Multi-degree-of-freedom dexterous hand

Abstract

The invention belongs to the technical field of bionic dexterous hands, and discloses a multi-degree-of-freedom dexterous hand, which comprises a plurality of sections of fingers, a plurality of connecting rod assemblies, a plurality of connecting rods, a plurality of connecting rods and a plurality of connecting rods, the output ends of the two front-row linear driving parts are universally hinged to the root parts of the multi-section fingers respectively, and the two front-row linear driving parts are arranged side by side in the first direction; the rear-row linear driving parts and the front-row linear driving parts are arranged side by side, the rear-row linear driving parts and the two front-row linear driving parts are spaced in the second direction, the first direction is perpendicular to the second direction, and the output ends of the rear-row linear driving parts are universally hinged to the connecting rod assembly; and the side-sway rotating support is rotationally arranged around the axis in the second direction, and the roots of the multi-section fingers are rotationally connected to the side-sway rotating support around the axis in the first direction. The multi-degree-of-freedom dexterous hand provided by the invention meets the requirement of high control precision, is high in dexterous property, and improves the grabbing stability and rigidity.

Description

Technical Field

[0001] This invention relates to the field of bionic dexterous hand technology, and more particularly to a multi-degree-of-freedom dexterous hand. Background Technology

[0002] Currently, the drive structures of dexterous hands are mainly divided into two types: fully actuated and underactuated. Fully actuated structures have an independent actuator for each joint, enabling precise manipulation, but significantly increasing size, weight, and cost. Underactuated structures have fewer actuators than degrees of freedom, using partial joint coupling for follow-up, making them easier to achieve in terms of weight and cost, but resulting in lower control precision. Some underactuated solutions use external push rods, which can easily form a "cantilever beam" structure when extended too far, leading to decreased rigidity and poor stability. Balancing the demands for dexterity, control precision, grip rigidity, stability, and miniaturization is a technical problem that urgently needs to be solved by those skilled in the art.

[0003] Therefore, there is an urgent need for a multi-degree-of-freedom dexterous hand to solve the above-mentioned technical problems. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-degree-of-freedom dexterous hand that adopts a hybrid drive method, which not only meets the requirements of high control precision and high dexterity, but also avoids the disadvantages of high cost, large size and heavy weight caused by setting drive components in each finger joint. It is conducive to miniaturization design and avoids the formation of cantilever beams, which greatly improves grip stability and rigidity.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A multi-degree-of-freedom dexterous hand is provided, including:

[0007] The multi-segment finger includes multiple sequentially hinged finger joints, with a connecting rod assembly passing through each of the multiple finger joints;

[0008] Two front linear drive units, the output ends of which are respectively universally hinged to the root of the multi-segment finger, and the two front linear drive units are arranged side by side along the first direction;

[0009] The rear linear drive unit is arranged side by side with the front linear drive unit and spaced apart from the two front linear drive units along a second direction, the first direction being perpendicular to the second direction, and the output end of the rear linear drive unit is universally hinged to the linkage assembly.

[0010] A lateral swing rotating bracket is rotatably configured about an axis in the second direction, and the root of the multi-segment finger is rotatably connected to the lateral swing rotating bracket about an axis in the first direction.

[0011] When the two front linear drive components extend and retract synchronously, the multi-segment finger rotates relative to the side-swing rotating bracket;

[0012] When the two front linear drive members extend and retract asynchronously, the multi-segment finger and the side swing rotating bracket rotate about the axis in the second direction;

[0013] When the rear linear drive unit extends or retracts, the linkage assembly drives the multiple finger joints to rotate relative to each other, so that the multiple finger segments bend or straighten.

[0014] As an optional technical solution, the front linear drive unit includes a first motor, a first gearbox, and a first ball screw assembly. The first motor is connected to the input end of the first gearbox. The first ball screw assembly includes a threaded first screw and a first nut configured as a sleeve structure. The output end of the first gearbox is connected to the first screw. A first ball head is installed on the end of the first nut away from the first gearbox. The first ball head is used to connect to the root of the multi-segment finger.

[0015] The front linear drive unit includes a second motor, a second gearbox, and a second ball screw assembly. The second motor is connected to the input end of the second gearbox. The second ball screw assembly includes a threaded second lead screw and a second nut configured as a sleeve structure. The output end of the second gearbox is connected to the second lead screw. A second ball head is installed on the end of the second nut away from the second gearbox. The second ball head is used to connect the connecting rod assembly.

[0016] As an optional technical solution, the multi-degree-of-freedom dexterous hand also includes a palm base, and the lateral swing rotation bracket includes a bracket part and a swing shaft part. The bracket part is configured as a U-shaped structure, and its two ends are respectively rotatably connected to the root of the multi-segment finger around the axis in the first direction. One end of the swing shaft part is arranged along the second direction, one end of which is connected to the middle part of the bracket part, and the other end is rotatably connected to the palm base around the axis in the second direction.

[0017] As an optional technical solution, the multi-segment finger includes a root phalanx, a middle phalanx and an end phalanx connected in sequence. The output ends of the two front linear drive members are universally hinged to the root phalanx, and the root phalanx is rotatably connected to the side-swing rotating bracket around the axis in the first direction.

[0018] As an optional technical solution, the linkage assembly includes a four-bar linkage and a single link. The four-bar linkage includes a first link, a second link, a third link, and a fourth link that are hinged in sequence. The first link is universally hinged to the output end of the rear linear drive unit, the fourth link is hinged to the middle finger joint, and the two ends of the single link are respectively hinged to the root finger joint and the end finger joint.

[0019] As an optional technical solution, the third link includes a first segment and a second segment arranged at an angle, the first segment is hinged to the second link, the second segment is hinged to the fourth link, a hinge hole is provided between the first segment and the second segment, and the third link is hinged to the root phalanx through the hinge hole.

[0020] As an optional technical solution, the root phalanx is provided with two symmetrically arranged concave portions, and the output ends of the two front linear drive components are inserted into the two concave portions one by one;

[0021] The root finger joint is provided with a first shaft arranged along a first direction. The first shaft passes through the hinge hole, and the two ends of the first shaft respectively extend to the two inner recesses and are universally hinged to the output end of the corresponding front linear drive component.

[0022] As an optional technical solution, the front linear drive unit and the multi-segment finger are universally hinged by a double ball joint. The output end of the front linear drive unit is provided with a first connecting shaft arranged along a first direction. Both ends of the double ball joint are provided with ball joints, one of which is sleeved on the first connecting shaft and the other ball joint is sleeved on the first shaft.

[0023] As an optional technical solution, the output end of the rear linear drive component is provided with a second connecting shaft arranged along the first direction, and one end of the first connecting rod is provided with a ball joint, which is sleeved on the second connecting shaft.

[0024] As an optional technical solution, the root phalanx is provided with a second shaft arranged along the first direction, the end phalanx is provided with a third shaft arranged along the first direction, and the two ends of the single connecting rod are respectively hinged to the second shaft and the third shaft;

[0025] A torsion spring is fitted on the third shaft. One end of the torsion spring is connected to the third shaft or the end finger joint, and the other end of the torsion spring is connected to the single connecting rod. The torsion spring has the tendency to drive the end finger joint to rotate in the straightening direction.

[0026] The beneficial effects of this invention are:

[0027] The multi-degree-of-freedom dexterous hand provided by this invention has two front linear actuators and one rear linear actuator arranged side by side. The output ends of the two front linear actuators are universally hinged to the base of the multi-segment finger, and the rear linear actuator is universally hinged to a linkage assembly passing through multiple finger joints. Both the front and rear linear actuators are capable of extension and retraction: when the two front linear actuators extend and retract synchronously, the multi-segment finger rotates relative to the lateral swing rotation bracket; when the two front linear actuators extend and retract asynchronously, the multi-segment finger and the lateral swing rotation bracket rotate around an axis in a second direction; when the rear linear actuator extends and retracts, the linkage assembly drives the multiple finger joints to rotate relative to each other, thereby bending or straightening the multi-segment finger. In summary, the multi-degree-of-freedom dexterous hand provided by this invention uses two front-row linear actuators to directly drive the forward and backward rotation and left and right swing of the entire multi-segment finger, while a rear-row linear actuator drives the bending and straightening of multiple finger joints through a linkage assembly. This hybrid driving method has multiple active degrees of freedom, which not only meets the requirements of high control precision and high dexterity, but also avoids the disadvantages of high cost, large size, and heavy weight caused by setting actuators in each finger joint, which is conducive to miniaturization design. Furthermore, since the rear-row linear actuator only drives the bending and straightening of multiple finger joints through the linkage assembly, the length of each link in the linkage assembly does not need to be too long, avoiding the formation of a cantilever beam and greatly improving grip stability and rigidity. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the multi-degree-of-freedom dexterous hand provided by the present invention;

[0029] Figure 2 This is a schematic diagram of the internal structure of the multi-degree-of-freedom dexterous hand provided by the present invention;

[0030] Figure 3 This is a schematic diagram of the multi-segment finger structure provided by the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of the front linear drive unit provided by the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the front linear drive unit provided by the present invention;

[0033] Figure 6 This is a schematic diagram of the side-swing rotating bracket provided by the present invention.

[0034] In the picture:

[0035] 10. Multi-segment finger; 11. Root phalanx; 111. First shaft; 112. Second shaft; 113. Clearance hole; 114. Clearance groove; 115. Concave portion; 12. Middle phalanx; 121. Fourth shaft; 13. End phalanx; 131. Third shaft;

[0036] 20. Four-bar linkage; 21. First link; 22. Second link; 23. Third link; 231. First segment; 232. Second segment; 24. Fourth link;

[0037] 30. Single connecting rod; 31. Torsion spring;

[0038] 40. Front linear drive unit; 41. First motor; 42. First gearbox; 43. First ball screw assembly; 431. First lead screw; 432. First nut; 44. First ball head seat; 45. First connecting shaft;

[0039] 50. Rear linear drive unit; 51. Second motor; 52. Second gearbox; 53. Second ball screw assembly; 531. Second lead screw; 532. Second nut; 54. Second ball head seat; 55. Second connecting shaft;

[0040] 60. Side-swinging rotating bracket; 61. Bracket section; 62. Swing shaft section;

[0041] 70. Double ball joint. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0043] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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 or an electrical connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0044] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0045] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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 the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0046] Please refer to Figures 1-6 This embodiment provides a multi-degree-of-freedom dexterous hand, which includes a palm base, multi-segment fingers 10, two front linear actuators 40, a rear linear actuator 50, and a side-swing rotation support 60. The two front linear actuators 40 are arranged side-by-side along a first direction, and their output ends are universally hinged to the roots of the multi-segment fingers 10. The rear linear actuator 50 is arranged side-by-side with the front linear actuators 40 and spaced apart from them along a second direction. The first direction is perpendicular to the second direction. The output end of the rear linear actuator 50 is universally hinged. The linkage assembly includes a side-swing rotating bracket 60 rotatably mounted on the palm base about an axis in a second direction, and the base of the multi-segment finger 10 rotatably connected to the side-swing rotating bracket 60 about an axis in a first direction. When the two front linear drive members 40 extend and retract synchronously, the multi-segment finger 10 rotates relative to the side-swing rotating bracket 60. When the two front linear drive members 40 extend and retract asynchronously, the multi-segment finger 10 and the side-swing rotating bracket 60 rotate about an axis in the second direction. When the rear linear drive member 50 extends and retracts, the linkage assembly drives the multiple knuckles to rotate relative to each other, so that the multi-segment finger 10 bends or straightens.

[0047] Specifically, the multi-degree-of-freedom dexterous hand provided in this embodiment has two front linear actuators 40 and one rear linear actuator 50 arranged side by side. The output ends of the two front linear actuators 40 are universally hinged to the root of the multi-segment finger 10, and the rear linear actuator 50 is universally hinged to a linkage assembly passing through multiple finger joints. Both the front linear actuators 40 and the rear linear actuator 50 can perform telescopic movements: when the two front linear actuators 40 telescopically extend and retract, the rear linear actuator 50 is fixed, and the multi-segment finger 10 rotates relative to the lateral swing rotation bracket 60; when the two front linear actuators 40 telescopically extend and retract, the rear linear actuator 50 is fixed, and the multi-segment finger 10 and the lateral swing rotation bracket 60 rotate around an axis in a second direction; when the rear linear actuator 50 telescopically extends and retracts, the two front linear actuators 40 are fixed, and the linkage assembly drives the multiple finger joints to rotate relative to each other, so that the multi-segment finger 10 bends or straightens. In summary, the multi-degree-of-freedom dexterous hand provided in this embodiment is driven by two front linear drive units 40 to directly drive the entire multi-segment finger 10 to rotate back and forth and swing left and right. A rear linear drive unit 50 drives the bending and straightening of multiple finger joints through a linkage assembly. This hybrid drive method has multiple active degrees of freedom, which not only meets the requirements of high control precision and high dexterity, but also avoids the disadvantages of high cost, large size and heavy weight caused by setting a drive unit in each finger joint. It is conducive to miniaturization design. Furthermore, since the rear linear drive unit 50 only drives the bending and straightening of multiple finger joints through the linkage assembly, the length of each link in the linkage assembly does not need to be too long, avoiding the formation of a cantilever beam and greatly improving grip stability and rigidity.

[0048] For example, please refer to Figures 1-3 The multi-segment finger 10 includes a root segment 11, a middle segment 12 and an end segment 13 connected in sequence. The output ends of the two front linear drive units 40 are universally hinged to the root segment 11. The root segment 11 is rotatably connected to the side-swing rotating bracket 60 around the axis in the first direction.

[0049] For example, please refer to Figure 2 The linkage assembly includes a four-bar linkage 20 and a single link 30. The four-bar linkage 20 includes a first link 21, a second link 22, a third link 23, and a fourth link 24 that are hinged in sequence. The first link 21 is universally hinged to the output end of the rear linear drive unit 50, and the fourth link 24 is hinged to the middle finger joint 12. The two ends of the single link 30 are respectively hinged to the root finger joint 11 and the end finger joint 13.

[0050] For further details, please refer to Figure 1 and Figure 2The single multi-segment finger 10 is controlled by three linear actuators to achieve a motion function with 3 active and 1 passive degrees of freedom. The motion of the two front linear actuators 40 and the rear linear actuators 50 does not interfere with each other. Within a limited space, the response speed is greatly improved and the control difficulty of the multi-segment finger 10 is reduced.

[0051] For example, please refer to Figure 2 The linkage assembly includes a four-bar linkage 20 and a single link 30. The four-bar linkage 20 includes a first link 21, a second link 22, a third link 23, and a fourth link 24 that are hinged in sequence. The first link 21 is universally hinged to the output end of the rear linear drive unit 50, and the fourth link 24 is hinged to the middle finger joint 12. The two ends of the single link 30 are respectively hinged to the root finger joint 11 and the end finger joint 13.

[0052] For example, please refer to Figure 2 The third link 23 includes a first segment 231 and a second segment 232 arranged at an angle. The first segment 231 is hinged to the second link 22, and the second segment 232 is hinged to the fourth link 24. A hinge hole is provided between the first segment 231 and the second segment 232. The third link 23 is hinged to the root finger joint 11 through the hinge hole. Specifically, the included angle between the first segment 231 and the second segment 232 is an acute angle, and the third link 23 is configured as a V-shaped rod structure.

[0053] For example, please refer to Figure 3 The root joint 11 has two symmetrically arranged recesses 115, and the output ends of the two front linear drive members 40 are inserted into the two recesses 115 one by one. The root joint 11 has a first shaft 111 arranged along a first direction, which passes through a hinge hole. The third connecting rod 23 is rotatably connected to the first shaft 111 through a ball bearing. The two ends of the first shaft 111 extend to the two recesses 115 respectively and are universally hinged to the output ends of the corresponding front linear drive members 40. On the one hand, the output ends of the front linear drive members 40 are inserted into the recesses 115, which improves the compactness of the overall structure. On the other hand, the first shaft 111 also serves as the pivot of the third connecting rod 23 and the pivot connecting the root joint 11 and the front linear drive members 40, further improving the compactness of the structure.

[0054] Specifically, please refer to Figure 1 and Figure 2 The front linear drive unit 40 and the multi-segment finger 10 are universally hinged by a double ball joint 70. The output end of the front linear drive unit 40 is provided with a first connecting shaft 45 arranged along the first direction. Both ends of the double ball joint 70 are provided with ball joints, one ball joint is sleeved on the first connecting shaft 45, and the other ball joint is sleeved on the first shaft 111.

[0055] Similarly, please refer to Figure 2The output end of the rear linear drive unit 50 is provided with a second connecting shaft 55 arranged along the first direction, and one end of the first connecting rod 21 is provided with a ball joint, which is sleeved on the second connecting shaft 55.

[0056] For example, please refer to Figure 2 The middle joint 12 is provided with a fourth shaft 121 extending in the first direction, and the fourth connecting rod 24 and the fourth shaft 121 are rotatably connected by a ball bearing.

[0057] For example, please refer to Figure 2 The root finger joint 11 is provided with a second shaft 112 arranged along the first direction, and the end finger joint 13 is provided with a third shaft 131 arranged along the first direction. The two ends of the single connecting rod 30 are respectively hinged to the second shaft 112 and the third shaft 131. A torsion spring 31 is sleeved on the third shaft 131. One end of the torsion spring 31 is connected to the third shaft 131 or the end finger joint 13, and the other end of the torsion spring 31 is connected to the single connecting rod 30. The torsion spring 31 has the tendency to drive the end finger joint 13 to rotate in the straightening direction. That is to say, the end finger joint 13 can be reset in the straightening direction under the action of the torsion spring 31.

[0058] For example, one end of the single link 30 is rotatably connected to the second shaft 112 via a ball bearing.

[0059] For example, please refer to Figure 2 and Figure 3 The root joint 11 is provided with a clearance hole 113, which is used to avoid the partial structure of the first link 21 and the second link 22.

[0060] For example, please refer to Figure 3 The root joint 11 is provided with a relief groove 114, which is used to avoid the connecting shaft between the first link 21 and the second link 22.

[0061] For example, please refer to Figure 4 The front linear drive unit 40 includes a first motor 41, a first reduction gearbox 42, and a first ball screw assembly 43. The first motor 41 is connected to the input end of the first reduction gearbox 42. The first ball screw assembly 43 includes a threaded first lead screw 431 and a first nut 432 configured as a sleeve structure. The output end of the first reduction gearbox 42 is connected to the first lead screw 431. A first ball joint 44 is mounted on the end of the first nut 432 away from the first reduction gearbox 42. The first ball joint 44 is used to connect the root of the multi-segment finger 10. Specifically, a first connecting shaft 45 is mounted on the first ball joint 44. By controlling the forward and reverse movement of the first motor 41, the entire multi-segment finger 10 can rotate forward and backward or swing left and right.

[0062] For example, the first motor 41 is a servo rotary motor such as a coreless motor, the first gearbox 42 is a high-precision micro gearbox, specifically a planetary gearbox, and the first ball screw assembly 43 is a micro precision ball screw, which greatly reduces the friction when the rotational power is converted into linear output power, thereby reducing the counter-drive force of the multi-segment finger 10, making it close to the counter-drive force of the non-direct drive scheme, and making the movement of the multi-degree-of-freedom dexterous hand smooth.

[0063] For example, please refer to Figure 5 The rear linear drive unit 50 includes a second motor 51, a second reduction gearbox 52, and a second ball screw assembly 53. The second motor 51 is connected to the input end of the second reduction gearbox 52. The second ball screw assembly 53 includes a threaded second lead screw 531 and a second nut 532 configured as a sleeve structure. The output end of the second reduction gearbox 52 is connected to the second lead screw 531. A second ball joint 54 is mounted on the end of the second nut 532 away from the second reduction gearbox 52. The second ball joint 54 is used to connect the connecting rod assembly. Specifically, a second connecting shaft 55 is mounted on the second ball joint 54.

[0064] For example, the second motor 51 is a servo rotary motor such as a coreless motor, the second gearbox 52 is a high-precision micro gearbox, specifically a planetary gearbox, and the second ball screw assembly 53 is a micro precision ball screw. This greatly reduces the friction when the rotational power is converted into linear output power, thereby reducing the counter-drive force of the multi-segment fingers 10 and making it close to the counter-drive force of the non-direct drive scheme, resulting in smoother movements of the multi-degree-of-freedom dexterous hand. By controlling the forward and reverse movement of the second motor 51, the bending and opening of the multi-segment fingers 10 can be achieved; while the non-direct drive scheme can only control the bending of the fingers through the motor and achieve the opening of the fingers through the reaction force of the torsion spring 31. The power of the motor will suffer a significant loss while overcoming the torsional force of the torsion spring 31.

[0065] For example, please refer to Figure 6 The side-swing rotating bracket 60 includes a bracket part 61 and a swing shaft part 62. The bracket part 61 is configured as a U-shaped structure, with its two ends rotatably connected to the root of the multi-segment finger 10 around the axis in the first direction. One end of the swing shaft part 62 is arranged along the second direction, with one end connected to the middle of the bracket part 61 and the other end rotatably connected to the palm base around the axis in the second direction.

[0066] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A multi-degree-of-freedom dexterous hand, characterized in that, include: The multi-segment finger (10) includes multiple finger joints that are hinged in sequence, and a connecting rod assembly is passed through the multiple finger joints; Two front linear drive units (40) are provided, with their output ends being universally hinged to the root of the multi-segment finger (10). The two front linear drive units (40) are arranged side by side along the first direction. The rear linear drive unit (50) is arranged side by side with the front linear drive unit (40) and spaced apart from the two front linear drive units (40) along a second direction, the first direction being perpendicular to the second direction, and the output end of the rear linear drive unit (50) is universally hinged to the linkage assembly; The side-swing rotating bracket (60) is rotatably configured about the axis in the second direction, and the root of the multi-segment finger (10) is rotatably connected to the side-swing rotating bracket (60) about the axis in the first direction. When the two front linear drive members (40) extend and retract synchronously, the multi-segment finger (10) rotates relative to the side-swing rotating bracket (60); When the two front linear drive members (40) extend and retract asynchronously, the multi-segment finger (10) and the side swing rotating bracket (60) rotate about the axis in the second direction; When the rear linear drive (50) extends or retracts, the linkage assembly drives the multiple knuckles to rotate relative to each other, so that the multiple finger segments (10) bend or straighten.

2. The multi-degree-of-freedom dexterous hand according to claim 1, characterized in that, The front linear drive unit (40) includes a first motor (41), a first gearbox (42), and a first ball screw assembly (43). The first motor (41) is connected to the input end of the first gearbox (42). The first ball screw assembly (43) includes a threaded first screw (431) and a first nut (432) configured as a sleeve structure. The output end of the first gearbox (42) is connected to the first screw (431). A first ball head seat (44) is installed on the end of the first nut (432) away from the first gearbox (42). The first ball head seat (44) is used to connect the root of the multi-segment finger (10). The front linear drive unit (40) includes a second motor (51), a second gearbox (52), and a second ball screw assembly (53). The second motor (51) is connected to the input end of the second gearbox (52). The second ball screw assembly (53) includes a threaded second lead screw (531) and a second nut (532) configured as a sleeve structure. The output end of the second gearbox (52) is connected to the second lead screw (531). A second ball head seat (54) is installed on the end of the second nut (532) away from the second gearbox (52). The second ball head seat (54) is used to connect the connecting rod assembly.

3. The multi-degree-of-freedom dexterous hand according to claim 1, characterized in that, The multi-degree-of-freedom dexterous hand also includes a palm base. The lateral swing rotation bracket (60) includes a bracket part (61) and a swing shaft part (62). The bracket part (61) is configured as a U-shaped structure, with its two ends rotatably connected to the root of the multi-segment finger (10) around the axis in the first direction. One end of the swing shaft part (62) is arranged along the second direction, with one end connected to the middle of the bracket part (61) and the other end rotatably connected to the palm base around the axis in the second direction.

4. The multi-degree-of-freedom dexterous hand according to claim 1, characterized in that, The multi-segment finger (10) includes a root segment (11), a middle segment (12) and an end segment (13) connected in sequence. The output ends of the two front linear drive units (40) are universally hinged to the root segment (11). The root segment (11) is rotatably connected to the side swing rotating bracket (60) about the axis in the first direction.

5. The multi-degree-of-freedom dexterous hand according to claim 4, characterized in that, The linkage assembly includes a four-bar linkage (20) and a single link (30). The four-bar linkage (20) includes a first link (21), a second link (22), a third link (23), and a fourth link (24) that are hinged in sequence. The first link (21) is universally hinged to the output end of the rear linear drive unit (50). The fourth link (24) is hinged to the middle finger joint (12). The two ends of the single link (30) are respectively hinged to the root finger joint (11) and the end finger joint (13).

6. The multi-degree-of-freedom dexterous hand according to claim 5, characterized in that, The third link (23) includes a first segment (231) and a second segment (232) arranged at an angle. The first segment (231) is hinged to the second link (22), and the second segment (232) is hinged to the fourth link (24). A hinge hole is provided between the first segment (231) and the second segment (232). The third link (23) is hinged to the root finger joint (11) through the hinge hole.

7. The multi-degree-of-freedom dexterous hand according to claim 6, characterized in that, The root phalanx (11) is provided with two symmetrically arranged concave portions (115), and the output ends of the two front linear drive units (40) are inserted into the two concave portions (115) one by one. The root finger joint (11) is provided with a first shaft (111) arranged in a first direction. The first shaft (111) passes through the hinge hole. The two ends of the first shaft (111) respectively pass through the two recesses (115) and are universally hinged to the output end of the corresponding front linear drive (40).

8. The multi-degree-of-freedom dexterous hand according to claim 7, characterized in that, The front linear drive unit (40) and the multi-segment finger (10) are universally hinged by a double ball joint (70). The output end of the front linear drive unit (40) is provided with a first connecting shaft (45) arranged along a first direction. Both ends of the double ball joint (70) are provided with ball joints, one of which is sleeved on the first connecting shaft (45) and the other is sleeved on the first shaft (111).

9. The multi-degree-of-freedom dexterous hand according to claim 5, characterized in that, The output end of the rear linear drive unit (50) is provided with a second connecting shaft (55) arranged along the first direction, and one end of the first connecting rod (21) is provided with a ball joint, which is sleeved on the second connecting shaft (55).

10. The multi-degree-of-freedom dexterous hand according to claim 5, characterized in that, The root finger joint (11) is provided with a second shaft (112) arranged in the first direction, and the end finger joint (13) is provided with a third shaft (131) arranged in the first direction. The two ends of the single connecting rod (30) are respectively hinged to the second shaft (112) and the third shaft (131). A torsion spring (31) is sleeved on the third shaft (131). One end of the torsion spring (31) is connected to the third shaft (131) or the end finger (13), and the other end of the torsion spring (31) is connected to the single connecting rod (30). The torsion spring (31) has the tendency to drive the end finger (13) to rotate in the straightening direction.

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