A humanoid robot employing a humanoid dexterous hand

Abstract

The utility model discloses an anthropomorphic dexterous hand and humanoid robot adopting the anthropomorphic dexterous hand. An anthropomorphic dexterous hand comprises an arm assembly rotatably connected with a hand assembly, and the arm assembly comprises: a fixing member provided with a wire passing hole for a traction rope to pass through; a guide member movably arranged in the wire passing hole, and the traction rope passing through the guide member; an elastic member arranged between the fixing member and the guide member to provide the guide member with an elastic force towards the hand assembly; a collection tube sleeved outside the traction rope and located between the fixing member and a corresponding joint; the guide member is provided with a limiting part abutting against the end of the collection tube to limit the guide member from separating from the wire passing hole; when the length of the traction rope changes, the elastic member promotes the guide member to keep in contact with the collection tube. The humanoid robot adopts the anthropomorphic dexterous hand of any one of the above schemes. The advantage is that the risk of exposure and abrasion caused by the lengthening of the traction rope is eliminated.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, specifically to a humanoid dexterous hand and a humanoid robot using the humanoid dexterous hand. Background Technology

[0002] As a core component in the field of robotics, the humanoid dexterous hand, by mimicking the structure of the human hand, enables complex grasping and manipulation tasks, and has become crucial for improving the operational capabilities of robots. Currently, dexterous hands using traction rope transmission are widely researched and applied due to their advantages such as compact structure, high transmission efficiency, and ease of achieving independent control of multiple joints.

[0003] In traction rope drive systems, to reduce wear caused by friction between the traction rope and components such as joint connectors and outer shells, existing technologies have developed solutions for wrapping and protecting the traction rope. For example, by using a coiling tube to encase the traction rope, it is isolated from the external environment, thereby preventing the traction rope from being directly exposed to the movement space and reducing interference and friction with adjacent components.

[0004] However, this type of traction tube protection scheme still has significant drawbacks: because the drive mechanism controls joint movement by extending and retracting the traction rope, the length of the traction rope dynamically changes during operation. If the traction tube length is set too long, when the traction rope shortens, the traction tube cannot retract accordingly, and its two ends will abut against the fixing component and the joint respectively, forming rigid interference. This restricts the range of motion of the joint and may even hinder the normal flexion and extension movements of the dexterous hand. To avoid this problem, existing technologies typically set the traction tube length to match the shortest working length of the traction rope to ensure that the traction tube does not interfere with joint movement when the traction rope is retracted to its shortest length.

[0005] However, this method of "setting the shortest length of the take-up tube" introduces new problems: when the traction rope is released and extended by the drive mechanism for control purposes, because the length of the take-up tube is fixed and relatively short, a section of the traction rope between the fixing component and the joint will be exposed outside the take-up tube, forming an exposed section. During the frequent and complex multi-joint movements of the dexterous hand, this exposed section is very prone to scraping, squeezing, or even getting stuck in the joint gaps with surrounding joint connectors, finger joint links, and the inner wall of the outer shell, leading to wear on the surface of the traction rope and fiber breakage, seriously affecting the reliability of transmission and the service life of the traction rope. In addition, the exposed sections of multiple traction ropes are prone to cross contact in narrow spaces and become entangled during high-speed movements, causing transmission disorder and control inaccuracies such as single finger not moving or other fingers moving accidentally.

[0006] Therefore, although existing technologies have attempted to use coiling tubes for traction rope protection, they have not yet solved the core challenge of achieving full-stroke, adaptive, and interference-free traction rope wrapping and protection under dynamic changes in traction rope length. There is an urgent need for a humanoid dexterous hand structure that can automatically compensate for length changes during traction rope extension and retraction, always keeping the traction rope completely wrapped, while not affecting normal joint movement, in order to comprehensively improve transmission stability, durability, and control precision. Utility Model Content

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a humanoid dexterous hand and a humanoid robot using the humanoid dexterous hand. Its traction rope transmission system can adapt to changes in the length of the traction rope, achieve interference-free full-stroke wrapping protection, thereby significantly reducing traction rope wear and improving transmission reliability and control accuracy.

[0008] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution: A humanoid dexterous hand includes a hand assembly and an arm assembly, the hand assembly and the arm assembly being rotatably connected. The arm assembly is equipped with a drive mechanism, which controls the movement of corresponding joints on the hand assembly via a traction rope. The arm assembly includes: The fastener is provided with a cable pass-through hole for the traction rope to pass through; A guide member is movably inserted into the cable hole, through which the traction rope passes; An elastic element, disposed between the fixing element and the guide element, provides the guide element with an elastic force toward the hand assembly; A retractor is fitted over the outside of the traction rope and located between the fixing member and the corresponding joint; The guide has a limiting part that abuts against the end of the receiving tube to prevent the guide from disengaging from the wire hole; When the length of the traction rope changes, the elastic element causes the guide to remain in contact with the take-up tube.

[0009] In the aforementioned humanoid dexterous hand, the guide includes a tubular body passing through the wire hole and a limiting part connected to one end of the tubular body, the size of which is larger than the diameter of the wire hole.

[0010] In the aforementioned humanoid dexterous hand, the guide also includes a frustum-shaped transition portion, the smaller end of which is connected to the tubular body and the two transition smoothly, and the larger end of which is connected to the limiting portion, and its outer diameter is smaller than the outer diameter of the limiting portion.

[0011] In the aforementioned humanoid dexterous hand, the end of the tubular body away from the limiting part extends through the wire hole toward the driving mechanism, and the length of the tubular body extending through is greater than the maximum stroke of the elastic member pushing the guide member toward the hand assembly, so as to avoid friction between the traction rope and the wire hole.

[0012] In the aforementioned humanoid dexterous hand, the elastic element is a spring fitted onto the tubular body.

[0013] In the aforementioned humanoid dexterous hand, the wire hole is a countersunk hole, and the end of the spring is housed within the countersunk hole.

[0014] In the aforementioned humanoid dexterous hand, the drive mechanism is provided in multiple sets, and each set of drive mechanisms corresponds to a number of joints and is driven by the corresponding traction rope; there are multiple wire holes, and a traction rope is threaded through each wire hole.

[0015] In the aforementioned humanoid dexterous hand, the fixing component is a cable tray; the arm assembly also includes a motor base and a hand support, the motor base is connected to the end face of the cable tray away from the hand assembly, and the drive mechanism is fixed to the motor base; the hand support is connected to the end face of the cable tray facing the hand assembly, and the hand support is rotatably connected to the hand assembly.

[0016] In the aforementioned humanoid dexterous hand, the converging tube is a flexible tube.

[0017] A humanoid robot was also disclosed, employing the humanoid dexterous hand described in any of the aforementioned schemes. Through an adaptive compensation mechanism achieving superior wear resistance, the entire humanoid robot system boasts an extremely low failure rate and extremely high task continuity and uptime during long-term operation, significantly reducing maintenance requirements and lifecycle costs.

[0018] Compared with the prior art, the advantages of this utility model are: By setting a coiling tube between the fixing component and the corresponding joint, and sleeved on the outside of the traction rope, the traction rope is completely wrapped by the coiling tube, directly isolating the traction rope from contact with the joint connector and the outer shell, avoiding wear of the traction rope caused by external interference, significantly extending the service life of the traction rope, and improving transmission reliability.

[0019] By using a coiled tube to wrap the traction rope and the cable pass-through hole of the fixing component to correspond to each individual traction rope, an independent and dedicated transmission channel is provided for each traction rope: the coiled tube limits the movement trajectory of the traction rope, and the cable pass-through hole further positions the traction rope, completely avoiding the cross contact of multiple traction ropes in the transmission path, structurally eliminating the risk of entanglement, ensuring that each traction rope only corresponds to its dedicated joint, ensuring accurate transmission ratio, and eliminating the potential for malfunction.

[0020] By utilizing the cooperation of the elastic element and the guide element, the elastic element continuously pushes the guide element and the retractor tube it abuts against, moving together towards the hand assembly. This ensures that the traction rope is always safely encased inside the retractor tube, eliminating the risk of exposure and wear caused by the traction rope's elongation. Regardless of whether the traction rope extends or shortens due to the drive mechanism, this section of traction rope from the fixing element to the joint is completely enclosed within the continuous channel formed by the guide element and the retractor tube at all times and under all working conditions. This completely eliminates the wear, jamming, and entanglement problems caused by the traction rope being exposed due to elongation, as seen in existing technologies. When the traction rope drives the retractor tube to squeeze the guide element, the guide element can transfer this pressure to the elastic element, causing the elastic element to compress. The guide element moves away from the hand assembly, making room for the retractor tube, transforming potential rigid interference into flexible elastic buffering, thus ensuring unrestricted joint range of motion and smooth transmission.

[0021] Furthermore, the guide includes a tubular body passing through the wire passage and a limiting part connected to one end of the tubular body, the size of which is larger than the diameter of the wire passage. The tubular body can limit the traction rope throughout its travel from inside the wire passage, preventing the traction rope from shifting or swaying within the wire passage and completely eliminating direct contact between the traction rope and the inner wall of the wire passage. The limiting part, being larger than the diameter of the wire passage, not only prevents the guide from sliding out from one side of the wire passage, but also provides an anchor point for the elastic element, effectively converting the potential energy of the elastic element into a continuous thrust on the take-up tube.

[0022] Furthermore, the guide also includes a frustum-shaped transition portion. The smaller end of the transition portion connects smoothly to the tubular body, while the larger end connects to the limiting portion, and its outer diameter is smaller than that of the limiting portion. When the elastic element needs to be fitted onto the guide, the frustum-shaped transition portion acts as a natural guiding funnel, tolerating minor alignment deviations. This transition structure ensures that the end of the elastic element can smoothly and steadily transition to contact the pressure-bearing surface of the limiting portion.

[0023] Furthermore, the end of the tubular body away from the limiting portion extends through the wire passage hole towards the driving mechanism. The length of the tubular body extending through the hole is greater than the maximum stroke of the elastic element pushing the guide member towards the hand assembly, thus avoiding friction between the traction rope and the wire passage hole. This design, where the length of the tubular body extending through the hole exceeds the maximum stroke of the elastic element pushing the guide member, ensures that regardless of the guide member's position (including the maximum stroke state of the elastic element), the end of the tubular body away from the limiting portion always protrudes from the side of the wire passage hole facing the driving mechanism. The traction rope only contacts the inner wall of the tubular body throughout its entire movement, completely avoiding friction with the wire passage hole. This thoroughly eliminates the potential wear point of friction between the traction rope and the wire passage hole, further enhancing the protection of the traction rope.

[0024] Furthermore, the elastic element is a spring sleeved on the tubular body. The tubular body provides radial restraint to the spring: the direction of the spring's extension and contraction is strictly limited to the axial direction of the tubular body, ensuring that the elastic force always acts precisely between the guide and the fixing element.

[0025] Furthermore, the through hole is a countersunk hole, and the end of the spring is accommodated within the countersunk hole. The countersunk hole structure provides a natural, coaxial positioning groove for the end of the spring. This not only allows for quick alignment of the spring during installation, but more importantly, it consistently ensures that the spring end remains in the correct position concentric with the through hole throughout the entire working cycle, regardless of whether the spring is in compression or rebound. This completely prevents lateral bending (buckling) or jamming of the spring due to end slippage or warping, thereby ensuring that the elastic force is transmitted strictly along the axial direction of the guide, avoiding unintended lateral force components.

[0026] Furthermore, the drive mechanism comprises multiple sets, each corresponding to one of the joints and driven by a corresponding traction rope; there are multiple wire holes, each through which a traction rope is threaded. Because each drive channel is physically isolated and functionally independent, wear, breakage, or motor failure of a single channel's traction rope is strictly confined within that channel, unlike a linkage mechanism that could paralyze the entire hand function. Simultaneously, during maintenance, repairs and component replacements can be performed on the problematic single channel without disassembling the entire transmission system, significantly reducing maintenance complexity and time costs.

[0027] Furthermore, the fixing component is a cable tray; the arm assembly also includes a motor base and a hand bracket. The motor base is connected to the end face of the cable tray away from the hand assembly, and the drive mechanism is fixed to the motor base. The hand bracket is connected to the end face of the cable tray facing the hand assembly, and the hand bracket is rotatably connected to the hand assembly. The cable tray itself can achieve centralized management of the traction rope through multiple cable holes, avoiding the traction rope from being haphazardly distributed within the arm assembly. The motor base and the hand bracket are respectively connected to the two end faces of the cable tray, so that the drive mechanism, cable tray, and hand assembly form an axially compact layout, eliminating the need for multiple independent mounting bases and significantly reducing the overall space occupied by the arm assembly. Furthermore, the traction tube is a flexible tube. The flexible tube material allows for flexible bending and twisting with joint movement: when the hand component joints perform multi-degree-of-freedom movements such as flexion, extension, and swinging, the flexible traction tube can synchronously conform to the path changes of the traction rope and deform accordingly. It will not hinder joint movement, nor will it damage itself or the traction rope due to the stress generated by deformation, thus fully meeting the functional requirements of the humanoid dexterous hand for "complex multi-joint movements". Attached Figure Description

[0028] Figure 1 This is a three-dimensional view of a humanoid dexterous hand according to the present invention; Figure 2 This is a perspective view of the arm assembly in this utility model; Figure 3 This is a perspective view of the combination of the fixing component, the guide component, and the elastic component in this utility model; Figure 4 for Figure 3 Enlarged view of a portion of point A in the middle; Figure 5 This is a perspective view of the fixing component in this utility model; Figure 6 This is a perspective view of the overall guide component of this utility model; Figure 7 This is a front view of the arm assembly in this utility model.

[0029] The attached figures are labeled as follows: Hand components 500; Arm assembly 600, drive mechanism 610, traction rope 620, fixing part 630, cable hole 631, guide part 640, limiting part 641, tubular body 642, transition part 643, elastic part 650, retracting tube 660, motor base 670, hand support 680. Detailed Implementation

[0030] A humanoid dexterous hand includes a hand assembly 500 and an arm assembly 600, which are rotatably connected. The arm assembly 600 is equipped with a drive mechanism 610, which controls the movement of corresponding joints on the hand assembly 500 via a traction rope 620. The arm assembly 600 includes: The fixing member 630 is provided with a wire hole 631 for the traction rope 620 to pass through; The guide member 640 is movably inserted into the wire hole 631, and the traction rope 620 passes through the guide member 640; An elastic member 650 is disposed between the fixing member 630 and the guide member 640, providing the guide member 640 with an elastic force toward the hand assembly 500; A retractor 660 is sleeved on the outside of the traction rope 620 and located between the fixing member 630 and the corresponding joint; The guide member 640 has a limiting part 641, which abuts against the end of the receiving tube 660 to prevent the guide member 640 from disengaging from the wire hole 631. When the length of the traction rope 620 changes, the elastic element 650 causes the guide element 640 to remain in contact with the take-up tube 660.

[0031] By setting a coiling tube 660 between the fixing member 630 and the corresponding joint, and sleeved on the outside of the traction rope 620, the traction rope 620 is completely wrapped by the coiling tube 660, directly isolating the traction rope 620 from contact with the joint connector and the outer shell, avoiding wear of the traction rope 620 caused by external interference, significantly extending the service life of the traction rope 620, and improving the reliability of transmission.

[0032] The cable reel 660 wraps around the traction rope 620, and the cable hole 631 of the fastener 630 corresponds to a single traction rope 620, providing an independent and dedicated transmission channel for each traction rope 620. The cable reel 660 limits the movement trajectory of the traction rope 620, and the cable hole 631 further positions the traction rope 620, completely avoiding cross contact between multiple traction ropes 620 in the transmission path. This structurally eliminates the risk of entanglement, ensures that each traction rope 620 only corresponds to its dedicated joint, guarantees accurate transmission ratio, and eliminates the risk of malfunction.

[0033] By utilizing the cooperation of the elastic element 650 and the guide element 640, the elastic element 650 continuously pushes the guide element 640 and the retractor tube 660 it abuts against, moving them together towards the hand assembly 500. This ensures that the traction rope 620 is always securely wrapped inside the retractor tube 660, thereby eliminating the risk of exposure and wear caused by the lengthening of the traction rope 620. When the traction rope 620 drives the retractor tube 660 to compress the guide element 640, the guide element 640 can transmit this pressure to the elastic element 650, compressing it and transforming any potential rigid interference into a flexible elastic buffer, thus ensuring unrestricted joint range of motion and smooth, unimpeded transmission.

[0034] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0035] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. 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.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0037] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] See Figures 1 to 7As an embodiment of the present invention, a humanoid dexterous hand includes a hand component 500 and an arm component 600. The hand component 500 mainly mimics the structure of a human hand, including a palm and five fingers. The arm component 600 is rotatably connected to the hand component 500, allowing the hand component 500 to perform wrist functions relative to the arm component 600. A drive mechanism 610 is provided on the arm component 600. The drive mechanism 610 controls the movement of corresponding joints on the hand component 500 via a traction rope 620. The drive mechanism 610 controls the extension and retraction of the traction rope 620, thereby causing the flexion and extension of each finger joint. However, in the prior art, the traction rope 620 is exposed. Since the hand component 500 has numerous joints and limited space, the traction rope 620 frequently interferes with other components in the hand component 500, and even adjacent traction ropes 620 may become entangled, seriously affecting the service life and control accuracy of the humanoid dexterous hand.

[0039] To address the aforementioned issues, in this embodiment, the arm assembly 600 includes a fixing member 630, a guide member 640, an elastic member 650, and a retractor tube 660. The fixing member 630 is located at the front end of the arm assembly 600 near the hand assembly 500. The fixing member 630 has wire holes 631 for the traction rope 620 to pass through, and the number of wire holes 631 is equal to the number of traction ropes 620. The guide member 640 is movably inserted into the wire holes 631, and the traction rope 620 passes through the guide member 640. The elastic member 650 is disposed between the fixing member 630 and the guide member 640, providing the guide member 640 with an elastic force toward the hand assembly 500, that is, the elastic member 650 pushes the guide member 640 toward the hand assembly 500. A coiling tube 660 is fitted over the traction rope 620 and is located between the fixing member 630 and the corresponding joint. The coiling tube 660 protects the traction rope 620, preventing it from rubbing against other components or becoming entangled with each other. By fitting the coiling tube 660 over the traction rope 620 and positioning it between the fixing member 630 and the corresponding joint, the traction rope 620 is effectively wrapped and protected during transmission. This prevents the traction rope 620 from being directly exposed in the space between the hand assembly 500 and the arm assembly 600, significantly reducing interference, friction, and scratching between the traction rope 620 and adjacent components such as joint connectors and the outer shell. This prevents fiber breakage on the surface of the traction rope 620, extends its service life, and ensures the stability and reliability of the transmission.

[0040] The guide member 640 has a limiting portion 641, which abuts against the end of the gathering tube 660 to restrict the guide member 640 from disengaging from the wire hole 631. That is, the gathering tube 660 abuts against the limiting portion 641 in the direction of the fixing member 630, thereby forming that the elastic member 650 and the gathering tube 660 abut against the guide member 640 from two opposite directions.

[0041] Since joint movement is controlled by the drive mechanism 610, which controls the length of the traction rope 620, while the length of the take-up tube 660 is generally fixed, the elastic element 650 ensures that the guide element 640 remains in contact with the take-up tube 660 when the length of the traction rope 620 changes. This prevents gaps between the take-up tube 660 and the guide element 640 from exposing the traction rope 620. This automatically compensates for changes in the extension and contraction of the traction rope 620, maintains stable tension, prevents lateral deviation of the traction rope 620 or friction with the edge of the wire hole 631, and avoids cross-entanglement of multiple traction ropes 620 in the transmission path. This eliminates problems such as transmission ratio disorder and malfunctions caused by entanglement, improving the precision and consistency of joint movement control.

[0042] like Figures 3 to 6 As shown, the structure of guide 640 is described below, and its structure includes, but is not limited to, the following structural forms: The guide member 640 includes a tubular body 642 passing through the wire hole 631 and a limiting part 641 connected to one end of the tubular body 642. The size of the limiting part 641 is larger than the diameter of the wire hole 631. The limiting part 641 forms a mechanical stop, effectively preventing the guide member 640 from completely disengaging from the wire hole 631 in the direction away from the hand assembly 500 (the guide member 640 is stopped by the retractor 660 in the direction towards the hand assembly 500), ensuring the integrity of the mechanism during movement. Furthermore, the limiting part 641 can also provide a stable axial contact plane for the elastic member 650, ensuring that the elastic force can act evenly and perpendicularly on the guide member 640, thereby enabling it to respond sensitively and consistently to changes in the length of the traction rope 620. The tubular body 642 and the wire hole 631 of the fixing member 630 form a tight radial fit, which eliminates the possibility of shaking of the guide member 640 during the movement, and ensures that the axis of the traction rope 620 is always consistent with the center line of the wire hole 631, greatly reducing unnecessary friction and wear.

[0043] Furthermore, such as Figure 6As shown, the guide member 640 also includes a frustum-shaped transition portion 643. The smaller end of the transition portion 643 connects smoothly to the tubular body 642, while the larger end connects to the limiting portion 641, with its outer diameter being smaller than that of the limiting portion 641. The transition portion 643 eliminates stress concentration at right-angle connections. During the dynamic process of repeated pushing by the elastic member 650 and abutment by the converging tube 660, this structure can distribute and transmit the force more evenly, thereby significantly improving the structural strength and fatigue resistance of the guide member 640 and extending its service life. When the elastic member 650 needs to be fitted onto the guide member 640, the frustum-shaped transition portion 643 acts as a natural guiding funnel, tolerating minor alignment deviations. This transition portion 643 structure ensures that the end of the elastic member 650 can smoothly and steadily transition to contact the pressure-bearing surface of the limiting portion 641.

[0044] Furthermore, the end of the tubular body 642 furthest from the limiting part 641 extends through the cable passage hole 631 towards the drive mechanism 610. The length of the tubular body 642 extending through the cable passage hole 631 is greater than the maximum stroke of the elastic member 650 pushing the guide member 640 towards the hand assembly 500, thus avoiding friction between the traction rope 620 and the cable passage hole 631. Regardless of how the guide member 640 moves with the extension and retraction of the traction rope 620, the traction rope 620 only contacts the tubular inner wall of the guide member 640, completely avoiding contact and friction with the edge of the cable passage hole 631 of the fixing member 630 made of metal or hard material. This fundamentally solves the core problem of wear caused by friction between the traction rope 620 and the cable passage hole 631, greatly extending the service life of the traction rope 620 and ensuring the long-term stability and reliability of the transmission.

[0045] Based on the above embodiments, in this embodiment, the elastic element 650 is a spring sleeved on the tubular body 642. The tubular body 642 acts as a guide shaft for the spring, effectively constraining its radial movement and preventing bending, deflection, or jamming during compression and rebound. This ensures that the spring force always acts axially, avoiding wear, abnormal noise, or functional failure caused by the instability of the elastic element 650, and greatly improving the reliability and durability of the operation.

[0046] Building upon this foundation, to further constrain the spring's end, the through hole 631 is a countersunk hole. The spring's end is housed within this countersunk hole. This countersunk hole structure provides a regular and stable space for the spring's end, precisely limiting its radial position and effectively preventing it from shifting, slipping, or tilting during operation. This ensures that the spring force is always transmitted along the preset axial direction, avoiding elastic force loss, abnormal wear, or mechanism jamming caused by spring instability, thereby significantly improving the reliability and lifespan of the elastic tensioning mechanism.

[0047] Based on the above embodiments, the drive mechanism 610 is provided in multiple sets, each corresponding to a specific joint, and driven by a corresponding traction rope 620. One drive mechanism 610 can control the movement of one joint. The number of wire holes 631 corresponds to the number of traction ropes 620, with one traction rope 620 threaded through each wire hole 631, ensuring the independence of the traction ropes 620. By configuring each joint with an independent drive mechanism 610, traction rope 620, and wire holes 631, a completely parallel and non-interfering independent drive channel is constructed. This allows the movement of each joint to be controlled individually and precisely, fundamentally solving the problem of transmission ratio disorder and malfunction caused by the tangling of multiple exposed traction ropes 620, ensuring the accurate implementation of complex gestures and fine operations.

[0048] Furthermore, the protective structure formed by components such as the guide 640, elastic element 650, and coiling tube 660 is applied to each independent traction rope channel 620, forming a standardized modular unit. This multi-channel parallel layout allows dense cables to be arranged in an orderly manner on the fixing element 630, greatly optimizing the utilization of the limited space at the base of the dexterous hand. At the same time, when a single channel malfunctions, targeted inspection and maintenance can be carried out without disassembling the entire transmission system, significantly improving the maintainability of the product.

[0049] In this embodiment, the fixing member 630 is a cable tray. The arm assembly 600 also includes a motor base 670 and a hand support 680. The motor base 670 is connected to the end face of the cable tray away from the hand assembly 500, and the drive mechanism 610 is fixed to the motor base 670. The hand support 680 is connected to the end face of the cable tray facing the hand assembly 500, and the hand support 680 is rotatably connected to the hand assembly 500. The cable tray is generally disc-shaped. The cable tray not only provides multiple cable holes 631 through which all the traction ropes 620 pass, but also serves as the structural core of the entire arm assembly 600. One end of it fixes all the drive mechanisms 610 through the motor base 670, and the other end is connected to and supports the hand assembly 500 through the hand support 680, compactly integrating key elements such as the motor, the traction rope 620 guide and protection mechanism, and the hand connection joint into a single module.

[0050] In this embodiment, the drawstring 660 is a flexible tube with excellent bending properties, capable of flexibly bending and deforming with the complex movements of the various joints of the humanoid dexterous hand. This characteristic ensures that when the arm assembly 600 and the hand assembly 500 rotate relative to each other, the drawstring 660 can always fit snugly around and guide the traction rope 620, without causing motion interference, hindering joint movement, or applying additional bending stress to the traction rope 620, as a rigid tube would, thus ensuring the continuity and smoothness of hand movements.

[0051] During installation, first, a spring is fitted onto the tubular body 642 of the guide 640, and then it is installed in the wire hole 631. The traction rope 620 extends from the drive mechanism 610, passes through the guide 640, and is then fitted onto the coiling tube 660 and connected to the corresponding joint. The coiling tube 660 needs to exert a certain pressure on the guide 640 so that the elastic element 650 accumulates a certain elastic potential energy. When the traction rope 620 shortens, the retractor tube 660 will compress the guide member 640, and the guide member 640 will move towards the drive mechanism 610 to offset the length difference between the shortened traction rope 620 and the retractor tube 660. When the traction rope 620 extends, the elastic potential energy of the elastic member 650 is released, pushing the guide member 640 closer to the retractor tube 660. The guide member 640 will move towards the hand assembly 500 to offset the length difference between the extended traction rope 620 and the retractor tube 660, ensuring that the traction rope 620 between the fixing member 630 and the joint is always protected by the retractor tube 660 and the guide member 640.

[0052] The aforementioned structure of the humanoid dexterous hand fundamentally solves a series of inherent problems in reliability, durability, and control precision of multi-traction rope 620-drive humanoid dexterous hands, achieving comprehensive optimization from components to the system. This results in a highly integrated, self-compensating, and fully protected traction rope 620-drive system. This system is compact and reliable in structure, effectively isolates the drive and execution units, and significantly improves the accuracy, durability, and consistency of the transmission, laying a solid technical foundation for the practical application and high performance of high-degree-of-freedom humanoid dexterous hands.

[0053] This embodiment also discloses a humanoid robot that employs a humanoid dexterous hand based on any of the above-described schemes. By adopting the aforementioned humanoid dexterous hand, the humanoid robot acquires fine manipulation capabilities highly similar to those of a human hand. Its finger joints can achieve stable, reliable, and non-interfering complex movements, thereby enabling it to perform a wide range of tasks, from strong grasping to fine pinching and complex gestures. This greatly enhances the adaptability and practicality of the humanoid robot in unstructured environments, resulting in a qualitative leap in its manipulative capabilities.

[0054] The above description is only a specific embodiment of the present utility model, but the technical features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A humanoid dexterous hand, comprising a hand assembly and an arm assembly, the hand assembly and the arm assembly being rotatably connected, the arm assembly being provided with a drive mechanism, the drive mechanism controlling the movement of corresponding joints on the hand assembly via a traction rope, characterized in that, The arm assembly includes: The fastener is provided with a cable pass-through hole for the traction rope to pass through; A guide member is movably inserted into the cable hole, through which the traction rope passes; An elastic element, disposed between the fixing element and the guide element, provides the guide element with an elastic force toward the hand assembly; A drawstring tube is fitted over the outside of the traction rope and is located between the fixing member and the corresponding joint; The guide has a limiting part that abuts against the end of the receiving tube to prevent the guide from disengaging from the wire hole; When the length of the traction rope changes, the elastic element causes the guide to remain in contact with the take-up tube.

2. The anthropomorphic dexterous hand according to claim 1, characterized in that, The guide includes a tubular body passing through the wire hole and a limiting part connected to one end of the tubular body, wherein the size of the limiting part is larger than the diameter of the wire hole.

3. The anthropomorphic dexterous hand according to claim 2, characterized in that, The guide also includes a frustum-shaped transition portion, the smaller end of which is connected to the tubular body and the two transition smoothly, and the larger end of which is connected to the limiting portion, and its outer diameter is smaller than that of the limiting portion.

4. The humanoid dexterous hand according to claim 2, characterized in that, The end of the tubular body away from the limiting part extends through the wire hole toward the driving mechanism. The length of the tubular body extending through the wire hole is greater than the maximum stroke of the elastic member pushing the guide member toward the hand assembly, so as to avoid friction between the traction rope and the wire hole.

5. A humanoid dexterous hand according to claim 2, characterized in that, The elastic element is a spring sleeved on the tubular body.

6. The humanoid dexterous hand according to claim 5, characterized in that, The wire hole is a countersunk hole, and the end of the spring is housed within the countersunk hole.

7. The humanoid dexterous hand according to claim 1, characterized in that, The drive mechanism is provided in multiple sets, and each set of drive mechanisms corresponds to a number of joints and is driven by the corresponding traction ropes; there are multiple wire holes, and a traction rope is threaded through each wire hole.

8. The humanoid dexterous hand according to claim 1, characterized in that, The fixing component is a cable tray; the arm assembly also includes a motor base and a hand bracket, the motor base is connected to the end face of the cable tray away from the hand assembly, and the drive mechanism is fixed to the motor base; the hand bracket is connected to the end face of the cable tray facing the hand assembly, and the hand bracket is rotatably connected to the hand assembly.

9. A humanoid dexterous hand according to claim 1, characterized in that, The receiving tube is a flexible tube.

10. A humanoid robot, characterized in that, The humanoid dexterous hand is adopted according to any one of claims 1 to 9.

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