Full-knuckle movable multi-mode automatic switching bionic dexterous hand

Abstract

The invention belongs to the technology of dexterous hands, and discloses a full-knuckle movable multi-mode automatic switching bionic dexterous hand. The bionic dexterous hand comprises a palm shell module, a mode conversion module, a crawler wheel module and a finger module. The finger module comprises a first finger and a second finger which have four degrees of freedom. The mode switching module is used for achieving mode switching of the full-knuckle movable type multi-mode automatic switching bionic dexterous hand. And in the wheel type tail end mode, the second finger is retracted into the palm shell module, and the crawler wheel module is located below the palm shell module. And in the dexterous hand mode, the second finger extends to the right front of the palm shell module, and the crawler wheel module is retracted into the palm shell module. The robot can be automatically switched between a wheel type tail end mode and a dexterous hand mode, the functions of grabbing, wheel type moving and tail end supporting can be achieved, the application range of the dexterous hand can be expanded, switching collaboration is high, control precision is high, and the robot has the advantages of being compact in structure and light in weight.

Description

Technical Field

[0001] This invention relates to the field of dexterous hand technology, and more particularly to a bionic dexterous hand with fully movable joints and automatic multimodal switching. Background Technology

[0002] In the wave of robotics technology evolving towards intelligence and multi-scenario adaptability, dexterous hands, as the core interactive carrier connecting robots and the physical world, have become a research focus in fields such as humanoid robots and special-purpose robots. Domestic and international academic and industrial communities are continuously making breakthroughs around three core goals: miniaturized drive mechanisms, high-precision motion, and switchable form. Internationally, institutions like Caltech and Tesla are leading in multimodal control strategies and precision transmission components, demonstrating technological advantages in robot form-shifting control and lead screw transmission applications. Domestically, the focus is on innovation in deformable mechanisms and the localization of key components, with Zhejiang University and domestic lead screw manufacturers making significant progress in track deformation technology and the mass production of miniature transmission components. In terms of drive technology, electric actuators are gradually replacing traditional chord drives due to their compact structure and simple control. Multimodal design is upgrading from single-function operation to a "motion-operation" composite form, and the form-shifting technology between dexterous hands and other working modes is gradually overcoming the challenge of balancing terrain adaptation and operational functions.

[0003] Existing research has accumulated solid results in the basic principles of single-function modules and multimodal operation of dexterous hands. However, how to systematically integrate micro-drive units, multi-degree-of-freedom finger structures, and smooth mode-switching mechanisms remains a common challenge for the industry. Current technologies often present a trade-off between drive precision and structural miniaturization, and between mode-switching efficiency and mechanism reliability, urgently requiring performance breakthroughs through innovative integrated design.

[0004] Breakthroughs in Screw-Driven Dexterity Hand Technology: As the core component of precision transmission in dexterity hands, the screw has seen significant advancements in miniaturization and performance optimization in recent years. The Tesla Optimus dexterity hand utilizes planetary roller screws to achieve high-precision control of 22 degrees of freedom, requiring 14 miniature screws per unit, validating the feasibility of this component in multi-degree-of-freedom dexterity hands. Domestic companies such as Shuanglin Group and Xinjian Transmission have reduced the unit price of planetary roller screws from tens of thousands of yuan to several hundred yuan through process optimization, achieving miniaturized mass production with a diameter of 4mm. Their repeatability reaches ±0.01mm, and their impact load resistance is more than three times that of ball screws. These achievements have solved the mass production bottleneck of "precision transmission - miniaturization - low cost" in dexterity hands, laying the foundation for the design of screw mechanisms for finger retraction and wrist actuation.

[0005] In recent years, domestic and international research in the field of multimodal robotics has formed three major technical directions: at the control strategy level, the combination of model prediction and reinforcement learning provides an efficient solution for cross-modal dynamic transformation, overcoming the stability problem under complex working conditions; at the mechanical structure level, innovative designs of key components such as deformable tracks and micro-screws have achieved a dual improvement in morphological adaptability and transmission accuracy; and at the industrial adaptation level, the reduction in mass production costs and performance upgrades of domestically produced screws have propelled the core components of dexterous hands from the laboratory to engineering applications. These achievements have built a technical foundation in the three dimensions of control, structure, and manufacturing, but they are mostly focused on the optimization of single functional modules and have not yet formed a system integration solution of "micro-drive - multi-degree-of-freedom operation - seamless modal switching". Existing technologies mainly suffer from the following problems: First, the coordination and reliability of multimodal switching are insufficient. Existing bimodal robots mostly rely on independent drive mechanisms for form transformation, resulting in cumbersome switching processes and high energy consumption. While Zhejiang University's deformable tracked robot solved the problem of track deformation itself, it lacked integrated hand manipulation functions. If a dexterous hand structure were added, an additional track motor would be needed, increasing the hand's weight by more than 30%. The core issue here is the lack of a "motion linkage mechanism." Second, although Caltech's ATMO robot's drive unit achieves modal switching, it does not involve fine manipulation of multiple phalanges, and its control strategy cannot be directly transferred to the micro-drive system of a dexterous hand. Finally, the system integration's compactness and lightweight design did not meet expectations; the increased volume caused by stacking multiple components is a key bottleneck restricting the practical application of dexterous hands.

[0006] Currently, there is no research on dexterous hands with integrated tracked wheels. Compared with traditional dexterous hands, multimodal dexterous hands have some problems. The lack of optimization in the layout between mechanisms leads to a decrease in the utilization of the internal space of the hand. Although Tesla's Optimus achieves a compact design, it lacks modal conversion capabilities, limiting its application range. Moreover, its integrated solution for the lead screw and drive unit is extremely costly, making it difficult to promote on a large scale. Summary of the Invention

[0007] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, one objective of this invention is to propose a bionic dexterous hand with fully articulated, multimodal automatic switching, which can automatically switch between a wheeled end effector mode and a dexterous hand mode, enabling grasping, wheeled movement, and end effector support functions. This expands the applicability of the dexterous hand and features high switching coordination, high control precision, and the advantages of compact structure and lightweight design.

[0008] According to an embodiment of the present invention, a fully articulated, multimodal, automatically switching bionic dexterous hand includes a palm shell module, a mode conversion module, a track wheel module, and a finger module. The palm shell module has openings on its lower and front sides for the finger module and the track wheel module to enter and exit. The finger module includes a first finger and a second finger with four degrees of freedom. The first finger is connected to the rear end of the left or right outer side of the palm shell module. The mode conversion module is disposed within the palm shell module and is used for the movement of the second finger and the track wheel module to achieve switching between a wheeled end effector mode and a dexterous hand mode. In the wheeled end mode, the second finger retracts into the palm housing module, and the track wheel module is located below the palm housing module; in the dexterous hand mode, the second finger extends to the front of the palm housing module, and the track wheel module retracts into the palm housing module. The bionic dexterous hand with fully articulated, multimodal automatic switching in this embodiment has the following advantages: First, it can switch between two modes—dexterous hand and wheeled end effector—and has three working modes, with high switching coordination and reliability. It can automatically switch between wheeled end effector mode and dexterous hand mode according to work requirements without manually installing different end effectors, enabling grasping, wheeled movement, and end-effector support functions. It can be widely used in humanoid robots, quadruped robots, special-purpose robots, and robotic arms, expanding the applicability of dexterous hands. The modality conversion module mechanically couples the retraction and extension of the second finger with the lifting and lowering of the tracked wheel module, ensuring synchronous coordination during the switching process. This solves the problems of motion timing interference, complex control, and high switching failure rate in traditional multi-actuator solutions, improving reliability. Second, it features high system integration and lightweight design. By placing the modality conversion module within the hand housing module, in dexterous hand mode, the extended second finger frees up internal space within the hand housing module, allowing the track wheel module to be completely housed within it. In wheel mode, the lowered track wheel module frees up internal space within the hand housing module, allowing the second finger to be completely housed within it. Therefore, this design allows both the mobility and manipulation systems to share the same hand housing module volume, achieving two functions without increasing overall size. This solves the problems of low integration and excessive size and weight in multimodal dexterous hands.

[0009] In some embodiments, the modal conversion module includes a motor, a lead screw drive assembly, and a track wheel retraction and extension assembly. The motor is connected to the lead screw drive assembly, the lead screw drive assembly is connected to the second finger, the lead screw drive assembly is also connected to the track wheel retraction and extension assembly, and the track wheel retraction and extension assembly is connected to the track wheel module. The motor drives the second finger to move by driving the lead screw transmission assembly. At the same time, the lead screw transmission assembly drives the track wheel retraction assembly, which in turn drives the track wheel module, so as to realize the switching of the bionic dexterous hand with full-joint movable multimodal automatic switching between wheeled end effector mode and dexterous hand mode.

[0010] In some embodiments, the module further includes a wrist mounting bridge connected to the palm housing module; the modal conversion module further includes a wrist mounting bridge retraction assembly connected between the lead screw drive assembly and the wrist mounting bridge. The motor drives the lead screw transmission assembly, which in turn drives the wrist mounting cable tray retraction assembly, thereby driving the wrist mounting cable tray. In the wheel-type end-effector mode, the wrist mounting bridge is located directly above the palm housing module; in the dexterous hand mode, the wrist mounting bridge is located directly behind the palm housing module.

[0011] In some embodiments, the lead screw drive assembly includes a first lead screw, a second lead screw, a gear transmission pair, and a finger crossbeam; the first lead screw and the second lead screw extend forward and backward and are arranged in parallel, the two ends of the first lead screw are respectively connected to the motor and the gear transmission pair, one end of the second lead screw is connected to the gear transmission pair, the second lead screw is threadedly engaged with the finger crossbeam, the finger crossbeam is slidably engaged with the inner side of the finger housing module, and the second finger is mounted on the front side of the finger crossbeam.

[0012] In some embodiments, the top of the finger beam is provided with a beam threaded hole, which engages with the second lead screw; the finger beam is provided with a protruding guide pin at one end in the left-right direction, and correspondingly, the palm housing module is provided with a guide groove extending forward and backward on one inner side in the left-right direction, and the guide pin is slidably engaged with the guide groove.

[0013] In some embodiments, the track wheel retraction assembly includes a first link, a second link, a third link, and a curved insert; the track wheel module includes a track wheel housing, a track wheel mounted on the track wheel housing, and a track wheel motor embedded in one of the track wheels; the first link is located in front of the second link, one end of the first link and the second link are respectively hinged to both ends of the third link, and the other ends of the first link and the second link are respectively hinged to the track wheel housing, thereby forming a parallelogram structure on one side in the left-right direction, and each hinge axis of the parallelogram structure extends in the left-right direction; The curved insert has a guide notch, a first hinge hole, and a second hinge hole. The first hinge hole and the second hinge hole are located on one side of the guide notch. The first hinge hole is close to the opening end of the guide notch, and the second hinge hole is close to the closed end of the guide notch. The curved insert is coaxially hinged to the first connecting rod and the second connecting rod through the first hinge hole. The curved insert is hinged to the palm housing module on one side in the left-right direction through the second hinge hole. The hinge axis between the curved insert and the palm housing module extends in the left-right direction. The guide notch allows the guide pin to slide through it.

[0014] In some embodiments, the palm housing module has a vertically extending groove on the other inner side in the left-right direction, and the track wheel housing has an outwardly protruding sliding pin on the other side in the left-right direction, the sliding pin being adapted to and cooperating with the groove.

[0015] In some embodiments, L-shaped slide rails are symmetrically provided at the left and right ends of the rear and upper parts of the palm housing module, and short pins are symmetrically provided on the left and right inner sides of the wrist mounting bridge. A curved rod is fixed to the short pin on one side of the wrist mounting bridge, and the short pin is correspondingly slidably engaged with the L-shaped slide rail. The wrist-mounted bridge retraction assembly includes a push-pull rod. One end of the push-pull rod is provided with a push-pull rod threaded hole, which is threaded with the first lead screw. The other end of the push-pull rod is hinged to the crank rod, and the hinge axis between the push-pull rod and the crank rod extends in the left-right direction.

[0016] The first finger and the second finger each include a base, a first phalanx, a second phalanx, and a third phalanx connected in sequence; The base is fixed to the palm shell; two identical parallel first micro electric actuators are provided in the first phalanx. The two first micro electric actuators are used to drive the first phalanx to bend and extend relative to the base by the same extension and retraction amount, and to drive the first phalanx to swing left and right relative to the base by differential. The second phalanx is provided with two parallel micro electric actuators, a second micro electric actuator and a third micro electric actuator. The second micro electric actuator is used to drive the second phalanx to flex and extend relative to the first phalanx, and the third micro electric actuator is used to drive the third phalanx to flex and extend relative to the second phalanx.

[0017] In some embodiments, a ball mount and a base limiting groove extending upward from the ball mount are provided on one side of the base; the ball mount is ball-jointed to one end of the universal joint, and the other end of the universal joint is fixed to the lower rear end of the first finger joint; the two first miniature electric actuators are parallel and in the same direction and are arranged left and right in the first finger joint and are respectively hinged to the slidable finger root push-pull pin in the base limiting groove through fisheye bearings; The lower front end of the first phalanx is provided with a first hinge portion and a first phalanx limiting groove extending upward from the first hinge portion; the lower rear end of the second phalanx is provided with a second hinge portion, and the first hinge portion is hinged to the second hinge portion; the second micro electric actuator is disposed in the second phalanx, and the second micro electric actuator is fixed to a slidable first L-shaped push-pull rod in the first phalanx limiting groove. The lower front end of the second phalanx is provided with a third hinge portion, the lower rear end of the third phalanx is provided with a fourth hinge portion and a third phalanx limiting groove extending upward from the fourth hinge portion, the third hinge portion is hinged to the fourth hinge portion, the third micro electric actuator is disposed in the second phalanx in the opposite direction to the second micro electric actuator, and the third micro electric actuator is fixed to a slidable second L-shaped push-pull rod in the third phalanx limiting groove.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the fully articulated, multimodal, automatically switching bionic dexterous hand in the wheel-type end-effector mode, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the bionic dexterous hand with fully articulated multimodal automatic switching in the dexterous hand mode according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the internal structure of the bionic dexterous hand with fully articulated multimodal automatic switching according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the finger module according to an embodiment of the present invention; Figure 5 A schematic diagram of the first phalanx of the finger module in a bent state; Figure 6 A schematic diagram of the second phalanx of the finger module in a bent state; Figure 7 A schematic diagram of the third phalanx of the finger module swinging to the left; Figure 8 A diagram illustrating the bent state of the third phalanx of the finger module; Figure 9Schematic diagram of the internal structural fit relationship in dexterity hand mode; Figure 10 Schematic diagram of the internal structural fit relationship in the wheel-type end mode.

[0020] Figure Labels A bionic dexterous hand 1000 with fully articulated, multimodal, and automatically switching joints; palm shell module 10; opening 101; guide groove 102; slide groove 103; L-shaped slide rail 104; upper palm shell 105; lower palm shell 106; mode conversion module 20; motor 201; lead screw transmission assembly 202; first lead screw 2021, second lead screw 2022; gear transmission pair 2023; first gear 20231, second gear 20232; finger crossbeam 2024; crossbeam threaded hole 20 241; Guide pin 20242; Track wheel retraction assembly 203; First link 2031; Second link 2032; Third link 2033; Curved insert 2034; Guide notch 20341; First hinge hole 20342; Second hinge hole 20343; Wrist mount bridge retraction assembly 204; Push-pull rod 2041; Push-pull rod threaded hole 2042; Track wheel module 30; Track wheel housing 301; First hinge shaft 3011; Second hinge shaft 3012; Drive wheel 302; Passive wheel 303; Finger module 40; First finger 401; Base 4011; Ball mount 40111; Base limiting groove 40112; Universal shaft 4012; First phalanx 4013; First hinge 40131; First phalanx limiting groove 40132; Second phalanx 4014; Second hinge 40141; Third hinge 40142; Third phalanx 4015; Third phalanx limiting groove 40151; Fourth hinge 40152; First micro electric... Push rod 4016; second miniature electric push rod 4017; third miniature electric push rod 4018; first hinge pin 4019; second hinge pin 4020; second finger 402; first L-shaped push-pull rod 403; second L-shaped push-pull rod 404; fisheye bearing 405; finger root push-pull pin 406; first mounting bracket 407; first mounting slot 4071; second mounting bracket 408; second mounting slot 4081; fingertip sensor 410; wrist mounting bridge 50; short pin 501; curved rod 502. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. 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.

[0022] The following is combined Figures 1 to 10 This invention describes a fully articulated, multimodal, automatically switching bionic dexterous hand 1000 according to an embodiment of the present invention.

[0023] like Figures 1 to 10 As shown, the bionic dexterous hand 1000 with fully movable multimodal automatic switching according to an embodiment of the present invention includes a palm shell module 10, a modal conversion module 20, a track wheel module 30, and a finger module 40.

[0024] The palm housing module 10 has openings 101 on its lower and front sides for the finger module 40 and the track wheel module 30 to enter and exit. The palm housing module 10 is used to integrate and install the modal conversion module 20, the track wheel module 30, and the finger module 40. This helps to make the overall structure compact and provides a certain degree of protection, while also providing a limiting basis for the finger module 40 and multimodal conversion. The finger module 40 includes a first finger 401 and a second finger 402 with four degrees of freedom. The first finger 401 is connected to the rear end of the left or right outer side of the palm housing module 10. The modal conversion module 20 is disposed inside the palm housing module 10 and is used to drive the extension and retraction of the second finger 402 and the lifting and lowering of the track wheel module 30, so as to realize the switching of the bionic dexterous hand 1000 with full-joint movable multimodal automatic switching between the wheeled end mode and the dexterous hand mode. Understandably, there is one first finger 401, used to imitate the thumb, and there can be multiple second fingers 402, such as four, used to imitate the index finger, middle finger, ring finger and little finger respectively. Since both the first finger 401 and the second finger 402 have four degrees of freedom, they can perform flexible maneuvers.

[0025] In the wheeled end-effector mode, the second finger 402 retracts into the palm housing module 10, and the track wheel module 30 is located below the palm housing module 10. In the dexterous hand mode, the second finger 402 extends to the front of the palm housing module 10, and the track wheel module 30 retracts into the palm housing module 10. The dexterous hand mode corresponds to a multi-degree-of-freedom dexterous control mode. In the wheeled end-effector mode, when the track wheel module 30 is in operation, it corresponds to a tracked motorized driving mode; when the track wheel module 30 is not in operation, it corresponds to a wheeled structure support parking mode.

[0026] Specifically, in the initial mode, i.e., the wheeled end effector mode, the second finger 402 is inside the palm housing module 10, and the track wheel module 30 is located below the palm housing module 10. When switching from the wheeled end effector mode to the dexterous hand mode, the mode conversion module 20 drives all the second fingers 402 to move forward as a whole, and all the second fingers 402 extend out of the palm housing module 10 simultaneously. At the same time, the mode conversion module 20 also drives the track wheel module 30 to move, lifting the track wheel module 30 upward, so that the track wheel module 30 is completely retracted into the palm housing module 10. The first finger 401 adheres tightly to the palm housing module 10 through its own drive. After the switch is completed, as shown... Figure 1 and Figure 9As shown, the bionic dexterous hand 1000, with its fully articulated, multimodal automatic switching, can perform dexterous and precise operations with multiple degrees of freedom.

[0027] When switching from dexterous hand mode to wheeled end effector mode, the mode conversion module 20 pulls all the second fingers 402 back into the palm housing module 10. Simultaneously, the mode conversion module 20 pushes the track wheel module 30 downwards out of the palm housing module 10. During this process, the first fingers 401 can also fold and retract via their own actuators. After the switch is complete, as shown... Figure 2 and Figure 10 As shown, the fully articulated, multimodal, automatically switching bionic dexterous hand 1000 can be used for tracked mobility or for structural support and parking. Therefore, the fully articulated, multimodal, automatically switching bionic dexterous hand 1000 of this invention can achieve two modes and three operating modes.

[0028] The bionic dexterous hand 1000 with fully articulated, multimodal automatic switching in this embodiment has the following advantages: First, it can switch between two modes—dexterous hand and wheeled end effector—and has three working modes, with high switching coordination and reliability. It can automatically switch between wheeled end effector mode and dexterous hand mode according to work requirements without manually installing different end effectors, enabling grasping, wheeled movement, and end effector support functions. It can be widely used in humanoid robots, quadruped robots, special-purpose robots, and robotic arms, expanding the applicability of dexterous hands. The modality conversion module 20 mechanically couples the retraction and extension of the second finger 402 with the lifting and lowering of the track wheel module 30, ensuring synchronous coordination during the switching process. This solves the problems of motion timing interference, complex control, and high switching failure rate in traditional multi-actuator solutions, improving reliability. Second, it features high system integration and lightweight design. By placing the modality conversion module 20 within the palm housing module 10, in dexterous hand mode, the extended second finger 402 frees up internal space within the palm housing module 10, allowing the track wheel module 30 to be completely housed within it. In wheel mode, the lowered track wheel module 30 frees up internal space within the palm housing module 10, allowing the second finger 402 to be completely housed within it. Therefore, this design allows both the mobility and operation systems to share the volume of the palm housing module 10, achieving two functions without increasing overall size, thus solving the problems of low integration and excessive size and weight in multimodal dexterous hands.

[0029] In some embodiments, the mode conversion module includes a motor 201, a lead screw drive assembly 202, and a track wheel retraction and extension assembly 203. The motor 201 is connected to the lead screw drive assembly 202, the lead screw drive assembly 202 is connected to the second finger 402, the lead screw drive assembly 202 is also connected to the track wheel retraction and extension assembly 203, and the track wheel retraction and extension assembly 203 is connected to the track wheel module 30.

[0030] The motor 201 drives the second finger 402 to move through the lead screw transmission assembly 202. At the same time, the lead screw transmission assembly 202 drives the track wheel retraction assembly 203, which in turn drives the track wheel module 30, so as to realize the switching between the wheel-type end effector mode and the dexterous hand with full joint mobility and automatic switching between the multimodal modes.

[0031] Specifically, when switching from the wheeled end-effector mode to the dexterous hand mode, the motor 201 starts to rotate forward, driving the screw drive assembly 202 to move. The screw drive assembly 202 pushes all the second fingers 402 forward as a whole, causing all the second fingers 402 to extend out of the palm housing module 10 simultaneously. At the same time, the screw drive assembly 202 also drives the track wheel retraction assembly 203 to move, lifting the track wheel module 30 upward, so that the track wheel module 30 is completely retracted into the palm housing module 10. The first fingers 401 are driven by themselves to adhere tightly to the palm housing module 10. After the switch is completed, as shown... Figure 1 and Figure 9 As shown, the bionic dexterous hand 1000, with its fully articulated, multimodal automatic switching, can perform dexterous and precise operations with multiple degrees of freedom.

[0032] When switching from the dexterous hand mode to the wheeled end effector mode, the motor 201 rotates in the reverse direction, driving the screw drive assembly 202 to pull all the second fingers 402 back into the palm housing module 10. Simultaneously, the screw drive assembly 202 also drives the track wheel retraction assembly 203, which pushes the track wheel module 30 downwards out of the palm housing module 10. During this process, the first fingers 401 can also fold and retract via their own actuators. After the switch is complete, as shown... Figure 2 and Figure 10 As shown, the fully articulated, multimodal, automatically switching bionic dexterous hand 1000 can be used for tracked mobility or for structural support and parking.

[0033] The modal conversion module 20, through the design of a single motor 201, a lead screw drive assembly 202, and a track wheel retraction and extension assembly 203, mechanically couples the retraction and extension of the second finger 402 with the lifting and lowering of the track wheel module 30. This ensures the synchronous coordination of the switching process, solving the problems of motion timing interference, control complexity, and high switching failure rate in traditional multi-drive solutions, thus improving reliability. The single motor 201 drive design reduces the number of drives in the modal conversion module 20, effectively addressing the issues of lightweighting the dexterous hand and simplifying the control scheme. Thirdly, the modal conversion module 20, through the configuration of the motor 201 and lead screw drive assembly 202, can achieve high-precision control.

[0034] In some embodiments, the module further includes a wrist mounting bridge 50 connected to the palm housing module 10. The modal conversion module 20 also includes a wrist mounting bridge retraction assembly 204 connected between the lead screw drive assembly 202 and the wrist mounting bridge 50.

[0035] Motor 201 drives lead screw transmission assembly 202, lead screw transmission assembly 202 drives wrist mounting bridge retraction assembly 204, and in turn drives wrist mounting bridge 50.

[0036] In the wheel-type end effector mode, the wrist mounting bridge 50 is located directly above the palm housing module 10. In the dexterous hand mode, the wrist mounting bridge 50 is located directly behind the palm housing module 10.

[0037] The forward and reverse rotation of the motor 201 drives the lead screw transmission assembly 202, which in turn drives the extension and retraction of the second finger 402, drives the track wheel retraction assembly 203 to control the lifting and lowering of the track wheel module 30, and drives the wrist mounting bridge retraction assembly 204 to control the movement of the wrist mounting bridge 50.

[0038] Specifically, in the initial mode, i.e., the wheeled end effector mode, the second finger 402 is inside the palm housing module 10, the track wheel module 30 is located below the palm housing module 10, and the wrist mounting bridge 50 is located directly above the palm housing module 10. When it is necessary to switch from the wheeled end effector mode to the dexterous hand mode, the motor 201 starts to rotate forward, driving the screw drive assembly 202 to move. The screw drive assembly 202 pushes all the second fingers 402 forward as a whole, so that all the second fingers 402 extend out of the palm housing module 10 at the same time. At the same time, the screw drive assembly 202 also drives the track wheel retraction assembly 203 to move, and the track wheel retraction assembly 203 pulls the track wheel module 30 upward, so that the track wheel module 30 is completely retracted into the palm housing module 10. The first finger 401 is tightly attached to the palm housing module 10 by its own driver. Simultaneously, the lead screw drive assembly 202 also drives the wrist mounting bridge 50 to move, causing the wrist mounting bridge 50 to move upward from the rear of the palm housing module 10, flip at the upper rear corner of the palm housing module 10, and move forward to directly above the palm housing module 10. After the switching is completed, as follows... Figure 1 and Figure 9 As shown, the bionic dexterous hand 1000, with its fully articulated, multimodal automatic switching, can perform dexterous and precise operations with multiple degrees of freedom.

[0039] When switching from the dexterous hand mode to the wheeled end effector mode: the motor 201 rotates in the reverse direction, driving the screw drive assembly 202 to pull all the second fingers 402 back into the palm housing 10. Simultaneously, the screw drive assembly 202 also drives the track wheel retraction assembly 203, which pushes the track wheel module 30 downwards out of the palm housing module 10. During this process, the first fingers 401 can also fold and retract via their own actuators. At the same time, the screw drive assembly 202 also drives the wrist mounting bridge 50 to move, causing the wrist mounting bridge 50 to move backwards from directly above the palm housing module 10 and then reverse and move downwards at the rear upper corner of the palm housing module 10 to directly behind the palm housing module 10. After the switch is completed, as... Figure 2 and Figure 10 As shown, the fully articulated, multimodal, automatically switching bionic dexterous hand 1000 can be used for tracked mobility or for structural support and parking.

[0040] Through the above structure, the bionic dexterous hand 1000, with its fully articulated, multimodal automatic switching capability, can switch between a dexterous hand mode of "finger extension + track wheel retraction + wrist extension" and a wheeled end effector mode of "finger retraction + track wheel lowering + wrist retraction," achieving coordinated control of finger actuation and mode switching. The wrist mounting bridge 50 adapts to the structural requirements of both modes without affecting the mode switching action of the finger module 40. The mode switching action is completed by a single motor 201, solving the problems of timing asynchrony, control complexity, high energy consumption, and low reliability that may arise from multiple drivers, resulting in high integration and high reliability.

[0041] In some embodiments, such as Figures 1 to 3 As shown, the lead screw drive assembly 202 includes a first lead screw 2021, a second lead screw 2022, a gear transmission pair 2023, and a finger crossbeam 2024. The first lead screw 2021 and the second lead screw 2022 extend front to back and are arranged in parallel. The two ends of the first lead screw 2021 are connected to the motor 201 and the gear transmission pair 2023, respectively. One end of the second lead screw 2022 is connected to the gear transmission pair 2023. The second lead screw 2022 is threadedly engaged with the finger crossbeam 2024. The finger crossbeam 2024 slides back and forth with the inner side of the palm housing module 10. A second finger 402 is installed on the front side of the finger crossbeam 2024. This structure is simple, reliable, and compact.

[0042] During operation, the first lead screw 2021, driven by the motor 201, drives the gear transmission pair 2023 to move. The second gear transmission pair 2023 drives the second lead screw 2022 to rotate, and the rotation of the second lead screw 2022 causes the finger beam 2024 to move in the forward and backward directions. By controlling the forward and reverse rotation of the motor 201, the forward and backward movement of the finger beam 2024 can be controlled, thereby controlling the extension and retraction of the second finger 402.

[0043] In some embodiments, such as Figures 1 to 3 As shown, the gear transmission pair 2023 includes a first gear 20231 and a second gear 20232 that mesh with each other. A first lead screw 2021 and a second lead screw 2022 are respectively connected to the first gear 20231 and the second gear 20232. When the motor 201 drives the first lead screw 2021 to rotate, it drives the first gear 20231 to rotate, which in turn drives the meshing second gear 20232 to rotate, ultimately driving the second lead screw 2022 to rotate. Through the meshing of the two gears, the synchronous transmission of power from the first lead screw 2021 to the second lead screw 2022 is achieved, resulting in a simple, reliable, and compact structure.

[0044] In some embodiments, such as Figure 3 As shown, the top of the finger crossbeam 2024 is provided with a crossbeam threaded hole 20241, which mates with the second lead screw 2022. The finger crossbeam 2024 has a protruding guide pin 20242 at one end in the left-right direction, correspondingly, as... Figure 2 As shown, the palm housing module 10 has a guide groove 102 extending forward and backward on one inner side in the left-right direction, and the guide pin 20242 slides in engagement with the guide groove 102. The crossbeam threaded hole 20241 cooperates with the second lead screw 2022 to provide drive, and the guide pin 20242 slides in engagement with the guide groove 102 to provide guidance, ensuring the accurate synchronous extension and retraction of the second finger 402.

[0045] In some embodiments, such as Figure 3 , Figures 9 to 10 As shown, the track wheel retraction assembly 203 includes a first link 2031, a second link 2032, a third link 2033, and a curved insert 2034. The track wheel module 30 includes a track wheel housing 301, a track wheel mounted on the track wheel housing 301, and a track wheel motor embedded in one of the track wheels. Specifically, the track wheel has one drive wheel 302 and two driven wheels 303. The track wheel housing 301 serves to protect and limit the movement of the track wheel module 30. The drive wheel 302 is driven by a hub motor using the track wheel motor 201 and a reducer, providing sufficient power while reducing the space occupied by the track wheel module 30. The first link 2031 is located in front of the second link 2032. One end of the first link 2031 and the second link 2032 are respectively hinged to both ends of the third link 2033. The other ends of the first link 2031 and the second link 2032 are respectively hinged to the track wheel housing 301, so that the first link 2031, the second link 2032, the third link 2033 and the track wheel housing 301 form a parallelogram structure on one side in the left and right direction. Each hinge axis of the parallelogram structure extends in the left and right direction.

[0046] The curved insert 2034 is provided with a guide notch 20341, a first hinge hole 20342, and a second hinge hole 20343. The first hinge hole 20342 and the second hinge hole 20343 are located on one side of the guide notch 20341. The first hinge hole 20342 is close to the opening end of the guide notch 20341, and the second hinge hole 20343 is close to the closed end of the guide notch 20341. The curved insert 2034 is coaxially hinged to the first connecting rod 2031 and the second connecting rod 2032 through the first hinge hole 20342. The curved insert 2034 is hinged to the palm housing module 10 on one side in the left-right direction through the second hinge hole 20343. The hinge axis between the curved insert 2034 and the palm housing module 10 extends in the left-right direction. The guide notch 20341 allows the guide pin 20242 to slide through it.

[0047] Specifically, in the initial mode, i.e. the wheeled end mode, the second finger 402 is inside the palm housing module 10, the track wheel module 30 is located below the palm housing module 10, the wrist mounting bridge 50 is located directly above the palm housing module 10, the guide notch 20341 coincides with the guide groove 102, and the notch of the guide notch 20341 faces backward. When switching from the wheeled end-effector mode to the dexterous hand mode, the motor 201 begins to rotate forward, driving the movement of the lead screw transmission assembly 202. The guide pin 20242 moves forward from the rear end of the guide groove 102 to the guide notch 20341, entering the guide notch 20341 through the notch. As the guide pin 20242 continues to move forward, it drives the curved insert 2034 to swing forward around the hinge axis of the second hinge hole 20343. Furthermore, the curved insert 2034 drives the parallelogram structure to lift the track wheel module 30 upward, so that the track wheel module 30 is completely retracted into the palm housing module 10 when the second finger 402 extends. It should be noted that, according to reference... Figure 9 When the finger beam 2024 moves to the front end of the guide groove 102, the notch of the guide notch 20341 faces upward. When it is necessary to switch from the dexterous hand mode to the wheeled end effector mode, the motor 201 rotates in the opposite direction, and the lead screw drive assembly 202 and the track wheel retraction assembly 203 also move in the opposite direction, which will not be described in detail here.

[0048] This design achieves coordinated control of the motion of a single motor 201. Through the coordinated transmission method of "lead screw + parallelogram structure + curved plug rod 2034", the number of actuators is reduced while ensuring the smooth realization of the mode conversion function, effectively solving the problems of lightweighting and simplifying the control scheme of the dexterous hand.

[0049] In some embodiments, the track wheel housing 301 has an outwardly protruding and spaced-ahead first hinge shaft 3011 on one side in the left-right direction. The first hinge shaft 3011 is located in front of the second hinge shaft 3012 and is hinged to the other end of the first connecting rod 2031. The second hinge shaft 3012 is hinged to the other end of the second connecting rod 2032. When the curved insert rod 2034 is driven to swing, it drives the first connecting rod 2031 and the second connecting rod 2032 to move. The first connecting rod 2031 and the second connecting rod 2032 are respectively hinged to the first hinge shaft 3011 and the second hinge shaft 3012, ensuring that the track wheel housing 301 produces precise translation and / or rotation during lifting.

[0050] In some embodiments, such as Figure 3 As shown, the palm housing module 10 has a vertically extending groove 103 on its inner side in the left-right direction, and the track wheel housing 301 has an outwardly protruding sliding pin (not shown in the figure) on its other side in the left-right direction. The sliding pin is adapted to the groove 103. When the track wheel retraction assembly 203 drives the track wheel housing 301 to rise and fall, the sliding pin is constrained to slide within the vertical groove 103.

[0051] In some embodiments, such as Figure 3 As shown, there are two sliding grooves 103 and two sliding pins. The two sliding grooves 103 are distributed with a front-to-back interval, and correspondingly, the two sliding pins are distributed with a front-to-back interval. This makes the track wheel module 30 move more stably in the vertical direction.

[0052] In some embodiments, such as Figure 3 As shown, L-shaped slide rails 104 are symmetrically provided at the rear and upper left and right ends of the palm housing module 10, and short pins 501 are symmetrically provided on the left and right inner sides of the wrist mounting bridge 50. A crank rod 502 is fixed to the short pin 501 on one side of the wrist mounting bridge 50, and the short pin 501 is correspondingly slidably engaged with the L-shaped slide rail 104.

[0053] The wrist-mounted cable tray retraction assembly 204 includes a push-pull rod 2041. One end of the push-pull rod 2041 is provided with a push-pull rod threaded hole 2042, which is threadedly engaged with the first lead screw 2021. The other end of the push-pull rod 2041 is hinged to the crank rod 502.

[0054] When switching from the dexterous hand mode to the wheeled end effector mode: Motor 201 drives the first lead screw 2021 to rotate, causing the wrist mounting bridge retraction assembly 204 to move backward in a straight line. The wrist mounting bridge retraction assembly 204 pulls the crank 502, which causes the short pin 501 on the wrist mounting bridge 50 to slide within the L-shaped slide rail 104. The short pin 501 first slides upward along the vertical section of the L-shaped slide rail 104, at which point the wrist mounting bridge 50 undergoes an upward translation. When the short pin 501 slides to the corner of the L-shaped slide rail 104, the continued movement will force the short pin 501 to slide forward along the front-back section of the L-shaped slide rail, at which point the wrist mounting bridge 50 rotates and moves forward. When the short pin 501 reaches the bottom of the front-back section of the L-shaped slide rail, the wrist mounting bridge 50 is positioned directly above the palm housing module 10. When switching from the wheeled end-effector mode to the dexterous hand mode: the motor 201 drives the wrist mounting bridge retraction assembly 204 to push the crank 502 forward, forcing the short pin 501 to slide backward and then downward along the L-shaped slide rail, finally causing the wrist mounting bridge 50 to return to the rear of the palm shell. To address the issue of the wrist portion needing to achieve both horizontal translation and 90° rotation without increasing palm width during mode transitions, this invention adds L-shaped slide rails 104 to both sides of the palm upper shell's tail end, which engage with short pins 501. A wrist mounting bridge retraction assembly 204 is connected to the inner side of the wrist mounting bridge 50. This successfully achieves the wrist portion's shape transformation during mode transitions while minimizing the space occupied by this mechanism. Simultaneously, it ensures that the wrist interface automatically and accurately reaches the optimal position in both working modes, and this switching action is synchronously driven by the same lead screw as the movement of the fingers and tracks, eliminating the need for an additional control unit and achieving a high degree of system integration.

[0055] In some embodiments, the palm housing module 10 includes an upper palm housing 105 and a lower palm housing 106 connected to each other. An L-shaped slide rail 104 is disposed on the upper palm housing 105, and the lower palm housing 106 has an opening 101 on its lower side for the track wheel module 30 to enter and exit. The front end of the lower palm housing 106 and the front end of the upper palm housing 105 together form an outlet for a finger module 40. The outer rear ends of the left and right sides of the lower palm housing 106 are connected to the first finger 401, and guide grooves 102 and slide grooves 103 are disposed on the inner side of the lower palm housing 106. The split housing design makes manufacturing and installation more convenient, and all functional interfaces are rationally distributed on the two housings.

[0056] In some embodiments, the first finger 401 and the second finger 402 each include a base 4011, a first phalanx 4013, a second phalanx 4014, and a third phalanx 4015 connected in sequence.

[0057] The base 4011 is fixed to the palm shell. Two identical, parallel first micro electric actuators 4016 are provided in the first phalanx 4013. The two first micro electric actuators 4016 are used to drive the first phalanx 4013 to bend and extend relative to the base 4011 with the same extension and retraction amount, and to drive the first phalanx 4013 to swing left and right relative to the base 4011 with differential movement.

[0058] The second phalanx 4014 is provided with two parallel and opposite second micro electric actuators 4017 and third micro electric actuators 4018. The second micro electric actuator 4017 is used to drive the second phalanx 4014 to bend and extend relative to the first phalanx 4013, and the third micro electric actuator 4018 is used to drive the third phalanx 4015 to bend and extend relative to the second phalanx 4014.

[0059] By installing two first micro actuators 4016 within the first knuckle 4013, and a second micro actuator 4017 and a third micro actuator 4018 within the second knuckle 4014, the advantages of this approach are modularity and significantly reduced space occupancy compared to other dexterous hands that place actuators or actuators within the palm or forearm.

[0060] In some embodiments, a ball mount 40111 and a base limiting groove 40112 extending upward from the ball mount 40111 are provided on one side of the base 4011. One end of the universal joint 4012 is ball-jointed to the ball mount 40111 and the other end is fixed to the lower rear end of the first finger joint 4013. Two first miniature electric actuators 4016 are parallel and oriented in the same direction and are arranged left and right in the first finger joint 4013. They are respectively hinged to slidable finger root push-pull pins 406 in the base limiting groove 40112 through fisheye bearings 405. In this way, the first finger joint 4013 and the base 4011 are connected by the universal joint 4012 to form a universal joint, providing the first finger joint 4013 with a motion basis of two rotational degrees of freedom.

[0061] During operation, when the two first miniature electric actuators 4016 extend and retract synchronously and equally, they jointly push and pull the finger root push-pull pin 406 through the fisheye bearing 405, causing it to slide linearly along the base limiting slide groove 40112. This linear motion is converted into the up-and-down bending motion of the first finger joint 4013 around the ball joint axis through the universal joint 4012. When the two first miniature electric actuators 4016 extend and retract differentially, the resultant force exerted by the two actuators on the finger root push-pull pin 406 will shift laterally because the fisheye bearing allows for a certain angle of oscillation at the connection. This causes the finger root push-pull pin 406 to generate a lateral force perpendicular to the slide groove while sliding linearly, thereby driving the first finger joint 4013 to swing left and right around the other axis of the ball joint.

[0062] The lower front end of the first phalanx 4013 is provided with a first hinge portion 40131 and a first phalanx limiting groove 40132 extending upward from the first hinge portion 40131. The lower rear end of the second phalanx 4014 is provided with a second hinge portion 40141, and the first hinge portion 40131 is hinged to the second hinge portion 40141. A second miniature electric actuator 4017 is disposed in the second phalanx 4014 and is fixed to a slidable first L-shaped push-pull rod 403 in the first phalanx limiting groove 40132. The linear extension and retraction of the second miniature electric actuator 4017 directly drives the first L-shaped push-pull rod 403 to slide along the first phalanx limiting groove 40132. Since the first L-shaped push-pull rod 403 is constrained by the first finger joint limiting slide groove 40132, its sliding will generate a torque on the second finger joint 4014 to rotate around the first hinge pin 4019, thereby realizing the up and down bending action of the second finger joint 4014.

[0063] The lower front end of the second phalanx 4014 is provided with a third hinge portion 40142, and the lower rear end of the third phalanx 4015 is provided with a fourth hinge portion 40152 and a third phalanx limiting groove 40151 extending upward from the fourth hinge portion 40152. The third hinge portion 40142 is hinged to the fourth hinge portion 40152. The third micro electric actuator 4018 is disposed in the second phalanx 4014 in opposite directions to the second micro electric actuator 4017. The third micro electric actuator 4018 is fixed to the slidable second L-shaped push-pull rod 404 in the third phalanx limiting groove 40151. The linear extension and retraction movement of the third micro electric actuator 4018 drives the second L-shaped push-pull rod 404 to slide along the third phalanx limiting groove 40151. This sliding action is converted into a torque that drives the third finger joint 4015 to rotate around the second hinge pin 4020 through the interaction between the second L-shaped push-pull rod 404 and the third finger joint limiting groove 40151, thereby realizing the up-and-down bending action of the third finger joint 4015.

[0064] Specifically, such as Figure 5 As shown, when the third miniature electric actuator 4018 is active while the other miniature electric actuators are inactive, only the third knuckle 4015 bends. Figure 6 As shown, when the second miniature electric actuator 4017 is active while the other miniature electric actuators are inactive, only the second knuckle 4014 bends. Figure 7 As shown, when the first miniature electric actuator 4016 on the left is active while the other miniature electric actuators are inactive, only the first finger 401 swings to the right. When the first miniature electric actuator 4016 on the right is active while the other miniature electric actuators are inactive, only the first finger 401 swings to the left. Figure 8 As shown, when the first miniature electric actuators 4016 on both sides work simultaneously while the other miniature electric actuators are not working, the effect of bending the entire finger is achieved. Other working modes can be deduced by analogy to the above logic.

[0065] It is worth noting that the existing dexterous hand drives present a significant contradiction between miniaturization and multi-degree-of-freedom control. When integrating multi-degree-of-freedom movements, it is difficult to balance the miniaturization of the drive unit with control precision. For example, when using traditional servo motors to drive the knuckles, although compound movements such as bending and swinging can be achieved, the size of the motor results in the knuckle diameter generally exceeding 20mm, making it unsuitable for confined working environments. The fully articulated, multi-modal, automatically switching bionic dexterous hand 1000 abandons the traditional design approach of placing the actuator inside the palm. Instead, it proposes integrating miniature electric actuators inside the finger joints, adopting a "parallel + series hybrid" actuator layout. This design, while preserving the original degrees of freedom of the fingers, frees up space inside the palm for the track wheels, resulting in high system integration and compactness.

[0066] In some embodiments, two first micro actuators 4016 are fixed within the first knuckle 4013 by a first mounting bracket 407. A second micro actuator 4017 and a third micro actuator 4018 are fixed within the second knuckle 4014 by a second mounting bracket 408.

[0067] Specifically, the first mounting bracket 407 has first mounting slots 4071 on its left and right sides, and two first miniature electric actuators 4016 are respectively fixed in the two first mounting slots 4071. The second mounting bracket 408 has second mounting slots 4081 on its left and right sides, and a second miniature electric actuator 4017 and a third miniature electric actuator 4018 are respectively fixed in the two second mounting slots 4081. The first mounting bracket 407 and the second mounting bracket 408 allow multiple miniature electric actuators to be neatly and securely integrated inside each finger joint, facilitating assembly and making the structure compact. In some embodiments, the first hinge portion 40131 and the second hinge portion 40141 are connected by a first hinge pin 4019, and the third hinge portion 40142 and the fourth hinge portion 40152 are connected by a second hinge pin 4020.

[0068] In some embodiments, the first finger 401 further includes a fingertip sensor 410, which is fixed to the front end of the third phalanx 4015. The fingertip sensor 410 can be used to acquire contact information during operation, realize force perception or tactile perception, and enhance the fine manipulation and interaction capabilities of dexterous hands.

[0069] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A full-joint movable multi-modal automatic switching bionic dexterous hand, characterized in that, The hand palm shell module, the modal conversion module, the track wheel module and the finger module are included; the lower side and the front side of the hand palm shell module are respectively provided with openings for the finger module and the track wheel module to enter and exit; the finger module includes a first finger and a second finger with four degrees of freedom, the first finger is connected with the rear end of the left or right outer side of the hand palm shell module; the modal conversion module is arranged in the hand palm shell module, and is used for the second finger and the track wheel module to move, so that the full-joint movable multi-modal automatic switching bionic dexterous hand is switched between the wheeled end modal and the dexterous hand modal; wherein, in the wheeled end modal, the second finger is retracted into the hand palm shell module, and the track wheel module is located below the hand palm shell module; in the dexterous hand modal, the second finger is stretched out to the front of the hand palm shell module, and the track wheel module is retracted into the hand palm shell module.

2. The full-joint movable multi-modal automatic switching bionic dexterous hand according to claim 1, wherein the modal conversion module includes a motor, a lead screw transmission assembly and a track wheel retracting and releasing assembly, the motor is connected with the lead screw transmission assembly, the lead screw transmission assembly is connected with the second finger, the lead screw transmission assembly is further connected with the track wheel retracting and releasing assembly, and the track wheel retracting and releasing assembly is connected with the track wheel module; the motor drives the lead screw transmission assembly to drive the second finger to move, at the same time, the lead screw transmission assembly drives the track wheel retracting and releasing assembly, and then the track wheel retracting and releasing assembly drives the track wheel module, so as to realize the switching of the full-joint movable multi-modal automatic switching bionic dexterous hand between the wheeled end modal and the dexterous hand modal.

3. The full-joint-movable multi-modal automatically-switchable bionic dexterous hand of claim 2, wherein, a wrist mounting bridge is further included, the wrist mounting bridge is connected with the hand palm shell module; the modal conversion module further includes a wrist mounting bridge retracting and releasing assembly, the wrist mounting bridge retracting and releasing assembly is connected between the lead screw transmission assembly and the wrist mounting bridge; the motor drives the lead screw transmission assembly, the lead screw transmission assembly drives the wrist mounting bridge retracting and releasing assembly, and then drives the wrist mounting bridge; wherein, in the wheeled end modal, the wrist mounting bridge is located directly above the hand palm shell module; in the dexterous hand modal, the wrist mounting bridge is located directly behind the hand palm shell module.

4. The full-joint-movable multi-modal automatically-switchable bionic dexterous hand of claim 3, wherein, the lead screw transmission assembly includes a first lead screw, a second lead screw, a gear transmission pair and a finger cross beam; the first lead screw and the second lead screw extend forward and backward and are arranged in parallel, two ends of the first lead screw are respectively connected with the motor and the gear transmission pair, one end of the second lead screw is connected with the gear transmission pair, the second lead screw is threadedly matched with the finger cross beam, the finger cross beam is slidingly matched with the inner side of the finger shell module, and the front side of the finger cross beam is provided with the second finger.

5. The full-joint-movable multi-modal automatically-switchable bionic dexterous hand of claim 4, wherein, The top of the finger beam is provided with a beam threaded hole matched with the second lead screw; one end of the finger beam in the left-right direction is provided with a protruding guide pin, and correspondingly, an inner side of the palm shell module in the left-right direction is provided with a front-rear extending guide slot, and the guide pin and the guide slot are in sliding fit.

6. The full-joint movable multi-modal automatic switching bionic dexterous hand according to claim 5, wherein, The track wheel receiving and releasing assembly comprises a first connecting rod, a second connecting rod, a third connecting rod and a curved insertion rod; the track wheel module comprises a track wheel shell, a track wheel mounted on the track wheel shell and a track wheel motor embedded in one of the track wheels; the first connecting rod is located in front of the second connecting rod, one end of the first connecting rod and one end of the second connecting rod are respectively hinged to two ends of the third connecting rod, and the other end of the first connecting rod and the other end of the second connecting rod are respectively hinged to the track wheel shell, so that the first connecting rod, the second connecting rod, the third connecting rod and the track wheel shell form a parallelogram structure on one side in the left-right direction, and each hinged axis of the parallelogram structure extends in the left-right direction; The curved insertion rod is provided with a guide notch slot, a first hinged hole and a second hinged hole, the first hinged hole and the second hinged hole are located on one side of the guide notch slot, the first hinged hole is close to the notch end of the guide notch slot, the second hinged hole is close to the closed end of the guide notch slot, the curved insertion rod is coaxially hinged to the first connecting rod and the second connecting rod through the first hinged hole, the curved insertion rod is hinged to the palm shell module on one side in the left-right direction through the second hinged hole, and the hinged axis of the curved insertion rod and the palm shell module extends in the left-right direction; the guide notch slot is adapted for the guide pin to slide through.

7. The full-joint-movable multi-modal automatically-switchable bionic dexterous hand of claim 6, wherein, The other inner side of the palm shell module in the left-right direction is provided with a vertically extending sliding slot, and the other side of the track wheel shell in the left-right direction is provided with an outward protruding sliding pin, and the sliding pin and the sliding slot are adapted to fit.

8. The full-joint movable multi-modal automatic switching bionic dexterous hand according to claim 4, wherein, The left and right ends of the rear and upper parts of the palm shell module are symmetrically provided with L-shaped sliding rails respectively, the left and right inner sides of the wrist mounting bridge are symmetrically provided with short pins respectively, the short pin on one side of the wrist mounting bridge is fixed with a curved rod, and the short pin is adapted to slide with the L-shaped sliding rail correspondingly; The wrist mounting bridge receiving and releasing assembly comprises a push-pull rod, one end of the push-pull rod is provided with a push-pull rod threaded hole, the push-pull rod threaded hole is matched with the first lead screw, and the other end of the push-pull rod is hinged to the curved rod, and the hinged axis of the push-pull rod and the curved rod extends in the left-right direction.

9. The multi-modal automatically switchable bionic dexterous hand of any of claims 1-8, wherein, The first finger and the second finger respectively comprise a base, a first finger joint, a second finger joint and a third finger joint connected in sequence. The base is fixed on the palm shell; two same first micro electric push rods are arranged in the first finger joint in parallel and in the same direction, and the two first micro electric push rods are used to drive the first finger joint to make bending and stretching movement relative to the base by the same extension amount and to drive the first finger joint to make left and right swing relative to the base by differential driving; Two second micro electric push rods and a third micro electric push rod are arranged in the second finger joint in reverse parallel, the second micro electric push rod is used to drive the second finger joint to make bending and stretching movement relative to the first finger joint, and the third micro electric push rod is used to drive the third finger joint to make bending and stretching movement relative to the second finger joint.

10. The full-joint-movable multi-modal automatically-switchable bionic dexterous hand of claim 9, wherein, A ball mounting seat and a base limiting sliding groove extending upward from the ball mounting seat are arranged on one side of the base; one end of the ball mounting seat is connected with a universal shaft through a ball hinge, and the other end of the universal shaft is fixed with the lower part of the rear end of the first finger joint, and the two first micro electric push rods are arranged in the first finger joint in parallel and in the same direction and are arranged left and right, and are respectively connected with a slidable finger root push-pull pin in the base limiting sliding groove through a fisheye bearing; The lower part of the front end of the first finger joint is provided with a first hinge part and a first finger joint limiting sliding groove extending upward from the first hinge part, the lower part of the rear end of the second finger joint is provided with a second hinge part, and the first hinge part is hinged with the second hinge part; the second micro electric push rod is arranged in the second finger joint, and the second micro electric push rod is fixed with a slidable first L-shaped push-pull rod in the first finger joint limiting sliding groove; The lower part of the front end of the second finger joint is provided with a third hinge part, the lower part of the rear end of the third finger joint is provided with a fourth hinge part and a third finger joint limiting groove extending upward from the fourth hinge part, the third hinge part is hinged with the fourth hinge part, the third micro electric push rod is arranged in the second finger joint in reverse with the second micro electric push rod, and the third micro electric push rod is fixed with a slidable second L-shaped push-pull rod in the third finger joint limiting groove.

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