Electrically-driven humanoid dexterous hand

Abstract

The invention discloses an electrically-driven humanoid dexterous hand, which belongs to the technical field of robots, and comprises a palm and three fingers, namely a thumb, an index finger and a self-adaptive flexible finger; the thumb and the index finger are of three-degree-of-freedom structures and can be bent; the finger root part of the self-adaptive flexible finger is driven to rotate through the driving unit so as to be matched with the thumb and the index finger to grab an object, and the self-adaptive flexible finger can adapt to the shape of the object. The electrically-driven humanoid dexterous hand adopts less active degrees of freedom, and more active degrees of freedom are distributed to the index finger and the thumb, so that the problem that the cost and the dexterous operation capability are difficult to balance due to the selection and distribution of degrees of freedom of the existing humanoid dexterous hand is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an electrically driven humanoid dexterous hand. Background Art

[0002] As an important branch of robotics, humanoid dexterous hands have far-reaching significance. Humanoid dexterous hands can achieve fine grasping, manipulation and perception capabilities by simulating the structure and movement mechanism of human fingers, enabling robots to complete many complex tasks that require manual operation. In the fields of industrial manufacturing, logistics and transportation, humanoid dexterous hands can replace humans in repetitive, high-precision and high-risk work, reducing the safety risks of personnel. Highly humanoid dexterous hands can enable robots to enter more fields that require manual operation, such as medical care, services, education, etc., thereby expanding the application areas of robots. In particular, with the popularization and application of humanoid robots, it will gradually change people's lifestyles and work patterns. For example, in the family, humanoid dexterous hands can assist people in completing housework; in the medical field, it can provide rehabilitation training and assisted living for the disabled, and better serve mankind.

[0003] There are two types of existing humanoid dexterous hand technology solutions: one is to place the finger drive unit at the back and arrange it at the forearm. The representative product is Shadow. The advantage is that the structure of grasping objects is compact and small, the power is strong, and it can realize almost all the movements of human hands. The disadvantage is that the overall volume is large and it is difficult to integrate it into the end of the humanoid robot arm to form a compact humanoid robot arm. The other is to place all the drive units in the palm. The representative product is the DLR / HIT II dexterous hand of Harbin Institute of Technology. Its advantage is the overall compact structure, but the disadvantage is that the power is small and it cannot realize all the movements of human hands.

[0004] In order to facilitate integration into humanoid robotic arms and balance costs, the existing common electric-driven dexterous hands usually adopt the latter and only retain a part of the 21 degrees of freedom of the human hand. The most typical configuration is the time-dependent dexterous hand configuration, that is, each finger except the thumb has 1 active degree of freedom, and the thumb has 2 active degrees of freedom, a total of 6 degrees of freedom. Chinese invention patent application CN201810863088.8 discloses a finger structure for imitating a human hand, which is a finger of a time-dependent dexterous hand with only 1 active degree of freedom, and the fingertip can only draw an arc in space. Chinese invention patent application CN201710455031.X discloses a full-degree-of-freedom dexterous hand, the degree of freedom configuration is completely humanoid, a large number of motors are used, the structure is complex and the cost is high.

[0005] The main problems of existing anthropomorphic dexterous hands are as follows: the frequency of use of each finger by human hands is different during work, among which the index finger and thumb are the most commonly used fingers, while the existing dexterous hands distribute the degrees of freedom to each finger relatively evenly, which either results in more degrees of freedom for the whole hand and higher cost, or causes insufficient degrees of freedom for key fingers and weaker dexterous working ability. Summary of the invention

[0006] In view of this, the present invention provides an electrically driven anthropomorphic dexterous hand, which uses fewer active degrees of freedom and allocates more active degrees of freedom to the index finger and thumb, thereby solving the problem that existing anthropomorphic dexterous hands are difficult to balance cost and dexterous working ability due to the selection and allocation of degrees of freedom.

[0007] The present invention is achieved through the following technical solutions:

[0008] An electrically driven humanoid dexterous hand, comprising a palm and fingers, wherein the fingers are three, namely a thumb, an index finger and an adaptive flexible finger;

[0009] The thumb and the index finger both have three-degree-of-freedom configurations and can be bent;

[0010] The base of the adaptive flexible finger is driven to rotate by a driving unit to cooperate with the thumb and the index finger to grasp an object, and the adaptive flexible finger can adapt to the shape of the object.

[0011] Further, the finger root of the adaptive flexible finger is connected to the driving unit;

[0012] The driving unit includes a micro electric push rod mounting bracket, a micro electric push rod, a first connecting rod, a second connecting rod and a third connecting rod;

[0013] The fixed end of the micro electric push rod is hinged on the micro electric push rod mounting bracket, and the first connecting rod is hinged with the micro electric push rod mounting bracket and the push rod of the micro electric push rod to form a crank slider mechanism;

[0014] One end of the second connecting rod is hinged to the first connecting rod, the other end of the second connecting rod is hinged to the third connecting rod, the third connecting rod is also hinged to the micro electric push rod mounting bracket, and the finger root of the adaptive flexible finger is fixedly connected to the third connecting rod to form a double rocker mechanism.

[0015] Furthermore, the thumb and the index finger are each provided with three knuckles connected in series, and a rotational degree of freedom is formed at the connection point, which are the first knuckle, the second knuckle and the third knuckle in order from the root of the finger;

[0016] The tops of the third knuckles of the thumb and the index finger are provided with fixing blocks as fingertips.

[0017] Furthermore, the first finger joint, the second finger joint and the third finger joint have the same composition, and all include a motor mounting seat, a dual-axis reduction motor, an angle sensor mounting bracket, an angle sensor and a motor control board;

[0018] The dual-axis reduction motor is fixedly mounted on the motor seat and is used to provide power for the rotation of the corresponding knuckles;

[0019] The angle sensor mounting bracket is fixedly mounted on the motor mounting seat;

[0020] The angle sensor is fixedly mounted on the angle sensor mounting bracket, and the angle sensor is connected to the output shaft of the dual-axis reduction motor, and the angle sensor is used to feed back the rotation angle of the output shaft of the dual-axis reduction motor to the motor control board;

[0021] The motor control board is fixedly mounted on the motor mounting seat and is used for servo-driving and controlling the rotation of the output shaft of the dual-axis reduction motor.

[0022] Further, between the thumb and the index finger:

[0023] The motor mounting seat in the first finger joint is fixedly mounted on the micro electric push rod mounting bracket through a connecting seat, the output shaft of the dual-axis reduction motor in the first finger joint is fixedly connected to one end of the first finger joint connecting member, and the other end of the first finger joint connecting member is connected to the output shaft of the dual-axis reduction motor in the second finger joint;

[0024] The motor mounting seat in the second finger joint is fixedly connected to one end of the second finger joint connecting member, and the other end of the second finger joint connecting member is fixedly connected to the output shaft of the dual-axis reduction motor 1-1 in the third finger joint.

[0025] Furthermore, the first knuckle of the index finger and the micro electric push rod are both located in the palm.

[0026] Further, the palm includes a palm panel and a palm cover;

[0027] The palm panel and the palm cover are respectively fixedly mounted on two sides of the micro electric push rod mounting bracket, serving as the palm surface and the palm back, respectively.

[0028] Furthermore, the material of the adaptive flexible fingers is TPU or polyurethane.

[0029] Beneficial effects:

[0030] (1) The electrically driven anthropomorphic dexterous hand has three fingers, namely, a thumb, an index finger, and an adaptive flexible finger; the thumb and the index finger are both three-degree-of-freedom configurations and can be bent; the base of the adaptive flexible finger is driven to rotate by a driving unit to cooperate with the thumb and the index finger to grasp objects, and the adaptive flexible finger can adapt to the shape of the object.

[0031] In this way, the thumb and index finger are configured with three degrees of freedom in anthropomorphic form, so that the two commonly used fingers have three active degrees of freedom, and the tops of their fingers can reach any position in the working space, improving the flexibility of the operation; the middle finger, ring finger and little finger are combined into one and replaced by the adaptive flexible finger. In the actual fine operation scenarios, the thumb cooperates with the index finger and uses the three-degree-of-freedom characteristics of the fingers to complete the movement in any direction in the working space, and then completes the anthropomorphic fine operations such as pinching, twisting, kneading and rubbing, and the adaptive flexible finger provides auxiliary support functions similar to the other three fingers of the human hand; in the force operation scenario, the index finger, thumb and adaptive flexible finger jointly complete the three-finger clenching action, and the adaptive flexible finger can provide adaptive enveloping capability for objects. Therefore, from the perspective of the entire hand structure, a combination of adaptive flexible fingers and rigid multi-degree-of-freedom dexterous fingers is adopted, and the entire hand has a total of seven active degrees of freedom. Compared with the traditional electrically driven anthropomorphic dexterous hand, the present invention has a similar number of active degrees of freedom, and the distribution of degrees of freedom is tilted towards the commonly used fingers, achieving more dexterous operation capabilities, and being compatible with force operation and dexterous operation. This solves the problem that the existing anthropomorphic dexterous hand is difficult to balance cost and dexterous operation capabilities due to the selection and distribution of degrees of freedom, and can achieve stronger dexterous operation capabilities in a more compact structure.

[0032] (2) The root of the adaptive flexible finger is connected to the driving unit, and the driving unit includes a micro electric push rod mounting bracket, a micro electric push rod, a first connecting rod, a second connecting rod and a third connecting rod; the fixed end of the micro electric push rod is hinged to the micro electric push rod mounting bracket, and the first connecting rod is hinged to the micro electric push rod mounting bracket and the push rod of the micro electric push rod to form a crank slider mechanism; one end of the second connecting rod is hinged to the first connecting rod, and the other end of the second connecting rod is hinged to the third connecting rod, and the third connecting rod is also hinged to the micro electric push rod mounting bracket. The root of the adaptive flexible finger is fixedly connected to the third connecting rod to form a double rocker mechanism.

[0033] In this way, through the crank slider mechanism and the double rocker mechanism, the linear motion of the micro electric push rod can be converted into a large range of rotational motion of the adaptive flexible finger, providing a sufficient range of motion for adaptive gripping.

[0034] (3) The thumb and index finger are each provided with three knuckles connected in series, and a rotational degree of freedom is formed at the connection point, which are the first knuckle, the second knuckle and the third knuckle in order from the root of the finger; a fixed block is provided at the top of the third knuckle of the thumb and index finger, which serves as the fingertip.

[0035] In this way, the thumb and index finger are connected in series through the knuckles, and a rotational degree of freedom is formed at the connection point, thereby avoiding the use of complex transmission mechanisms such as connecting rods and wire ropes, and the structure has good maintainability.

[0036] (4) The first finger joint, the second finger joint and the third finger joint have the same composition, including a motor mounting seat, a dual-axis reduction motor, an angle sensor mounting bracket, an angle sensor and a motor control board; the dual-axis reduction motor is fixedly mounted on the motor mounting seat, and is used to provide power for the rotation of the corresponding finger joint; the angle sensor mounting bracket is fixedly mounted on the motor mounting seat; the angle sensor is fixedly mounted on the angle sensor mounting bracket, and the angle sensor is connected to the output shaft of the dual-axis reduction motor, and the angle sensor is used to feedback the rotation angle of the output shaft of the dual-axis reduction motor to the motor control board; the motor control board is fixedly mounted on the motor mounting seat, and is used to perform servo drive control on the rotation of the output shaft of the dual-axis reduction motor.

[0037] In this way, the thumb and index finger structures are modularized, with good structural maintainability, and servo drive control based on dual-axis reduction motors, with high control accuracy.

[0038] (5) In the thumb and index finger: the motor mounting seat in the first knuckle is fixedly mounted on the micro electric push rod mounting bracket through the connecting seat, the output shaft of the dual-axis reduction motor in the first knuckle is fixedly connected to one end of the first knuckle connecting piece, and the other end of the first knuckle connecting piece is connected to the output shaft of the dual-axis reduction motor in the second knuckle; the output shaft of the dual-axis reduction motor in the third knuckle is fixedly connected to the motor mounting seat in the second knuckle and one end of the second knuckle connecting piece through the second knuckle connecting piece, and the other end of the second knuckle connecting piece is fixedly connected to the output shaft of the dual-axis reduction motor in the third knuckle.

[0039] In this way, because the first knuckle and the micro electric push rod are both fixed on the micro electric push rod mounting bracket, the first knuckle of the index finger and the micro electric push rod can be located in the palm, instead of only being located below the base of the finger, thereby increasing the area of ​​the palm. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the three-dimensional structure of an electrically driven humanoid dexterous hand provided by the present invention;

[0041] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of an electrically driven humanoid dexterous hand at one angle;

[0042] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure of an electrically driven humanoid dexterous hand from another angle;

[0043] Figure 4 for Figure 1 A schematic diagram of the structure of an electrically driven humanoid dexterous hand at an angle after removing the palm panel and the palm cover;

[0044] Figure 5 for Figure 1 An exploded schematic diagram of an adaptive flexible claw finger and its root drive unit in an electrically driven humanoid dexterous hand;

[0045] Figure 6 for Figure 1 A schematic diagram of the structure of the knuckles in an electrically driven humanoid dexterous hand;

[0046] Figure 7 for Figure 6 Schematic diagram of the explosion structure of the middle finger joint;

[0047] Figure 8 for Figure 1 A schematic structural diagram of another angle of an electrically driven humanoid dexterous hand after removing a palm panel and a palm cover;

[0048] Fig. 9 for Figure 1 A schematic diagram of a state in which an electrically driven humanoid dexterous hand grasps a cylindrical object;

[0049] Fig.10 for Figure 1 A schematic diagram of a state in which an electrically driven humanoid dexterous hand grasps a panel;

[0050] Fig.11 for Figure 1 A schematic diagram of a thumb and index finger of an electrically driven humanoid dexterous hand grasping a small object;

[0051] Among them, 1-index finger, 1-1-dual-axis reduction motor, 1-2-angle sensor, 1-3-angle sensor mounting bracket, 1-4-motor mounting seat, 1-5-motor control board, 2-adaptive flexible finger, 2-2-micro electric push rod mounting bracket, 2-3-micro electric push rod, 2-4-first connecting rod, 2-5-second connecting rod, 2-6-third connecting rod, 3-fingertip, 4-second knuckle connector, 5-palm cover, 6-back of hand panel, 7-thumb, 8-first knuckle, 9-second knuckle, 10-third knuckle, 11-first knuckle connector, 12-connecting seat, 13-first pin, 14-second pin, 15-third pin, 16-fourth pin, 17-fifth pin, 18-sixth pin. DETAILED DESCRIPTION

[0052] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0053] Reference Figures 1 to 11The present embodiment provides an electrically driven anthropomorphic dexterous hand, including a palm and fingers, in particular, the number of fingers is three, namely a thumb 7, an index finger 1 and an adaptive flexible finger 2; wherein the thumb 7 and the index finger 1 are both three-degree-of-freedom configurations and can be bent; the adaptive flexible finger 2 is driven to rotate by a driving unit to cooperate with the thumb 7 and the index finger 1 to grasp an object, and the adaptive flexible finger 2 can adapt to the shape of the object (it should be pointed out that the prior art can realize the functions of the adaptive flexible finger 2. Moreover, the present embodiment Figure 8 and Fig. 9 The structural shape of the adaptive flexible finger 2 shown also belongs to the prior art. ).

[0054] In this way, the thumb 7 and the index finger 1 are of anthropomorphic three-degree-of-freedom configuration, so that the two commonly used fingers, the thumb 7 and the index finger 1, have three active degrees of freedom, and the tops of their fingers (corresponding to the fingertips 3 below) can reach any position in the working space, thereby improving the flexibility of the operation; the middle finger, the ring finger, and the little finger are combined into one, and are replaced by the adaptive flexible finger 2, which has one active degree of freedom. In the actual fine operation scenario, the thumb 7 cooperates with the index finger 1, and utilizes the three-degree-of-freedom characteristics of the fingers to complete the movement in any direction in the working space, and then completes the anthropomorphic fine operations such as pinching, twisting, kneading, and rubbing, and the adaptive flexible finger 2 provides an auxiliary support function similar to the other three fingers of the human hand (middle finger, ring finger, and little finger); in the force operation scenario, the index finger 1, the thumb 7 and the adaptive flexible finger 2 jointly complete the three-finger clenching action, and the adaptive flexible finger 2 can provide an adaptive enveloping capability for the object. Therefore, from the perspective of the whole hand structure, a combination of adaptive flexible fingers 2 and rigid multi-degree-of-freedom dexterous fingers (thumb 7 and index finger 1) is adopted, and the whole hand has a total of seven active degrees of freedom. Compared with the traditional electrically driven anthropomorphic dexterous hand, the distribution of degrees of freedom is tilted towards the commonly used fingers, achieving more dexterous operation capabilities, and being compatible with force operation and dexterous operation. This solves the problem that the existing anthropomorphic dexterous hand is difficult to balance cost and dexterous operation capabilities due to the selection and distribution of degrees of freedom, and can achieve stronger dexterous operation capabilities in a more compact structure.

[0055] Reference Figure 4 and Figure 5In this embodiment, the base of the adaptive flexible finger 2 is connected to a driving unit, and the driving unit is used to drive the adaptive flexible finger 2 to rotate around the base to cooperate with the thumb and index finger to grasp objects. The driving unit includes a micro electric push rod mounting bracket 2-2, a micro electric push rod 2-3, a first connecting rod 2-4, a second connecting rod 2-5 and a third connecting rod 2-6, wherein the fixed end of the micro electric push rod 2-3 is hinged to the micro electric push rod mounting bracket 2-2 through a first pin shaft 13, the first connecting rod 2-4 is hinged to the micro electric push rod mounting bracket 2-2 through a second pin shaft 14, and the first connecting rod 2-4 is hinged to the push rod of the micro electric push rod 2-3 through a third pin shaft 15, forming a crank slider mechanism; one end of the second connecting rod 2-5 is hinged to the first connecting rod 2-4 through a fourth pin shaft 16, and the other end of the second connecting rod 2-5 is hinged to the third connecting rod 2-6 through a fifth pin shaft 17, and the third connecting rod 2-6 is also hinged to the micro electric push rod mounting bracket 2-2 through a sixth pin shaft 18, and the finger root of the adaptive flexible finger 2 is fixedly connected to the third connecting rod 2-6, forming a double rocker mechanism. In this way, through the crank slider mechanism and the double rocker mechanism, the linear motion of the micro electric push rod 2-3 can be converted into a large-range rotational motion of the adaptive flexible finger 2 (rotation around the sixth pin 18), providing a sufficient range of motion for adaptive gripping.

[0056] In this embodiment, the thumb 7 and the index finger 1 are both provided with three knuckles in series, and a rotational degree of freedom is formed at the series connection, starting from the root of the finger, which are the first knuckle 8, the second knuckle 9 and the third knuckle 10, wherein the top of the third knuckle 10 of the thumb 7 and the index finger 1 is provided with a fixed block as a fingertip. It should be noted that there are many ways to realize the three degrees of freedom of the thumb 7 and the index finger 1 in the field of robot manipulators, such as using a connecting rod transmission mechanism or a wire rope transmission mechanism, etc. The thumb 7 and the index finger 1 of this embodiment are connected in series through the knuckles, and a rotational degree of freedom is formed at the series connection, which avoids the use of complex transmission mechanisms such as connecting rods and wire ropes, and the structure has good maintainability.

[0057] In particular, refer to Figure 6 and Figure 7, the first finger joint 8, the second finger joint 9 and the third finger joint 10 have the same composition, including a motor mounting seat 1-4, a dual-axis reduction motor 1-1, an angle sensor mounting bracket 1-3, an angle sensor 1-2 and a motor control board 1-5; the dual-axis reduction motor 1-1 is fixedly mounted on the motor mounting seat 1-4, and is used to provide power for the rotation of the corresponding finger joint; the angle sensor mounting bracket 1-3 is fixedly mounted on the motor mounting seat 1-4; the angle sensor is fixedly mounted on the angle sensor mounting bracket, and the angle sensor 1-2 is connected to the output shaft of the dual-axis reduction motor 1-1, and the angle sensor 1-2 is used to feedback the rotation angle of the output shaft of the dual-axis reduction motor 1-1 to the motor control board 1-5; the motor control board 1-5 is fixedly mounted on the motor mounting seat 1-4, and is used to servo drive control the rotation of the output shaft of the dual-axis reduction motor 1-1. In this way, the structure of the thumb 7 and the index finger 1 is modularized, the structure is easy to maintain, and the servo drive control based on the dual-axis reduction motor 1-1 has high control accuracy.

[0058] Reference Figure 8 , in the thumb 7 and the index finger 1: the motor mounting seat 1-4 in the first knuckle 8 is fixedly mounted on the micro electric push rod mounting bracket 2-2 through the connecting seat 12, the output shaft of the dual-axis reduction motor 1-1 in the first knuckle 8 is fixedly connected to one end of the first knuckle connecting piece 11, and the other end of the first knuckle connecting piece 11 is fixedly connected to the output shaft of the dual-axis reduction motor 1-1 in the second knuckle 9; the motor mounting seat 1-4 in the second knuckle 9 is fixedly connected to one end of the second knuckle connecting piece 4, and the other end of the second knuckle connecting piece 4 is fixedly connected to the output shaft of the dual-axis reduction motor 1-1 in the third knuckle 10. In this way, because the first knuckle 8 and the micro electric push rod 2-3 are both fixed on the micro electric push rod mounting bracket 2-2, therefore, referring to Figure 1 to Figure 3 , the first knuckle 8 of the index finger 1 and the micro electric push rods 2-3 can be located in the palm, instead of only being located below the base of the finger, thereby increasing the area of ​​the palm.

[0059] Reference Figure 1 to Figure 3 In this embodiment, the first knuckle 8 of the index finger 1 and the micro electric push rod 2-3 are both located in the palm. Specifically, in this embodiment, the palm includes a palm panel 6 and a palm cover 5; the palm panel 6 and the palm cover 5 are respectively fixedly mounted on both sides of the micro electric push rod mounting bracket 2-2, serving as the palm surface and the back of the palm, respectively. In addition, the bottom of the micro electric push rod mounting bracket 2-2 can be connected to the robot arm. The material of the adaptive flexible finger 2 can be a flexible material such as TPU or polyurethane, which can be made by 3D printing in the shape of an adaptive object.

[0060] Reference Fig. 9 , showing the state of the electrically driven humanoid dexterous hand grasping a cylindrical object, Fig.10The figure shows the state of the electrically driven humanoid dexterous hand grabbing a panel. Fig.11 The figure shows the state of the thumb 7 and the index finger 1 in the electrically driven anthropomorphic dexterous hand pinching a small object.

[0061] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention, that is, the combination of the three-degree-of-freedom thumb 7, the index finger 1, and the adaptive flexible finger 2, for example, a three-degree-of-freedom finger constructed by other means other than three knuckles in series, shall be included in the scope of protection of the present invention.

Claims

1. An electrically driven humanoid dexterous hand, comprising a palm and fingers, It is characterized in that There are three fingers, namely thumb, index finger and adaptive flexible finger; The thumb and the index finger both have three-degree-of-freedom configurations and can be bent; The base of the adaptive flexible finger is driven to rotate by a driving unit to cooperate with the thumb and the index finger to grasp an object, and the adaptive flexible finger can adapt to the shape of the object.

2. The electrically driven humanoid dexterous hand according to claim 1, It is characterized in that The finger roots of the adaptive flexible fingers are connected to the driving unit; The driving unit includes a micro electric push rod mounting bracket, a micro electric push rod, a first connecting rod, a second connecting rod and a third connecting rod; The fixed end of the micro electric push rod is hinged on the micro electric push rod mounting bracket, and the first connecting rod is hinged with the micro electric push rod mounting bracket and the push rod of the micro electric push rod to form a crank slider mechanism; One end of the second connecting rod is hinged to the first connecting rod, the other end of the second connecting rod is hinged to the third connecting rod, the third connecting rod is also hinged to the micro electric push rod mounting bracket, and the finger root of the adaptive flexible finger is fixedly connected to the third connecting rod to form a double rocker mechanism.

3. The electrically driven humanoid dexterous hand according to claim 2, It is characterized in that The thumb and the index finger are each provided with three knuckles connected in series, and a rotational degree of freedom is formed at the connection point, which are the first knuckle, the second knuckle and the third knuckle in order from the root of the finger; The tops of the third knuckles of the thumb and the index finger are provided with fixing blocks as fingertips.

4. The electrically driven humanoid dexterous hand according to claim 3, It is characterized in that The first finger joint, the second finger joint and the third finger joint have the same composition, and all include a motor mounting seat, a dual-axis reduction motor, an angle sensor mounting bracket, an angle sensor and a motor control board; The dual-axis reduction motor is fixedly mounted on the motor seat and is used to provide power for the rotation of the corresponding knuckles; The angle sensor mounting bracket is fixedly mounted on the motor mounting seat; The angle sensor is fixedly mounted on the angle sensor mounting bracket, and the angle sensor is connected to the output shaft of the dual-axis reduction motor, and the angle sensor is used to feed back the rotation angle of the output shaft of the dual-axis reduction motor to the motor control board; The motor control board is fixedly mounted on the motor mounting seat and is used for servo-driving and controlling the rotation of the output shaft of the dual-axis reduction motor.

5. The electrically driven humanoid dexterous hand according to claim 4, It is characterized in that Between the thumb and the index finger: The motor mounting seat in the first finger joint is fixedly mounted on the micro electric push rod mounting bracket through a connecting seat, the output shaft of the dual-axis reduction motor in the first finger joint is fixedly connected to one end of the first finger joint connecting member, and the other end of the first finger joint connecting member is connected to the output shaft of the dual-axis reduction motor in the second finger joint; The motor mounting seat in the second finger joint is fixedly connected to one end of the second finger joint connecting member, and the other end of the second finger joint connecting member is fixedly connected to the output shaft of the dual-axis reduction motor 1-1 in the third finger joint.

6. The electrically driven humanoid dexterous hand according to claim 5, It is characterized in that The first knuckle of the index finger and the micro electric push rod are both located in the palm.

7. The electrically driven humanoid dexterous hand according to claim 6, It is characterized in that The palm includes a palm panel and a palm cover; The palm panel and the palm cover are respectively fixedly mounted on two sides of the micro electric push rod mounting bracket, serving as the palm surface and the palm back, respectively.

8. The electrically driven humanoid dexterous hand according to any one of claims 1 to 7, It is characterized in that The material of the adaptive flexible finger is TPU or polyurethane.

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