the axes of the two hinges are parallel to Z; when the thumb 1 only performs the spreading motion, the finger spreading force transmission rod 18 performs linear reciprocating motion, and point P only moves along the Y-axis. Since the base frame A30 below the index finger and the base frame B31 below the thumb do not rotate, the center lines of the base finger connecting hinge 22 of the index finger and thumb are parallel, and the center lines of the axes of the two hinges P and Q remain parallel. The two hinges P and Q rotate, and the thumb 1 spreads out; when the thumb 1 bends towards the palm and the thumb spreads out, the P hinge moves along the Y-axis, and the Q hinge rotates with the base frame B31, moving in the X, Y, and Z axes. The center line of the Q hinge changes with the hinge of the finger base bending device 11. Rotating around the B37 axis, the center line of the P hinge is parallel to the center line of the index finger base finger connection hinge 22, and the center line of the Q hinge is parallel to the center line of the thumb base finger connection hinge 22. The center lines of the Q hinge and the P hinge cross. In order to keep the center lines of the hinge axes connecting the two ends of the PQ rod parallel, the spacing unchanged, and parallel to the PQ plate surface, all three hinges of the three degrees of freedom hinges 26 must rotate. Among them, the displacement of the Q hinge in the X and Y axes is adjusted by the rotation of one degree of freedom hinge of the two hinges, and the displacement of the Q hinge in the Z axis is adjusted by the rotation of the hinge connecting the two ends of the PQ rod. Since the center lines of the Q hinge and the P hinge cross, both axes of the cross hinge 29 need to rotate for adjustment. Based on the above analysis, when the finger spreading force transmission rod 18 of the thumb 1 is connected to the thumb phalanx by a double hinge of three motion degrees of freedom hinge 26, one of which is hinged to the finger root phalanx and the other is hinged to the finger spreading force transmission rod 18. When the two hinges are connected by a rod, the thumb can swing with two motion degrees of freedom under the control of the finger base bending device 11 and the finger spreading device 7.

[0096] In summary, this utility model provides a humanoid robotic hand structure in which the finger joints can bend or straighten towards the palm under the control of the finger joint bending device 8; the thumb 1 can bend or straighten towards the palm under the control of the finger base bending device 11; the wrist 6 can bend or straighten towards the palm under the control of the wrist bending device 9; and the thumb 1, index finger 2, ring finger 4, and little finger 5 can spread or close under the control of their respective finger spreading devices 7.

[0097] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A humanoid robot hand structure, characterized by Including fingers, finger base (10), wrist (6), finger spreading device (7); and The fingers include the thumb (1), index finger (2), middle finger (3), ring finger (4), and little finger (5); and The thumb (1) of the fingers has three phalanges, while the index (2), middle (3), ring (4), and little (5) each have four phalanges; and The finger structure includes a fingertip (13), a finger joint bending device (8), and a base finger connecting hinge (22); and The fingertip (13) is the fingertip bone, which is cylindrical in shape and has an arc-shaped cap fixed on the top surface of the cylinder; as well as The finger joint bending device (8) is a device that allows the finger to bend and swing at the joint. Each phalanx below the fingertip (13) is a structure of the finger joint bending device (8). The bottom surface of the phalanx above the root phalanx is fixed to the swinging element fixing rod (36) of the finger joint bending device (8) below it, and the bending drive element fixing rod (35) of the finger joint bending device (8) is located in the palm direction; and The base finger connecting hinge (22) enables a hinged connection between the finger base (10) and the finger with one degree of freedom of movement. Its bottom surface is fixed to the finger base (10), and its top surface is fixed to the bottom surface of the root phalanges of the thumb (1), index finger (2), ring finger (4), and little finger (5). The hinge axis of the base finger connecting hinge (22) is perpendicular to the long side of the finger base (10). The finger base (10) includes a base frame A (30), a finger base bending device (11), and a base frame B (31). The base frame A (30) is a U-shaped groove with unequal side wall heights. The bottom surface of the U-shaped groove is flat. Four rectangular holes are opened on both sides along the height direction of the U-shaped groove. The size and position of the rectangular holes are matched with the size and position of the finger spreading force transmission rod (18). The finger spreading force transmission rod (18) passes through the holes. The higher side wall of the U-shaped groove is fixed to one open end of the wrist rectangular tube (14). The lower side wall of the U-shaped groove is fixed to the bottom surface of the base finger connecting hinge (22) of the index finger (2), ring finger (4), and little finger (5), and fixed to the bottom surface of the middle finger (3). The finger base bending device (11) is embedded in the U-shaped groove; and The bottom surface of the finger base bending device (11) is fixed to the bottom surface of the inner wall of the U-shaped groove. Its bending drive element fixing rod (35) is located on the palm side, and its swinging element fixing rod (36) is fixed to one side of the base frame B (31). The base frame B (31) is a trapezoidal cube with a sloping face. The sloping face intersects the sloping face at an acute angle and fixes the swinging element fixing rod (36). The sloping face is fixed to the bottom surface of the base finger connecting hinge (22) of the thumb (1). The wrist (6) includes a wrist power fixation frame (12), a wrist bending device (9), and a wrist rectangular tube (14); and The wrist power fixation frame (12) is a rectangular frame, and a wrist bending device (9) is fixed inside the rectangular frame. The frame surface at the bottom of the wrist bending device (9) is a rectangular plate (19), and the rectangular plate (19) is fixed to the finger spreading drive element (15) of the thumb (1), index finger (2), ring finger (4), and little finger (5); and The wrist bending device (9) is a device that causes the wrist (6) joint to bend and swing. The bottom surface of the wrist rectangular tube (14) is fixed to the swinging element fixing rod (36) of the wrist bending device (9), and the bending drive element fixing rod (35) of the wrist bending device (9) is located in the palm direction. The top surface of the wrist rectangular tube (14) is fixed to the finger base (10), and the long side of the finger base (10) is perpendicular to the swinging element fixing rod (36); and The finger-spreading device (7) includes a finger-spreading driving element (15), a finger-spreading push-pull rod (16), a finger-spreading connecting rod (17), and a finger-spreading force transmission rod (18); and The finger-spreading drive element (15) is a linear reciprocating actuator, and the finger-spreading push-pull rod (16) is a rod in the finger-spreading drive element (15) that performs linear reciprocating motion. The rod has a rectangular cross-section and passes through the positioning hole on the crossbar of frame B (21) of the wrist power fixation frame (12). The top of the rod is bent at an acute angle, with the bending direction perpendicular to the long side of the finger base (10) and bending towards the palm. The acute angle plate of the bent section is slotted for installing the finger-spreading connecting rod (17); and The cross-section of the finger-spreading connecting rod (17) is rectangular, and its thickness matches the slot width of the finger-spreading push-pull rod (16), allowing the finger-spreading connecting rod (17) to pass through the slot. One end of the finger-spreading connecting rod (17) passes through the slot, and a rod cap is installed on the finger-spreading connecting rod (17) on both slotted surfaces, so that the finger-spreading connecting rod (17) is perpendicular to the slotted plate surface and can only move parallel to the length of the slot. The other end of the finger-spreading connecting rod (17) is connected to one end of the finger-spreading force transmission rod (18) by hinge A (25). The axis of hinge A (25) is parallel to the slotted surface of the finger-spreading push-pull rod (16) and perpendicular to the long side of the slot of the finger-spreading push-pull rod (16). The cross-section of the finger-spreading force transmission rod (18) is rectangular, and its other end passes through the matching hole on the finger base (10) and is hinged to the root phalanx of the finger; and The finger-spreading force transmission rod (18) and the base of the finger's phalanx are hinged by two hinges: one hinges to the base of the finger's phalanx, and the other hinges to the finger-spreading force transmission rod (18). The two hinges are connected by a rod. The two hinges connecting the base phalanges of the index finger (2), ring finger (4), and little finger (5) to the finger spreading force transmission rod (18) are both single-degree-of-freedom hinges. The center lines of the two hinges are parallel and parallel to the center line of the base finger connecting hinge (22); and The two hinges connecting the root phalanx of the thumb (1) to the finger spreading force transmission rod (18) are both three-degree-of-freedom hinges (26). The three-degree-of-freedom hinges are composed of one-degree-of-freedom hinge and a cross-axis hinge (29). The center lines of the axis of one degree-of-freedom hinge of the two hinges are parallel and parallel to the center line of the axis of the base finger connection hinge (22).

2. The humanoid robot hand structure according to claim 1, characterized in that... The wrist power fixation frame (12) includes a rectangular plate (19), frame A (20), frame B (21), and a rectangular rod. The rectangular plate (19) has the same cross-sectional size as frames A (20) and B (21). Frames A (20) and B (21) are both rectangular frames. Frame A (20) is located at the tail of the bending drive element (32) of the wrist bending device (9), and frame B (21) is located at the front of the bending drive element (32) of the wrist bending device (9). The rectangular plate (19), frame A (20), and frame B (21) are... (21) is fixedly connected by rectangular rods at its four corners to form a rectangular frame with rectangular plates (19) and frame B (21) on its two sides. A crossbar is set above the bending drive element (32) of the wrist bending device (9) on frame B (21), and four rectangular holes are opened on the side of the crossbar that is parallel to the rectangular plate (19). The size of the holes matches the finger spreading push-pull rod (16), and the position of the holes matches the installation position of the finger spreading device (7). The finger spreading push-pull rod (16) passes through the holes on the crossbar.

3. The anthropomorphic robot hand structure according to claim 1, characterized in that The cross-axis hinge (29) includes a cross-axis, a cross-axis hinge seat, and a cross-axis hinge rod. The cross-axis is formed by two round shafts crossing each other. The cross-axis hinge seat is a U-shaped groove with a flat bottom, fixed on the bottom surface of the rotating hinge head (28). Circular hinge holes are opened on both sides of the groove. The diameter of the circular hinge holes matches the diameter of one shaft of the cross-axis. The shaft passes through the circular hinge hole of the U-shaped groove and is constrained at both ends. The cross-axis is fitted into the U-shaped groove and can swing about the center line of the circular hinge hole. The two ends of the other shaft of the cross-axis are hinged to the cross-axis hinge rod. The section of the cross-axis hinge rod that is hinged to the cross-axis is a U-shaped groove with circular hinge holes opened on both sides of the groove. The diameter of the circular hinge holes matches the diameter of the shaft rod. The shaft rod passes through the circular hinge holes and is constrained at both ends. The cross-axis hinge rod swings about the center line of the hinged shaft rod.

4. The anthropomorphic robot hand structure according to claim 1, characterized in that The base finger connection hinge (22) includes a hinge seat (23), a hinge head (24), and a hinge rod. The hinge seat (23) is a U-shaped groove with a flat bottom surface and an arc-shaped top surface. Circular hinge holes are opened on both sides of the groove. The hinge head (24) is a long strip plate with an arc-shaped top surface and a circular hinge hole on the arc-shaped end plate surface. The circular hinge hole matches the circular hinge hole of the U-shaped groove and is inserted into the U-shaped groove. A matching hinge rod is inserted into the circular hinge hole.

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