Integrated linkage driving smart anthropomorphic robot arm

Abstract

The invention discloses an integrated linkage driven dexterous anthropomorphic robot hand, which relates to the technical field of mechanical hand research and development, and comprises a palm unit comprising a palm center, and a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly and a little finger assembly which are fixed at finger root positions of the palm center; the driving unit comprises five sets of micro motors and five sets of connecting rod assemblies fixed to output shafts of the micro motors, and the other ends of the connecting rod assemblies are fixed to the thumb assembly, the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly. The mechanical arm solves the problems that an existing mechanical arm is complex in structure and inconvenient to overhaul.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm research and development, and in particular to a dexterous anthropomorphic robot arm with integrated linkage drive. Background Art

[0002] The human hand has a high degree of dexterity and gripping strength, which is key to performing a variety of tasks. Designing a dexterous anthropomorphic robotic hand with integrated linkage actuation can simulate the complex movements of the human hand and provide human-like dexterity and strength, which are essential for performing precision manipulation and daily tasks.

[0003] Traditional robot arms often require additional drive components, have a complex structure, and are not easy to maintain. Summary of the invention

[0004] In view of the problems that the above-mentioned existing manipulators have a relatively complex structure and are inconvenient to repair, the present invention is proposed.

[0005] Therefore, the purpose of the present invention is to provide a dexterous anthropomorphic robot arm with integrated linkage drive, which aims to simplify the structure of the robot arm and reduce the difficulty of maintenance.

[0006] To solve the above technical problems, the present invention provides the following technical solutions: a dexterous anthropomorphic robotic hand with integrated linkage drive, comprising a palm unit, including a palm and a thumb component, an index finger component, a middle finger component, a ring finger component and a little finger component fixed at the base of the fingers; a driving unit, comprising a micro motor and a connecting rod component fixed on its output shaft, the number of the micro motor and the connecting rod component are respectively set to five groups, and the other end of the connecting rod assembly is fixed to the thumb component, the index finger component, the middle finger component, the ring finger component and the little finger component.

[0007] As a preferred solution of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, a first mounting groove is provided in the middle of the palm, a mounting block is fixedly connected to one side of the palm, and a second mounting groove is provided on the mounting block; four groups of the micro motors can be fixedly connected in the first mounting groove, and the remaining group of the micro motors can be fixedly connected in the second mounting groove.

[0008] As a preferred solution of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, wherein: the palm and the side wall on the same side of the mounting block are fixedly connected with a first finger seat, the end of the first finger seat away from the palm is provided with a first rotation gap, the inner walls on both sides of the first rotation gap are provided with first rotation holes, one side of the first rotation hole is provided with a first rod insertion hole, and a limiting rod is fixedly inserted in the first rod insertion hole; two groups of second finger seats are also fixedly connected to the base of the fingers of the palm, an installation gap is formed between the second finger seats, and a mounting seat is fixedly connected in the installation gap.

[0009] As a preferred solution of the dexterous anthropomorphic robotic arm with integrated linkage drive of the present invention, a second rotation gap is provided in the middle of the second finger seat, and arc plates are symmetrically fixedly connected to the top of the second finger seat on both sides of the second rotation gap, and circular arc slides are provided on the arc plates; second rotation holes are provided on the side walls on both sides of the second rotation gap, and a second rod insertion hole is also provided on the side wall at the bottom of the second rotation hole, and the limit rod is fixedly inserted in the second rod insertion hole.

[0010] As a preferred solution of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, the thumb assembly includes a thumb, a knuckle plate and a zigzag rod, a third rotation gap is opened in the middle of one end of the thumb, third rotation holes are opened on the side walls on both sides of the third rotation gap, and the limit rod is also fixedly inserted between the third rotation gaps at the top of the third rotation hole.

[0011] As a preferred solution of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, the knuckle plates are symmetrically arranged, and both ends of the knuckle plates are centrally symmetrically provided with reamed holes and driven arc holes, and the reamed holes are located at the center of the driven arc holes; the third rotating hole is concentric with the reamed hole, and the two are fixed by a rotating and plugged hinge rod, and the limit rod slides in the driven arc hole.

[0012] As a preferred solution of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, wherein: the end of the knuckle plate away from the thumb is also fixedly connected to a connecting plate, and this end of the knuckle plate is rotatably inserted into the first rotation gap; the zigzag rod includes an inclined end rod and horizontal rods fixed at both ends thereof, and the horizontal rods at both ends are parallel to each other; the horizontal rods at both ends are respectively rotatably connected to the limit rods slidably inserted at the two ends of the knuckle plate.

[0013] As a preferred solution of the integrated linkage-driven dexterous anthropomorphic robotic hand of the present invention, the index finger assembly includes an index finger head and a first finger plate and a second finger plate that are rotatably connected in sequence, the index finger head structure is the same as the thumb head structure, and the second finger plate structure is the same as the knuckle plate; the difference is that a reversing rod is rotatably connected between the index finger head and the second finger plate, and a pull rod is slidably connected between the second finger plates on both sides; the second finger plate is rotatably inserted into the second rotation gap; the structures of the middle finger assembly, ring finger assembly and little finger assembly are the same as the index finger assembly.

[0014] As a preferred solution of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, a center block is detachably fixed on the mounting seat, the center block can be placed in the mounting gap, and the structure of the center block is the same as the structure of the second finger seat.

[0015] As a preferred solution of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, wherein: the connecting rod assembly includes a first sliding rod and a second sliding rod, the first sliding rod includes a sliding rod and a push block rotatably connected to one end thereof, the push block is rotatably sleeved on the connecting piece in the index finger assembly, the side wall of the push block is symmetrically fixedly connected with an insertion rod, the insertion rod is slidably inserted into the arc slide, and the second sliding rod has one end hinged to the connecting piece in the thumb assembly, and the other end is hinged with a crank, and the crank is fixedly connected to the output shaft of the micro motor; the crank is also fixedly connected to the end of the sliding rod away from the push block.

[0016] Compared with the prior art, the present invention has the following beneficial effects: the present invention can drive five mechanical fingers to work completely respectively through the use of multiple groups of micro motors and connecting rods, complete simple object grasping, and replace human hands to complete the use of complex tools, greatly reducing the difficulty of maintenance while ensuring the functionality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0018] Figure 1 The figure is a schematic diagram of the overall structure of the dexterous anthropomorphic robotic arm with integrated linkage drive according to the present invention.

[0019] Figure 2 This is a schematic diagram of the palm structure of a dexterous anthropomorphic robotic hand with integrated linkage drive according to the present invention.

[0020] Figure 3 This is a schematic structural diagram of the thumb assembly of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention.

[0021] Figure 4 This is a cross-sectional view of the thumb assembly of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention.

[0022] Figure 5 This is a schematic structural diagram of the index finger assembly of the dexterous anthropomorphic robotic hand with integrated linkage drive according to the present invention.

[0023] Figure 6 This is a cross-sectional view of the index finger assembly of the dexterous anthropomorphic robotic hand with integrated linkage drive according to the present invention.

[0024] Figure 7 The figure is a schematic diagram of the structure of the driving unit of the dexterous anthropomorphic robotic arm with integrated linkage drive according to the present invention. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0028] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0029] Example 1

[0030] Reference Figure 1 to Figure 7 , which is the first embodiment of the present invention, provides a dexterous anthropomorphic robotic hand with integrated linkage drive, which includes a palm unit 100, including a palm 101 and a thumb component 102, an index finger component 103, a middle finger component 104, a ring finger component 105 and a little finger component 106 fixed at the base of the fingers.

[0031] The installation positions of the thumb component 102 , the index finger component 103 , the middle finger component 104 , the ring finger component 105 and the little finger component 106 are consistent with those of a human palm.

[0032] The driving unit 200 includes a micro motor 201 and a connecting rod assembly 202 fixed on its output shaft. The number of the micro motor 201 and the connecting rod assembly 202 are respectively set to five groups, and the other end of the connecting rod assembly 202 is fixed to the thumb assembly 102, the index finger assembly 103, the middle finger assembly 104, the ring finger assembly 105 and the little finger assembly 106.

[0033] During use, the five groups of micromotors 201 are started, and the finger assemblies connected to them are driven respectively through the connecting rod assembly 202. The output shaft of the micromotor 201 rotates. At this time, the connecting rod assembly 202 switches between the modes of pulling the finger assembly to bend and pushing the finger assembly to straighten, thereby achieving the purpose of simulating human hand movements.

[0034] Specifically, a first mounting groove 101a is formed in the middle of the palm 101, a mounting block 101b is fixedly connected to one side of the palm 101, and a second mounting groove 101b-1 is formed on the mounting block 101b.

[0035] Four groups of micro motors 201 can be fixedly connected in the first installation slot 101a, and the remaining group of micro motors 201 can be fixedly connected in the second installation slot 101b-1.

[0036] Furthermore, the four groups of micro motors 201 installed in the first installation slot 101a are used to provide driving force for the index finger assembly 103, the middle finger assembly 104, the ring finger assembly 105 and the little finger assembly 106, while the micro motor 201 installed in the second installation slot 101b-1 provides driving force for the thumb assembly 102.

[0037] A first finger seat 101c is fixedly connected to the side wall on the same side of the palm 101 and the mounting block 101b, a first rotation gap A1 is defined at one end of the first finger seat 101c away from the palm 101, first rotation holes K1 are defined on the inner walls on both sides of the first rotation gap A1, a first insertion rod hole C1 is defined on one side of the first rotation hole K1, a limiting rod G1 is fixedly inserted in the first insertion rod hole C1, wherein the first finger seat 101c is equivalent to the base of the thumb.

[0038] Two sets of second finger seats 101d are fixedly connected to the base of the palm 101, forming an installation gap B between the second finger seats 101d, and a mounting seat B1 is fixedly connected in the installation gap B. The two sets of second finger seats 101d are equivalent to the base of the index finger and the little finger, and the installation gap B is reserved for the middle finger and the ring finger.

[0039] Example 2

[0040] Reference Figure 1 to Figure 7 , which is the second embodiment of the present invention. This embodiment is different from the first embodiment in that a second rotation gap A2 is provided in the middle of the second finger seat 101d, and arc plates 101d-1 are symmetrically fixedly connected to the top of the second finger seat 101d on both sides of the second rotation gap A2. An arc slide 101d-1a is provided on the arc plate 101d-1. The function of the arc slide 101d-1a is to limit the bending angles of the index finger component 103, the middle finger component 104, the ring finger component 105 and the little finger component 106.

[0041] Second rotating holes K2 are formed on the side walls on both sides of the second rotating gap A2. A second rod insertion hole C2 is formed on the side wall at the bottom of the second rotating hole K2. The limiting rod G1 is fixedly inserted in the second rod insertion hole C2.

[0042] The thumb assembly 102 includes a thumb 102a, a knuckle plate 102b and a zigzag rod 102c. A third rotation gap A3 is opened in the middle of one end of the thumb 102a, and third rotation holes K3 are opened on both side walls of the third rotation gap A3. The limiting rod G1 is also fixedly inserted between the third rotation gap A3 at the top of the third rotation hole K3.

[0043] The knuckle plate 102b is symmetrically arranged, and both ends of the knuckle plate 102b are centrally symmetrically provided with a reamed hole 102b-1 and a driven arc hole 102b-2, and the reamed hole 102b-1 is located at the arc center of the driven arc hole 102b-2.

[0044] The third rotating hole K3 is concentric with the reaming hole 102b-1, and the two are fixed by a rotating plugged hinge rod G2, and the limiting rod G1 slides in the driven arc hole 102b-2.

[0045] One end of the knuckle plate 102b away from the thumb 102a is also fixedly connected to a connecting piece 102b-3, and this end of the knuckle plate 102b is rotatably inserted into the first rotation gap A1.

[0046] The zigzag rod 102c includes an inclined end rod 102c-1 and horizontal rods 102c-2 fixed at both ends thereof, and the horizontal rods 102c-2 at both ends are parallel to each other.

[0047] The horizontal rods 102c-2 at both ends are rotatably connected to the limit rods G1 slidably inserted at both ends of the knuckle plate 102b.

[0048] Further, see Figure 3 and Figure 4 During use, if you want to control the bending movement of the thumb assembly 102, the connecting rod assembly 202 pulls the connecting piece 102b-3 to rotate around the first rotating hole K1. At this time, the limiting rod G1 on the right side is fixedly inserted in the first plug hole C1 and cannot rotate. At the same time, this limiting rod G1 slides in the right side driven arc hole 102b-2, and further pushes the thumb head 102a connected to it on the left side through the zigzag rod 102c. Because the arc mouth of the left side driven arc hole 102b-2 is downward, the thumb head 102a will be in an inward-facing posture at this time.

[0049] Furthermore, when the connecting rod assembly 202 pulls the connecting piece 102b-3 to rotate around the first rotating hole K1, the knuckle plate 102b rotates counterclockwise, and the thumb 102a also turns inward counterclockwise. The superposition of the two states enables the thumb assembly 102 to move in a handshake posture on the first finger seat 101c.

[0050] The remaining structures are the same as those of Example 1.

[0051] Example 3

[0052] Reference Figure 1 to Figure 7 , which is the third embodiment of the present invention. This embodiment is different from the second embodiment in that: the index finger assembly 103 includes an index finger head 103a and a first finger plate 103b and a second finger plate 103c which are rotatably connected in sequence. The structure of the index finger head 103a is the same as that of the thumb head 102a, and the structure of the second finger plate 103c is the same as that of the knuckle plate 102b.

[0053] The difference is that a reversing rod 103d is rotatably connected between the index finger 103a and the second finger plate 103c, and a pull rod 103e is slidably connected between the second finger plates 103c on both sides.

[0054] The second finger plate 103c is rotatably inserted into the second rotation gap A2.

[0055] The structures of the middle finger component 104 , the ring finger component 105 and the little finger component 106 are the same as that of the index finger component 103 .

[0056] During use, the actions of the middle finger assembly 104 , the ring finger assembly 105 and the little finger assembly 106 are the same as those of the index finger assembly 103 , so this embodiment only needs to explain the action principle of the index finger assembly 103 .

[0057] Specifically, refer to Figure 6 During use, if the index finger assembly 103 wants to change from a straight state to a bent state, the connecting rod assembly 202 pulls the connecting piece 102b-3 at the lower right corner of the second finger plate 103c. At this time, the second finger plate 103c rotates counterclockwise as a whole. Since the right end of the pull rod 103e can only rotate and cannot slide relatively, the right end of the pull rod 103e will slide to the right along the driven arc hole 102b-2 on the right side of the second finger plate 103c, and the left end of the pull rod 103e will slide to the right along the left driven arc hole 102b-2. Because the driven arc hole 102b-2 is in the shape of an arc, the right side of the first finger plate 103b will be driven downward by the left side of the second finger plate 103c hinged thereto, and rotate clockwise to achieve the effect of shaking hands.

[0058] Furthermore, the clockwise rotation of the first finger plate 103b will drive the left end of the reversing rod 103d to push the index finger 103a to the left. Figure 6 In the figure, the hinge point between the reversing rod 103d and the index finger head 103a is located at the bottom. At this time, the reversing rod 103d pushed to the left will drive the index finger head 103a to rotate counterclockwise. Combined with the actions of the first finger plate 103b and the second finger plate 103c, the final handshake action of the index finger assembly 103 is completed.

[0059] A center block B2 is detachably fixed on the mounting seat B1, and the center block B2 can be placed in the mounting gap B. The structure of the center block B2 is the same as that of the second finger seat 101d, wherein the center block B2 is detachably fixed to the mounting seat B1 by bolts, which is convenient for the overall installation of the manipulator.

[0060] The connecting rod assembly 202 includes a first sliding rod 202a and a second sliding rod 202b. The first sliding rod 202a includes a sliding rod 202a-1 and a push block 202a-2 rotatably connected to one end thereof. The push block 202a-2 is rotatably sleeved on the connecting piece 102b-3 in the index finger assembly 103. The side wall of the push block 202a-2 is symmetrically fixedly connected with an insertion rod 202a-2a, and the insertion rod 202a-2a is slidably inserted into the arc slide 101d-1a.

[0061] One end of the second slide bar 202b is hinged to the connecting piece 102b-3 in the thumb assembly 102, and the other end is hinged to a crank 202b-1, and the crank 202b-1 is fixedly connected to the output shaft of the micro motor 201.

[0062] The crank handle 202b-1 is also fixedly connected to an end of the sliding rod 202a-1 away from the pushing block 202a-2.

[0063] During use, if you want to drive the thumb component 102 to bend, the micro motor 201 in the second mounting slot 101b-1 is started, and the reciprocating motion of the second slide bar 202b can be achieved by rotating the crank 202b-1. Combined with the above-mentioned bending action description of the thumb component 102, the bending of the thumb component 102 can be achieved.

[0064] Furthermore, similarly, the index finger assembly 103, the middle finger assembly 104, the ring finger assembly 105 and the little finger assembly 106 are all hinged to the push block 202a-2, and under the cooperation of the insertion rod 202a-2a on the push block 202a-2 and the arc slide 101d-1a, the bending action of the index finger assembly 103, the middle finger assembly 104, the ring finger assembly 105 and the little finger assembly 106 is achieved to a certain extent.

[0065] The remaining structure is the same as that of Example 2.

[0066] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A dexterous anthropomorphic robot hand with integrated linkage drive, characterized in that: include, A palm unit (100) comprises a palm (101) and a thumb component (102), an index finger component (103), a middle finger component (104), a ring finger component (105) and a little finger component (106) fixed at the base of the palm; The driving unit (200) comprises a micro motor (201) and a connecting rod assembly (202) fixed on the output shaft thereof, wherein the number of the micro motor (201) and the connecting rod assembly (202) is respectively five, and the other end of the connecting rod assembly (202) is fixed to a thumb assembly (102), an index finger assembly (103), a middle finger assembly (104), a ring finger assembly (105) and a little finger assembly (106).

2. The dexterous anthropomorphic robotic hand with integrated linkage drive according to claim 1, characterized in that: A first mounting groove (101a) is provided in the middle of the palm (101), a mounting block (101b) is fixedly connected to one side of the palm (101), and a second mounting groove (101b-1) is provided on the mounting block (101b); Four groups of the micro motors (201) can be fixedly connected in cooperation with each other in the first installation slot (101a), and the remaining group of the micro motors (201) can be fixedly connected in cooperation with each other in the second installation slot (101b-1).

3. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 2, characterized in that: The palm (101) and the side wall on the same side of the mounting block (101b) are fixedly connected with a first finger seat (101c); a first rotation gap (A1) is provided at one end of the first finger seat (101c) away from the palm (101); first rotation holes (K1) are provided on the inner walls on both sides of the first rotation gap (A1); a first rod insertion hole (C1) is provided on one side of the first rotation hole (K1); a limit rod (G1) is fixedly inserted in the first rod insertion hole (C1); The palm (101) is also fixedly connected to two groups of second finger seats (101d) at the finger bases, a mounting gap (B) is formed between the second finger seats (101d), and a mounting seat (B1) is fixedly connected in the mounting gap (B).

4. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 3, characterized in that: A second rotation gap (A2) is provided in the middle of the second finger seat (101d), and arc plates (101d-1) are symmetrically fixedly connected to the tops of the second finger seats (101d) on both sides of the second rotation gap (A2), and an arc slideway (101d-1a) is provided on the arc plate (101d-1); Second rotation holes (K2) are provided on the side walls on both sides of the second rotation gap (A2), and a second rod insertion hole (C2) is also provided on the side wall at the bottom of the second rotation hole (K2), and the limiting rod (G1) is fixedly inserted in the second rod insertion hole (C2).

5. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 4, characterized in that: The thumb assembly (102) comprises a thumb (102a), a knuckle plate (102b) and a zigzag rod (102c); a third rotation gap (A3) is provided in the middle of one end of the thumb (102a); third rotation holes (K3) are provided on the side walls on both sides of the third rotation gap (A3); and the limit rod (G1) is fixedly inserted between the third rotation gap (A3) at the top of the third rotation hole (K3).

6. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 5, characterized in that: The knuckle plate (102b) is symmetrically arranged, and both ends of the knuckle plate (102b) are centrally symmetrically provided with a reaming hole (102b-1) and a driven arc hole (102b-2), and the reaming hole (102b-1) is located at the arc center of the driven arc hole (102b-2); The third rotating hole (K3) is concentric with the reaming hole (102b-1), and the two are fixed by a rotating plug-in hinge rod (G2), and the limiting rod (G1) slides in the driven arc hole (102b-2).

7. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 6, characterized in that: One end of the knuckle plate (102b) away from the thumb (102a) is also fixedly connected to a connecting piece (102b-3), and this end of the knuckle plate (102b) is rotatably inserted into the first rotation gap (A1); The zigzag rod (102c) comprises an inclined end rod (102c-1) and horizontal rods (102c-2) fixed at both ends thereof, and the horizontal rods (102c-2) at both ends are parallel to each other; The horizontal rods (102c-2) at both ends are rotatably connected to the limit rods (G1) slidably inserted at both ends of the knuckle plate (102b).

8. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 7, characterized in that: The index finger assembly (103) comprises an index finger head (103a) and a first finger plate (103b) and a second finger plate (103c) which are rotatably connected in sequence, wherein the structure of the index finger head (103a) is the same as that of the thumb head (102a), and the structure of the second finger plate (103c) is the same as that of the knuckle plate (102b); The difference is that a reversing rod (103d) is rotatably connected between the index finger (103a) and the second finger plate (103c), and a pull rod (103e) is slidably connected between the second finger plates (103c) on both sides; The second finger plate (103c) is rotatably inserted into the second rotation gap (A2); The structures of the middle finger component (104), the ring finger component (105) and the little finger component (106) are the same as those of the index finger component (103).

9. The dexterous anthropomorphic robotic hand with integrated linkage drive according to claim 8, characterized in that: A center block (B2) is detachably fixed on the mounting seat (B1), and the center block (B2) can be placed in the mounting gap (B). The structure of the center block (B2) is the same as that of the second finger seat (101d).

10. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 9, characterized in that: The connecting rod assembly (202) includes a first sliding rod (202a) and a second sliding rod (202b), the first sliding rod (202a) includes a sliding rod (202a-1) and a push block (202a-2) rotatably connected to one end thereof, the push block (202a-2) is rotatably sleeved on a connecting piece (102b-3) in the index finger assembly (103), the side wall of the push block (202a-2) is symmetrically fixedly connected with an insertion rod (202a-2a), the insertion rod (202a-2a) is slidably inserted into the arc slideway (101d-1a), and the; One end of the second sliding rod (202b) is hinged to a connecting piece (102b-3) in the thumb assembly (102), and the other end is hinged to a crank (202b-1), and the crank (202b-1) is fixedly connected to an output shaft of the micro motor (201); The crank handle (202b-1) is also fixedly connected to an end of the sliding rod (202a-1) away from the pushing block (202a-2).

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