Humanoid dexterous hands and robots

Abstract

The present application belongs to the field of robot design and manufacturing technology, and in particular, relates to a humanoid dexterous hand and a robot. The humanoid dexterous hand comprises: a support bracket; a driving mechanism, the driving mechanism is mounted on the support bracket, and the driving mechanism has a power output end; a first connecting component, the first end of the first connecting component is connected to the power output end; a second connecting component, the first end of the second connecting component is movably connected to the support bracket; a thumb, the thumb is provided with a connecting end, the connecting end has a first connecting position and a second connecting position arranged along the extension direction of the thumb, the second end of the first connecting component is rotatably connected to the first connecting position, and the second end of the second connecting component is rotatably connected to the second connecting position. The technical solution of the present application is intended to solve the problem that the finger design of the traditional robot's humanoid palm directly arranges the driver at the finger joint, and the motion joint is realized by a ball joint, resulting in a large size of the finger joint part.

Description

Technical Field

[0001] The present application belongs to the field of robot design and manufacturing technology, and in particular relates to a humanoid dexterous hand and a robot. Background Art

[0002] The end effector of traditional robots generally uses a clamping method to grasp objects. The clamping method has disadvantages such as a single grasping method and lack of flexibility. It can no longer meet the requirements of robots for grasping operation capabilities in complex environments and complex grasping tasks.

[0003] Therefore, in existing technologies, an increasing number of robot end effectors are beginning to adopt designs that mimic the humanoid hand. The human hand is highly flexible and can perform a variety of gripping techniques, such as grasping, grabbing, pinching, and hooking. The key to designing a humanoid hand lies in the structural design of each finger.

[0004] At present, in the finger design of traditional robot's humanoid palm, a series mechanism is traditionally used, the driver is directly arranged at the finger joint, and the motion joint is often realized by ball joints, which leads to the large size of the finger joint part, and then the overall size of the fingers and even the palm is large. Summary of the Invention

[0005] The purpose of this application is to provide a humanoid dexterous hand and robot, aiming to solve the problem that the finger design of the traditional robot's humanoid palm directly arranges the driver at the finger joint, and the motion joint is realized by ball joints, resulting in a large size of the finger joint area.

[0006] To achieve the above objectives, the technical solution adopted in this application is: a humanoid dexterous hand, comprising:

[0007] Support bracket;

[0008] A driving mechanism is mounted on the supporting bracket, and has a power output end, which performs a linear telescopic motion to output power;

[0009] a first connecting assembly, wherein a first end of the first connecting assembly is connected to the power output end;

[0010] a second connecting assembly, wherein a first end of the second connecting assembly is movably connected to the supporting bracket;

[0011] The thumb is provided with a connecting end, the connecting end has a first connecting position and a second connecting position arranged along the extension direction of the thumb, the second end of the first connecting component is rotatably connected to the first connecting position, and the second end of the second connecting component is rotatably connected to the second connecting position.

[0012] In one embodiment, the driving mechanism includes a first driving mechanism and a second driving mechanism arranged in parallel, the first driving mechanism is provided with a first driving end, the second driving mechanism is provided with a second driving end, the first connecting assembly includes two identical groups of connecting structures, each group of connecting structures includes a first connecting member and a second connecting member, the first end of the first connecting member and the first end of the second connecting member are rotatably connected, wherein the second end of the first connecting member of one group of connecting structures is connected to the first driving end, and the second end of the first connecting member of the other group of connecting structures is connected to the second driving end, and the second ends of the two second connecting members are both rotatably connected to the first connection position.

[0013] In one embodiment, the driving mechanism includes a first driving mechanism and a second driving mechanism arranged in parallel, the first driving mechanism is provided with a first driving end, the second driving mechanism is provided with a second driving end, the first connecting assembly includes two identical groups of connecting structures, each group of connecting structures includes a first connecting member and a second connecting member, one of the first end of the first connecting member and the first end of the second connecting member is set as a first ball socket structure, the other of the first end of the first connecting member and the first end of the second connecting member is set as a first ball head, and the first ball head ball joint is assembled on the first ball socket structure, wherein the second end of the first connecting member of one group of connecting structures is connected to the first driving end, and the second end of the first connecting member of the other group of connecting structures is connected to the second driving end, and the second ends of the two second connecting members are both rotatably connected to the first connection position.

[0014] In one embodiment, the anthropomorphic dexterous hand also includes a first assembly shaft, which is installed at a first connection position. The second ends of the two second connecting members are both rotatably assembled on the first assembly shaft, and the second ends of the two second connecting members can slide along the central axis direction of the first assembly shaft.

[0015] In one embodiment, the first connection position includes two second ball-and-socket structures, the second ends of the two second connection members are both configured as second ball heads, and the two second ball heads are respectively assembled to the two second ball-and-socket structures by ball joints.

[0016] In one embodiment, the second connecting assembly includes a short swing arm and a long swing arm, the first end of the short swing arm is rotatably connected to the first end of the long swing arm, the second end of the short swing arm is rotatably connected to the support bracket, and the second end of the long swing arm is rotatably connected to the second connection position.

[0017] In one embodiment, the anthropomorphic dexterous hand further includes a second assembly shaft, which is installed at the second connection position, and the second end of the long swing arm is rotatably assembled to the second assembly shaft.

[0018] In one embodiment, the second connection position is set as a third ball-and-socket structure, the second end of the long swing arm is set as a third ball head, and the third ball head ball joint is assembled on the third ball-and-socket structure.

[0019] In one embodiment, the second connecting component is an integral component, the two ends of the second connecting component are respectively set as the third ball head and the fourth ball head, the second connection position is set as the third ball socket structure, the support bracket is provided with the fourth ball socket structure, the third ball head ball joint is assembled on the third ball socket structure, and the fourth ball head ball joint is assembled on the fourth ball socket structure.

[0020] In one embodiment, the anthropomorphic dexterous hand further includes a main control board and a pressure sensor, the main control board and the pressure sensor are electrically connected, the main control board and the driving mechanism are electrically connected, and the main control board controls the telescopic movement of the power output end of the driving mechanism based on the pressure signal detected and sent by the pressure sensor.

[0021] According to another aspect of the present application, a robot is provided. Specifically, the robot includes the aforementioned humanoid dexterous hand.

[0022] This application has at least the following beneficial effects:

[0023] The anthropomorphic dexterous hand provided by the present application is applied. A support bracket is used as a basic frame, and a driving mechanism is installed on the support bracket. Power is transmitted between the driving mechanism and the thumb through a first connecting component, and the thumb is connected to the support bracket through a second connecting component to serve as a basic fulcrum for the thumb to perform multi-degree-of-freedom movements. When the power output end of the driving mechanism outputs power, the first connecting component then transmits the power to the thumb, and under the restraining effect of the mutual cooperation of the first connecting component and the second connecting component, the thumb can perform complex multi-freedom movements and achieve flexible movement of the thumb. Compared with the finger design of the existing humanoid palm of the robot, in which the driver is directly arranged at the finger joint and the motion joint is realized by a ball joint, the thumb mechanism in the anthropomorphic dexterous hand provided by the present application separates the driving mechanism and the joint of the thumb. On the basis of ensuring the flexible movement of the thumb of the anthropomorphic dexterous hand, the volume size of the joint of the thumb in the anthropomorphic dexterous hand is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 This is a schematic diagram of the assembly structure of the thumb mechanism of the humanoid dexterous hand in an embodiment of the present application;

[0026] Figure 2 for Figure 1 The front view of the thumb mechanism in the humanoid dexterous hand is shown;

[0027] Figure 3 for Figure 2 A left side view of the thumb mechanism in the anthropomorphic dexterous hand is shown;

[0028] Figure 4 Decomposition of the thumb mechanism in the humanoid dexterous hand according to the embodiment of the present application Figure 1 ;

[0029] Figure 5 Decomposition of the thumb mechanism in the humanoid dexterous hand according to the embodiment of the present application Figure 2 ;

[0030] Figure 6 Schematic diagram of the assembly structure of the humanoid dexterous hand in the embodiment of the present application Figure 1 ;

[0031] Figure 7 Schematic diagram of the assembly structure of the humanoid dexterous hand in the embodiment of the present application Figure 2 ;

[0032] Figure 8 Schematic diagram of the assembly structure of the humanoid dexterous hand in the embodiment of the present application Figure 3 .

[0033] Among them, the reference numerals in the figures are:

[0034] 100. Thumb mechanism;

[0035] 10. Support bracket; 11. Wrist connection structure; 101. Base plate; 102. Fixing frame; 103. Fixing block;

[0036] 20. Driving mechanism; 21. Power output end; 211. First driving end; 212. Second driving end;

[0037] 30. First connecting assembly; 300. Connecting structure; 31. First connecting member; 32. Second connecting member;

[0038] 40. Second connecting assembly; 41. Short swing arm; 42. Long swing arm;

[0039] 50. thumb; 51. connection end; 511. first connection position; 512. second connection position;

[0040] 61. First assembly axis; 62. Second assembly axis; 63. Main control board; 64. Pressure sensor;

[0041] 71. Palm support frame; 72. Four-finger module;

[0042] 201. Locking nut; 202. Locking bolt. DETAILED DESCRIPTION

[0043] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0044] In the description of this application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0045] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified with "first," "second," etc., may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0046] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0047] like Figures 1 to 5 As shown, it shows a schematic structural diagram of the thumb mechanism 100 in the humanoid dexterous hand of the present application. Figures 6 to 8 As shown, it shows a schematic diagram of the overall structure of the humanoid dexterous hand of the present application.

[0048] like Figures 1 to 5As shown, the anthropomorphic dexterous hand of the present application includes a support bracket 10, a drive mechanism 20, a first connecting component 30, a second connecting component 40, and a thumb 50, which are assembled to form the thumb mechanism 100 in the anthropomorphic dexterous hand. When assembling the thumb mechanism 100, the drive mechanism 20 is mounted on the support bracket 10. The drive mechanism 20 has a power output end 21. The first end of the first connecting component 30 is connected to the power output end 21, and the first end of the second connecting component 40 is movably connected to the support bracket 10. Furthermore, the thumb 50 is provided with a connecting end 51, which has a first connecting position 511 and a second connecting position 512 arranged along the extension direction of the thumb 50. The second end of the first connecting component 30 is rotatably connected to the first connecting position 511, and the second end of the second connecting component 40 is rotatably connected to the second connecting position 512. During the movement of the thumb mechanism 100, the power output end 21 performs linear telescopic movement to output power, and the power is transmitted to the first connecting component 30 and the thumb 50 in turn. Since the second connecting position 512 of the thumb 50 and the second end of the second connecting component 40 are rotationally connected, and the first end of the second connecting component 40 is movably connected to the support bracket 10, the thumb 50, driven by the first connecting component 30, performs multi-degree-of-freedom movement with the connection center between the second connecting position 512 and the second connecting component 40 and the connection center between the second connecting component 40 and the support bracket 10 as the basic fulcrum of the movement.

[0049] The anthropomorphic dexterous hand provided herein utilizes a support frame 10 as the base frame of a thumb mechanism 100, a drive mechanism 20 is mounted on the support frame 10, and power is transmitted between the drive mechanism 20 and the thumb 50 via a first connecting assembly 30. Furthermore, the thumb 50 is connected to the support frame 10 via a second connecting assembly 40, serving as a base fulcrum for the thumb 50 to perform multi-degree-of-freedom movements. When the power output terminal 21 of the drive mechanism 20 outputs power, the first connecting assembly 30 transmits the power to the thumb 50. Under the restraining action of the first connecting assembly 30 and the second connecting assembly 40, the thumb 50 is able to perform complex multi-degree-of-freedom movements, thus achieving flexible movement of the thumb 50. Because the thumb 50 can flexibly perform complex multi-degree-of-freedom movements, and because the thumb 50 cooperates with the four-finger module 72 of the anthropomorphic dexterous hand to grasp external objects, the anthropomorphic dexterous hand equipped with the thumb mechanism 100 is capable of performing a wider variety of grasping methods for external objects. Compared to existing humanoid hand finger designs in robotics, which place actuators directly at the finger joints and utilize ball joints for kinematic joints, the thumb mechanism 100 of the humanoid hand provided in this application separates the drive mechanism 20 from the joint of the thumb 50. This ensures the flexibility of the thumb 50 while reducing the size of the joint. Assembling this smaller thumb mechanism 100 within the robotic humanoid hand reduces the overall size of the hand, resulting in a more realistic and aesthetically pleasing appearance.

[0050] like Figure 4 and Figure 5 As shown, the support bracket 10 includes a base plate 101, a fixing frame 102, and a fixing block 103, wherein the base plate 101 plays the main role of basic support. When the driving mechanism 20 is installed on the support bracket 10, the bottom of the driving mechanism 20 is connected to the fixing block 103 via a locking nut 201, and the fixing block 103 is fixed to the base plate 101 by screwing the locking bolt 202. In addition, in order to ensure that the driving mechanism 20 can be more firmly installed on the base plate 101, the driving mechanism 20 is framed on the base plate 101 by the fixing frame 102, and both the fixing frame 102 and the fixing block 103 are locked to the base plate 101 by the locking bolt 202.

[0051] like Figures 6 to 8 As shown, the anthropomorphic dexterous hand also includes a palm support frame 71, and the support frame 10 and the four-finger module 72 of the anthropomorphic dexterous hand are both assembled on the palm support frame 71, that is, the palm support frame 71 serves as the basic support frame of the anthropomorphic dexterous hand (the opposite sides of the palm support frame 71 are relative to the palm side and the back side of the human hand).

[0052] like Figure 6and Figure 8 As shown, the anthropomorphic dexterous hand also includes a main control board 63, which is mounted on the back of the hand of the palm support frame 71. The main control board 63 is electrically connected to the drive mechanism 20 and controls the extension and retraction of the power output end 21 of the drive mechanism 20. By controlling the drive mechanism 20 through the main control board 63, the thumb mechanism 100 of the anthropomorphic dexterous hand can achieve automated, intelligent, and flexible movements.

[0053] like Figure 4 and Figure 5 As shown, the drive mechanism 20 includes a first drive mechanism and a second drive mechanism arranged in parallel. The first drive mechanism and the second drive mechanism preferably use linear motors. The first drive mechanism and the second drive mechanism are both electrically connected to the main control board 63. That is, the main control board 63 executes a control mechanism for the first drive mechanism and the second drive mechanism respectively, so that the first drive mechanism and the second drive mechanism can independently perform corresponding linear telescopic movements, thereby independently outputting power. Accordingly, the first drive mechanism is provided with a first drive end 211, and the second drive mechanism is provided with a second drive end 212. The first drive end 211 and the second drive end 212 constitute the aforementioned power output end 21. The first drive end 211 is the output end of the linear movement of the first drive mechanism, and the second drive end 212 is the output end of the linear movement of the second drive mechanism, and the central axis of the first drive end 211 is parallel to the central axis of the second drive end 212. As shown Figure 5As shown, the first connecting assembly 30 includes two identical groups of connecting structures 300, each group of connecting structures 300 includes a first connecting member 31 and a second connecting member 32. The first connecting member 31 and the second connecting member 32 are assembled, and the first end of the first connecting member 31 and the first end of the second connecting member 32 are rotatably connected via a first rotating pin (the central axis of the first rotating pin is perpendicular to the central axis of the first driving end 211 and the second driving end 212). The second end of the first connecting member 31 of one group of connecting structures 300 is fixedly connected to the first driving end 211, and the second end of the first connecting member 31 of the other group of connecting structures 300 is fixedly connected to the second driving end 212. Then, the second ends of the two second connecting members 32 are rotatably connected to the first connecting position 511. The first drive mechanism and the second drive mechanism have the following two power output modes: a power output mode for synchronously executing linear telescopic motion and a power output mode for differentially executing linear telescopic motion. In the power output mode of synchronously executing linear telescopic motion, the first driving end 211 and the second driving end 212 synchronously execute linear telescopic motion, and then synchronously drive the first connecting member 31 and the second connecting member 32 of the two sets of connecting structures 300 to move synchronously (at this time, the first connecting member 31 and the second connecting member 32 can be regarded as not rotating relative to each other around the central axis of the first rotating pin), and then drive the thumb 50 to perform a two-degree-of-freedom motion of swinging up and down with the connection center between the second connection position 512 and the second connecting component 40 and the connection center between the second connecting component 40 and the supporting bracket 10 as the basic fulcrum of the motion (such as Figures 6 to 8 The up and down swing of the placement state of the anthropomorphic dexterous hand shown). In the power output mode of differential linear telescopic motion, the telescopic lengths of the first driving end 211 and the second driving end 212 for linear telescopic motion are different. At this time, the motion generated by the first driving end 211 driving the corresponding first connecting member 31 and the motion generated by the second driving end 212 driving the corresponding first connecting member 31 are different. Then, the motions of the two second connecting members 32 relative to the corresponding first connecting members 31 are different, that is, the first connecting member 31 and the second connecting member 32 generate relative rotation around the central axis of the first rotating pin, thereby driving the thumb 50 to perform a two-degree-of-freedom swinging motion (such as left and right) with the connection center between the second connection position 512 and the second connecting component 40 and the connection center between the second connecting component 40 and the support bracket 10 as the basic fulcrum of the motion. Figures 6 to 8 Thus, the thumb 50 of the thumb mechanism 100 of the anthropomorphic dexterous hand of the present application can realize multi-degree-of-freedom motion of four degrees of freedom, namely, up, down, left, and right, which basically meets the flexible motion requirements of the thumb 50.

[0054] In another feasible embodiment, one of the first end of the first connector 31 and the first end of the second connector 32 is configured as a first ball-and-socket structure, and the other of the first end of the first connector 31 and the first end of the second connector 32 is configured as a first ball head, which is assembled to the first ball-and-socket structure via a ball hinge. In this embodiment, the first end of the first connector 31 and the first end of the second connector 32 are rotatably assembled via a ball hinge, allowing for greater spatial freedom of relative motion between the first connector 31 and the second connector 32.

[0055] like Figure 4 and Figure 5 As shown, the anthropomorphic dexterous hand also includes a first assembly shaft 61. During assembly, the first assembly shaft 61 is mounted at the first connection location 511, and the second ends of the two second connectors 32 are both rotatably mounted on the first assembly shaft 61. This allows the second ends of the second connectors 32 and the thumb 50 to smoothly rotate relative to each other during the up-and-down swinging motion of the thumb 50. Furthermore, in the power output mode of differential linear telescopic motion, the second ends of the two second connectors 32 can slide along the central axis of the first assembly shaft 61. This eliminates the potential for motion interference between the two second connectors 32 and the thumb 50 due to the different motion states of the two second connectors 32 caused by the differential linear telescopic motion of the first drive end 211 and the second drive end 212.

[0056] In another possible embodiment, the first connection location 511 includes two second ball-and-socket structures. The second ends of the two second connectors 32 are each configured as a second ball head, and the two second ball heads are respectively assembled to the two second ball-and-socket structures via a ball hinge. In this embodiment, the second ends of the two second connectors 32 and the thumb 50 are rotatably assembled via a ball hinge, allowing for greater spatial freedom of relative movement between the two second connectors 32 and the thumb 50.

[0057] like Figure 4 and Figure 5 As shown, the second connecting assembly 40 includes a short swing arm 41 and a long swing arm 42. During assembly, the first end of the short swing arm 41 and the first end of the long swing arm 42 are rotatably connected via a second rotating pin, the second end of the short swing arm 41 is rotatably connected to the support bracket 10, and the second end of the long swing arm 42 is rotatably connected to the second connecting position 512.

[0058] In the embodiment of the present application, the second end of the short swing arm 41 is rotatably connected to the support bracket 10 via a third rotation pin. Figure 4 and Figure 5As shown, the anthropomorphic dexterous hand further includes a second assembly axis 62 mounted at a second connection location 512. The second end of the long swing arm 42 is rotatably mounted to the second assembly axis 62, thereby enabling the thumb 50 to smoothly swing up and down in a power output mode for synchronous linear telescopic motion. Alternatively, the second connection location 512 may be configured as a third ball-and-socket structure, the second end of the long swing arm 42 may be configured as a third ball head, and the third ball head may be spherically hinged to the third ball-and-socket structure. The second connection location 512 and the second end of the long swing arm 42 may be rotatably mounted via a ball hinge, thereby increasing the spatial freedom of relative motion between the long swing arm 42 and the thumb 50.

[0059] In another feasible embodiment, the second connecting component 40 is an integral component (that is, the aforementioned first connecting member 31 and second connecting member 32 are designed and prepared as an integral part of an integral structure), the two ends of the second connecting component 40 are respectively set as a third ball head and a fourth ball head, the second connecting position 512 is set as a third ball socket structure, the support bracket 10 is provided with a fourth ball socket structure, the third ball head ball joint is assembled to the third ball socket structure, and the fourth ball head ball joint is assembled to the fourth ball socket structure. In this embodiment, the second connecting component 40 and the support bracket 10 and the second connecting component 40 and the thumb 50 are all rotatably assembled by means of ball hinges, so that the spatial freedom of relative movement between the second connecting component 40 and the support bracket 10 and between the second connecting component 40 and the thumb 50 is more flexible.

[0060] The anthropomorphic dexterous hand of the present application embodiment further includes a pressure sensor 64, which can be installed on the distal knuckle of the thumb 50 (e.g., Figures 1 to 8 The main control board 63 is electrically connected to the pressure sensor 64, and the main control board 63 is electrically connected to the drive mechanism 20. During the process of grasping an external object (especially grasping an external object by the anthropomorphic dexterous hand), the main control board 63 controls the telescopic movement of the power output end 21 of the drive mechanism 20 based on the pressure signal detected and sent by the pressure sensor 64, thereby performing the grasping operation more intelligently. In the robot equipped with the anthropomorphic dexterous hand of the present application, an image recognition module (not shown) is correspondingly provided, and the image recognition module is electrically connected to the main control board 63. When the anthropomorphic dexterous hand grasps an object, the image recognition module scans and identifies the grasped object, thereby determining information such as the object's material, strength, and hardness. The main control board 63 then uses the object information determined by the image recognition module to execute the grasping force applied by the thumb 50. In particular, when the anthropomorphic dexterous hand grasps fragile objects, such as glass objects, adaptively adapting the grasping force can better protect the object from damage during the grasping process.

[0061] According to another aspect of the present application, a robot (not shown) is provided. The robot includes the aforementioned humanoid dexterous hand. Figures 6 to 8 As shown, the support bracket 10 of the thumb mechanism 100 is provided with a wrist connection structure 11, through which the humanoid dexterous hand is rotatably assembled to the end of the robot's arm.

[0062] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A humanoid dexterous hand, characterized in that: include: Support bracket (10); A driving mechanism (20), the driving mechanism (20) being mounted on the supporting bracket (10), the driving mechanism (20) having a power output end (21), the power output end (21) performing a linear telescopic motion to output power; a first connecting assembly (30), wherein a first end of the first connecting assembly (30) is connected to the power output end (21); a second connecting assembly (40), wherein a first end of the second connecting assembly (40) is movably connected to the supporting bracket (10); A thumb (50), the thumb (50) being provided with a connecting end (51), the connecting end (51) having a first connecting position (511) and a second connecting position (512) arranged along an extension direction of the thumb (50), the second end of the first connecting component (30) being rotatably connected to the first connecting position (511), and the second end of the second connecting component (40) being rotatably connected to the second connecting position (512); The driving mechanism (20) includes a first driving mechanism and a second driving mechanism arranged in parallel, the first driving mechanism is provided with a first driving end (211), the second driving mechanism is provided with a second driving end (212), the first connecting assembly (30) includes two identical groups of connecting structures (300), each group of the connecting structures (300) includes a first connecting member (31) and a second connecting member (32), the first end of the first connecting member (31) and the first end of the second connecting member (32) are rotatably connected, wherein the second end of the first connecting member (31) of one group of the connecting structures (300) is connected to the first driving end (211), and the second end of the first connecting member (31) of the other group of the connecting structures (300) is connected to the second driving end (212), and the second ends of the two second connecting members (32) are both rotatably connected to the first connecting position (511); The anthropomorphic dexterous hand further comprises a first assembly shaft (61), the first assembly shaft (61) being mounted on the first connection position (511), the second ends of the two second connecting members (32) being rotatably assembled on the first assembly shaft (61), and the second ends of the two second connecting members (32) being able to slide along the central axis direction of the first assembly shaft (61); The anthropomorphic dexterous hand further comprises a palm support frame (71) and a four-finger module (72); the support frame (10) and the four-finger module (72) are both assembled on the palm support frame (71); and the thumb (50) cooperates with the four-finger module (72) to grasp external objects.

2. The humanoid dexterous hand according to claim 1, characterized in that: One of the first end of the first connecting member (31) and the first end of the second connecting member (32) is configured as a first ball-and-socket structure, and the other of the first end of the first connecting member (31) and the first end of the second connecting member (32) is configured as a first ball head, and the first ball head ball joint is assembled on the first ball-and-socket structure.

3. The humanoid dexterous hand according to claim 1 or 2, characterized in that: The first connection position (511) includes two second ball-socket structures, the second ends of the two second connection members (32) are both configured as second ball heads, and the two second ball heads are respectively assembled to the two second ball-socket structures by ball joints.

4. The humanoid dexterous hand according to claim 1, characterized in that: The second connecting assembly (40) comprises a short swing arm (41) and a long swing arm (42), wherein the first end of the short swing arm (41) and the first end of the long swing arm (42) are rotatably connected, the second end of the short swing arm (41) is rotatably connected to the supporting bracket (10), and the second end of the long swing arm (42) is rotatably connected to the second connecting position (512).

5. The humanoid dexterous hand according to claim 4, characterized in that: The anthropomorphic dexterous hand further comprises a second assembly shaft (62), the second assembly shaft (62) being mounted on the second connection position (512), and the second end of the long swing arm (42) being rotatably assembled on the second assembly shaft (62).

6. The humanoid dexterous hand according to claim 4, characterized in that: The second connection position (512) is configured as a third ball-and-socket structure, the second end of the long swing arm (42) is configured as a third ball head, and the third ball head ball joint is assembled on the third ball-and-socket structure.

7. The humanoid dexterous hand according to claim 1, characterized in that: The second connecting component (40) is an integral component, the two ends of the second connecting component (40) are respectively arranged as a third ball head and a fourth ball head, the second connecting position (512) is arranged as a third ball socket structure, the supporting bracket (10) is provided with a fourth ball socket structure, the third ball head ball joint is assembled to the third ball socket structure, and the fourth ball head ball joint is assembled to the fourth ball socket structure.

8. The humanoid dexterous hand according to claim 1, characterized in that: The anthropomorphic dexterous hand further comprises a main control board (63) and a pressure sensor (64); the main control board (63) and the pressure sensor (64) are electrically connected; the main control board (63) and the driving mechanism (20) are electrically connected; the main control board (63) controls the telescopic movement of the power output end (21) of the driving mechanism (20) according to the pressure signal detected and sent by the pressure sensor (64).

9. A robot, characterized in that: The invention comprises the humanoid dexterous hand as described in any one of claims 1 to 8.

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