Finger structure, dexterous hand, mechanical arm and humanoid robot
By using an elastic reset element and tendon rope structure, and utilizing a winch to drive the stretching and release of the second tendon rope, the problem of the inability of dexterous hand fingers to automatically recover after bending is solved, realizing automatic finger straightening recovery and simplifying the driving force.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN SYBORG ROBOT CO LTD
- Filing Date
- 2025-06-09
- Publication Date
- 2026-05-12
AI Technical Summary
The fingers of existing dexterous hands cannot automatically return to a straight state after bending, resulting in complex structural designs and wasted driving force.
采用弹性复位件和腱绳结构，通过绞盘驱动第二腱绳的拉伸和释放，利用弹性复位件的弹性势能自动恢复手指到伸直状态，简化了驱动结构。
It enables automatic extension and recovery of the fingers, simplifies the drive structure, reduces wasted drive force, and improves the movement efficiency of dexterous hands.
Smart Images
Figure CN224223906U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics, and more specifically, to a finger structure and a humanoid robot. Background Technology
[0002] Robots can perform operations such as movement and grasping using their dexterous hands. The fingers, in particular, are a crucial component of the dexterous hand, directly affecting its motor function and compactness. Some current dexterous hands employ multi-link structures, resulting in overly complex finger structures and stiff grasping movements. Specifically, current dexterous hands require finger flexion for grasping, but this flexion requires a driving force (usually driven by a first motor). Releasing the grasped object requires finger straightening, but since the fingers cannot automatically return to a straight position, another driving force (usually driven by a second motor) is needed. This inevitably leads to complex structural designs and wastes additional driving force. Utility Model Content
[0003] The purpose of this invention is to provide a finger structure, a dexterous hand, a robotic arm, and a humanoid robot, aiming to solve the technical problem that the fingers of a dexterous hand cannot automatically return to a straight state after bending.
[0004] In a first aspect, embodiments of the present invention provide a finger structure, comprising:
[0005] First segment;
[0006] The third finger segment; and
[0007] The second finger segment is hinged at both ends to the first finger segment and the third finger segment, respectively;
[0008] The first finger segment has a first slot and a first guide channel connecting the first slot. The first slot is provided with an elastic reset member and a first stop for pressing the elastic reset member.
[0009] The first finger segment also has a second slot and a second guide channel connecting the two slots;
[0010] The second finger segment contains a third and a fourth guiding channel;
[0011] The third finger segment contains the fifth and sixth guiding channels;
[0012] The finger structure also includes:
[0013] A first tendon cord, one end of which passes sequentially through the fifth guide channel, the third guide channel, and the first guide channel and connects to the first stop; the other end is configured for fixed connection to the palm of the humanoid robot; and
[0014] The second tendon rope has one end passing through the sixth guide channel, the fourth guide channel and the second guide channel in sequence and being fixedly connected to the second slot, and the other end is configured to be connected to the winch.
[0015] In this embodiment, the first tendon cord is in a naturally taut state. In this state, the first stop only abuts against one end of the elastic reset member without pressing it. However, when the second tendon cord is stretched by the rotational drag of the winch, the finger will change to a bent state. At this time, the first stop is pulled by the first tendon cord and presses the elastic reset member so that the elastic reset member is compressed and accumulates elastic potential energy. When the winch rotates in the opposite direction and releases the stretched second tendon cord, the elastic potential energy of the elastic reset member will be released. The elastic reset member will abut against the first stop and drive the first tendon cord and the first stop to move synchronously toward the fingertip of the first finger segment, thereby automatically returning to the straightened state of the finger.
[0016] In a second aspect, embodiments of the present invention provide a dexterous hand, including the aforementioned finger structure.
[0017] In a third aspect, this utility model embodiment provides a robotic arm, including the aforementioned dexterous hand.
[0018] In a fourth aspect, this utility model embodiment provides a humanoid robot, including the aforementioned robotic arm. Attached Figure Description
[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0020] Figure 1 A partial structural diagram of a finger structure applied to a dexterous hand according to an embodiment of the present invention;
[0021] Figure 2 for Figure 1 A schematic diagram of the back structure of the middle finger;
[0022] Figure 3 for Figure 2 A schematic diagram of the middle finger structure after the cover is removed;
[0023] Figure 4 for Figure 2 A cross-sectional view of the middle finger structure, showing the finger in a straight position;
[0024] Figure 5 for Figure 4 A diagram showing the structure of the middle finger in a bent state.
[0025] Icons: 100 - Index finger; 1 - First finger segment; 10 - First slot; 101 - Elastic reset element; 11 - First guide channel; 102 - Second slot; 12 - Second guide channel; 13 - Cover; 14 - Stop; 15 - Second stop; 2 - Second finger segment; 21 - Third guide channel; 211 - First guide post; 212 - Second guide post; 22 - Fourth guide channel; 221 - Third guide post; 222 - Fourth guide post; 223-Fifth guide post; 3-Third finger segment; 31-Fifth guide channel; 311-Sixth guide post; 312-Seventh guide post; 32-Sixth guide channel; 321-Eighth guide post; 322-Ninth guide post; 323-Tenth guide post; 4-First tendon rope; 5-Second tendon rope; 6-First pin; 7-Second pin; 8-Palm part; 81-Tightening adjustment screw; 82-Windmill; 83-Reducer; 84-Drive motor. Detailed Implementation
[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0028] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0029] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0030] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0031] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.
[0032] Please refer to Figures 1 to 5 This embodiment provides a humanoid robot, which includes at least a torso assembly, a walking assembly, a head assembly, and two robotic arms connected to the torso assembly.
[0033] The torso assembly is located in the center of the humanoid robot and serves as the mounting base for the robot's limbs and head.
[0034] The walking component can be a chassis assembly with wheels or a mechanical leg capable of walking.
[0035] The robotic arm is attached to the torso assembly and has multiple degrees of freedom relative to the torso assembly. The robotic arm has a dexterous hand for grasping.
[0036] A dexterous hand is an industry term for a robot's hand. A dexterous hand generally includes a palm portion 8 and five fingers connected to the palm portion 8. It is understood that the number of fingers can be selected according to the usage environment and requirements. The dexterous hand in this embodiment includes five fingers: thumb, index finger 100, middle finger, ring finger, and little finger. Each of these five fingers includes a first finger segment 1, a second finger segment 2, and a third finger segment 3 that are hinged sequentially. Each finger can be made of metal, and each finger has a hollow channel inside for wiring or a cavity for mounting components.
[0037] For ease of description, we will use the index finger as an example below.
[0038] The index finger 100 includes a first finger segment 1, a second finger segment 2, and a third finger segment 3, as well as a first tendon cord 4 and a second tendon cord 5.
[0039] The two ends of the second finger segment 2 are hinged to the first finger segment 1 and the third finger segment 3, respectively.
[0040] Specifically, the first finger segment 1 and the second finger segment 2 are hinged together via the first pin 6, and the third finger segment 3 and the second finger segment 2 are hinged together via the second pin 7.
[0041] The first finger segment 1 has a first slot 10 and a first guide channel 11 that connects to the first slot 10. The first slot 10 is provided with an elastic reset member 101, which may be a compression spring, an elastic sleeve or other component with elastic reset function.
[0042] To facilitate the installation and replacement of the elastic reset member 101 in the first slot 10, the first finger segment 1 also includes a cover 13 for opening and closing the first slot 10. The cover 13 can be configured to be detachable. For example, the cover 13 can be screwed onto the first slot 10 with screws, or the cover 13 can be detachably fastened onto the first slot 10 by a snap-fit.
[0043] The first guide channel 11 does not completely extend through both ends of the first finger segment 1. One end of the first guide channel 11 is connected to the first slot 10, and the other end extends outside the first finger segment 1.
[0044] The first finger segment 1 also has a second slot 102 and a second guide channel 12 connecting the second slot 102. The second slot 102 may be, for example, a blind hole formed on the surface of the first finger segment 1.
[0045] The second guide channel 12 does not completely extend through both ends of the first finger segment 1. One end of the second guide channel 12 is connected to the second slot 102, and the other end extends outside the first finger segment 1.
[0046] On the first finger segment 1, the first guide channel 11 and the second guide channel 12 can be arranged side by side, with the first guide channel 11 close to the back of the finger segment 1 and the second guide channel 12 away from the back of the finger segment 1. The first guide channel 11 is used for the first tendon cord 4 to pass through, and the second guide channel 12 is used for the second tendon cord 5 to pass through.
[0047] The second finger segment 2 contains a third guide channel 21 and a fourth guide channel 22 that can be arranged in parallel.
[0048] Both the third guide channel 21 and the fourth guide channel 22 extend through both ends of the second finger segment 2. The third guide channel 21 is closer to the back of the second finger segment 2, while the fourth guide channel 22 is farther away from the back of the second finger segment 2. The third guide channel 21 is used for the first tendon ligament 4 to pass through, and the fourth guide channel 22 is used for the second tendon ligament 5 to pass through. Of course, the third guide channel 21 and the fourth guide channel 22 are not set as two completely isolated channels. As long as a channel structure can be formed within the second finger segment 2 that can respectively limit and guide the first tendon ligament 4 and the second tendon ligament 5, the third guide channel 21 and the fourth guide channel 22 can be constituted.
[0049] In addition, the inner walls and openings of the third guide channel 21 and the fourth guide channel 22 can be constructed in a smooth shape to reduce the scratching effect on the first tendon rope 4 and the second tendon rope 5, thereby improving the service life of the first tendon rope 4 and the second tendon rope 5.
[0050] Within the third finger segment 3, there are a fifth guide channel 31 and a sixth guide channel 32 arranged in parallel.
[0051] Both the fifth guide channel 31 and the sixth guide channel 32 extend through both ends of the third finger segment 3. The fifth guide channel 31 is closer to the back of the third finger segment 3, while the sixth guide channel 32 is farther from the back of the third finger segment 3. The fifth guide channel 31 is used for the first tendon ligament 4 to pass through, and the sixth guide channel 32 is used for the second tendon ligament 5 to pass through. Of course, the fifth guide channel 31 and the sixth guide channel 32 are not set as two completely isolated channels. As long as a channel structure can be formed within the third finger segment 3 that can respectively limit and guide the first tendon ligament 4 and the second tendon ligament 5, the fifth guide channel 31 and the sixth guide channel 32 can be constituted.
[0052] One end of the first tendon cord 4 passes sequentially through the fifth guide channel 31, the third guide channel 21, and the first guide channel 11 and is connected to the first stop block 14 located in the first slot 10. The first slot 10 contains an elastic reset member 101 (such as a compression spring). The first stop block 14 is used to hold the elastic reset member 101. The first stop block 14 is located at the end of the elastic reset member 101 opposite to the second finger segment 2 (i.e., the end of the first finger segment 1 facing the fingertip). The first stop block 14 can be a spherical fixing head. The first tendon cord 4 can pass through the hollow area in the middle of the compression spring axis and be connected to the first stop block 14. When the index finger 100 experiences a movement caused by… Figure 4 The straightened state to Figure 5 When the index finger 100 is in a bent state, the first tendon 4 contracts, causing the first stop block 14 to be pulled by the first tendon 4, which will press the elastic reset member 101 (such as a compression spring) so that the compression spring is compressed and accumulates elastic potential energy. Figures 5 to 4 When the spring is in its extended state, the elastic potential energy of the compression spring will be released, and the compression spring will resist the first stop 14, causing the first tendon rope 4 to return to its original position. Figure 4 The index finger 100 is shown in its extended state.
[0053] The other end of the first tendon rope 4 is configured for secure connection to the palm portion 8 of the humanoid robot, such as... Figure 1 As shown. For example, the palm part 8 has a screw hole for screwing in the tension adjustment screw 81. The axial extension direction of the screw hole is consistent with the extension direction of the index finger 100 when it is straight. The tension adjustment screw 81 is screwed into the screw hole. The other end of the first tendon 4 can be connected to the end of the tension adjustment screw 81. The tension of the first tendon 4 can be adjusted by turning the tension adjustment screw 81.
[0054] In order to improve the stretching effect of the first tendon 4, in this embodiment, the first guide channel 11, the third guide channel 21 and the fifth guide channel 31 can be set to be roughly on the same straight line when the index finger 100 is in a straight position.
[0055] One end of the second tendon cord 5 passes through the sixth guide channel 32, the fourth guide channel 22 and the second guide channel 12 in sequence and is fixedly connected to the second slot 102. For example, the second tendon cord 5 can be fixedly connected to the second stop 15 provided in the second slot 102. The second stop 15 can be a spherical fixed head. The second stop 15 can be similar in structure to the first stop 14. The size of the second stop 15 is larger than the second guide channel 12. The second stop 15 is used to restrict the second tendon cord 5 when it is stretched.
[0056] The other end of the second tendon rope 5 can be connected to a winch 82, which can be driven by a drive motor 84 to rotate. Specifically, the winch 82 is connected to a reducer 83 driven by the drive motor 84. The reducer 83 can be a worm gear reducer, a planetary gear reducer, or other speed reduction devices. The drive motor 84, in conjunction with the reducer 83, can provide sufficient tensile force to the second tendon rope 5.
[0057] In order to improve the stretching effect of the second tendon rope 5, in this embodiment, the second guide channel 12, the fourth guide channel 22 and the sixth guide channel 32 can be set to be approximately on the same straight line when the index finger 100 is in a straight position.
[0058] It should be noted that in this embodiment, the positions of the first pin 6 and the second pin 7 are both located between the first tendon rope 4 and the second tendon rope 5.
[0059] As mentioned above, the normal state of the index finger 100 can be as follows: Figure 4 In the naturally extended state shown, the first tendon 4 is in a naturally taut state. In this naturally taut state, the first stop 14 only abuts against one end of the elastic reset member 101 and does not press against the elastic reset member 101. However, when the second tendon 5 is stretched by the rotational drag of the winch 82, the index finger 100 will change to the position shown. Figure 5 In the bent state shown, the first stop 14 is pulled by the first tendon rope 4, pressing down on the elastic reset member 101 to compress it and accumulate elastic potential energy. When the winch 82 rotates in the opposite direction to release the stretched second tendon rope 5, the elastic potential energy of the elastic reset member 101 will be released. The elastic reset member 101 will then resist the first stop 14, causing the first tendon rope 4 and the first stop 14 to move synchronously toward the fingertip of the first finger segment 1, and then automatically return to the bent state. Figure 4 The index finger 100 is shown in its extended state.
[0060] In this embodiment, the index finger 100 is driven from the second tendon rope 5 by the rotational dragging action of the winch 82. Figure 4 The natural straightening state shown is transformed to, as Figure 5 The bent state shown is then released by the reverse rotation of the winch 82, which releases the stretched second tendon rope 5. The elastic reset action of the elastic reset member 101 drives the index finger 100 to return to its original position. Figure 4 The extended state of the index finger 100 shown allows for the flexion and extension of a single finger. For a dexterous hand with five fingers, when each finger uses the structure and drive method of the index finger 100 individually, the dexterous hand can perform grasping and extension movements.
[0061] Furthermore, to improve the stretching effect of the first tendon cord 4, in this embodiment, a first guide post 211 and a second guide post 212 are formed in the third guide channel 21. Within the third guide channel 21, the first tendon cord 4 is located on the side opposite to the second tendon cord 5, as indicated by the first guide post 211 and the second guide post 212. A sixth guide post 311 and a seventh guide post 312 are formed in the fifth guide channel 31. Within the fifth guide channel 31, the first tendon cord 4 is located on the side opposite to the second tendon cord 5, as indicated by the sixth guide post 311 and the seventh guide post 312.
[0062] Specifically, the first guide post 211 and the second guide post 212 are detachably installed in the second finger segment 2 by means of mounting holes opened on the side of the second finger segment 2. Since the first guide post 211 and the second guide post 212 will be in close contact with the first tendon 4, in order to reduce the friction on the first tendon 4, the first guide post 211 and the second guide post 212 can be set to be able to rotate freely in the second finger segment 2.
[0063] Specifically, the sixth guide post 311 and the seventh guide post 312 are detachably installed in the third finger segment 3 by means of mounting holes opened on the side of the third finger segment 3. Since the sixth guide post 311 and the seventh guide post 312 will be in close contact with the first tendon 4, in order to reduce the friction on the first tendon 4, the sixth guide post 311 and the seventh guide post 312 can be set to be able to rotate freely in the third finger segment 3.
[0064] The first guide post 211, the second guide post 212, the sixth guide post 311 and the seventh guide post 312 mentioned above can act as fixed pulleys, which can achieve the effect of changing the direction of the tensile force without consuming the tensile force of the first tendon rope 4.
[0065] Furthermore, to improve the tensioning effect of the second tendon cord 5, in this embodiment, a third guide post 221, a fourth guide post 222, and a fifth guide post 223 are formed within the fourth guide channel 22, with the fifth guide post 223 located between the third guide post 221 and the fourth guide post 222. Within the fourth guide channel 22, the second tendon cord 5 is positioned on the side of the third guide post 221 and the fourth guide post 222 away from the first tendon cord 4, and on the side of the fifth guide post 223 facing the first tendon cord 4. This arrangement allows the fifth guide post 223 to effectively tension the second tendon cord 5, which is beneficial to the tensioning effect of the second tendon cord 5.
[0066] Specifically, the third guide post 221, the fourth guide post 222, and the fifth guide post 223 are detachably installed in the second finger segment 2 by means of mounting holes opened on the side of the second finger segment 2. Since the third guide post 221, the fourth guide post 222, and the fifth guide post 223 will be in close contact with the second tendon 5, in order to reduce the friction on the second tendon 5, the third guide post 221, the fourth guide post 222, and the fifth guide post 223 can be set to be able to rotate freely in the second finger segment 2.
[0067] An eighth guide post 321, a ninth guide post 322, and a tenth guide post 323 are formed within the sixth guide channel 32, with the tenth guide post 323 located between the eighth guide post 321 and the ninth guide post 322. Within the sixth guide channel 32, the second tendon rope 5 is positioned on the side of the eighth guide post 321 and the ninth guide post 322 away from the first tendon rope 4, and on the side of the tenth guide post 323 facing the first tendon rope 4. This arrangement allows the tenth guide post 323 to effectively tension the second tendon rope 5, thus improving its stretching effect.
[0068] Specifically, the eighth guide post 321, the ninth guide post 322, and the tenth guide post 323 are designed to be inserted into the third finger segment 3 through mounting holes on the side. Since the eighth guide post 321, the ninth guide post 322, and the tenth guide post 323 will come into contact with the second tendon 5, in order to reduce the friction on the second tendon 5, the eighth guide post 321, the ninth guide post 322, and the tenth guide post 323 can be designed to rotate freely within the third finger segment 3.
[0069] The aforementioned third guide post 221, fourth guide post 222 and fifth guide post 223, as well as the eighth guide post 321, ninth guide post 322 and tenth guide post 323 can all act as fixed pulleys, achieving the effect of changing the direction of the tensile force without consuming almost the tensile force of the second tendon rope 5.
[0070] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A finger structure, characterized in that, Suitable for humanoid robots, including: First segment; The third finger segment; and The second finger segment is hinged at both ends to the first finger segment and the third finger segment, respectively; The first finger segment has a first slot and a first guide channel connecting the first slot. The first slot is provided with an elastic reset member and a first stop for pressing the elastic reset member. The first finger segment also has a second slot and a second guide channel connecting the two slots; The second finger segment contains a third and a fourth guiding channel; The third finger segment contains the fifth and sixth guiding channels; The finger structure also includes: A first tendon cord, one end of which passes sequentially through the fifth guide channel, the third guide channel, and the first guide channel and connects to the first stop; the other end is configured for fixed connection to the palm of the humanoid robot; and The second tendon rope has one end passing through the sixth guide channel, the fourth guide channel and the second guide channel in sequence and being fixedly connected to the second slot, and the other end is configured to be connected to the winch.
2. The finger structure according to claim 1, characterized in that, The first finger segment and the second finger segment are hinged together by a first pin, which is located between the first tendon cord and the second tendon cord.
3. The finger structure according to claim 1, characterized in that, The third finger segment is hinged to the second finger segment via a second pin, which is located between the first tendon cord and the second tendon cord.
4. The finger structure according to claim 1, characterized in that, The third guide channel contains a first guide post and a second guide post, and the first tendon cord is located on the side of the first guide post and the second guide post away from the second tendon cord within the third guide channel; the fifth guide channel contains a sixth guide post and a seventh guide post, and the first tendon cord is located on the side of the sixth guide post and the seventh guide post away from the second tendon cord within the fifth guide channel.
5. The finger structure according to claim 4, characterized in that, The fourth guide channel contains a third guide post, a fourth guide post, and a fifth guide post, with the fifth guide post located between the third and fourth guide posts. Within the fourth guide channel, the second tendon cord is located on the side of the third and fourth guide posts away from the first tendon cord and on the side of the fifth guide post facing the first tendon cord. The sixth guide channel contains an eighth, a ninth, and a tenth guide post, with the tenth guide post located between the eighth and ninth guide posts. Within the sixth guide channel, the second tendon cord is located on the side of the eighth and ninth guide posts away from the first tendon cord and on the side of the tenth guide post facing the first tendon cord.
6. The finger structure according to claim 5, characterized in that, The fifth guide post is located between the first guide post and the third guide post, and between the second guide post and the fourth guide post; the tenth guide post is located between the sixth guide post and the eighth guide post, and between the seventh guide post and the ninth guide post.
7. The finger structure according to claim 1, characterized in that, The first finger segment also includes a detachable cover for opening and closing the first card slot.
8. A dexterous hand, characterized in that, Includes the finger structure described in any one of claims 1-7.
9. A robotic arm, characterized in that, Including the dexterous hand as described in claim 8.
10. A humanoid robot, characterized in that, Including the robotic arm as described in claim 9.