A dexterous anthropomorphic robotic hand with integrated linkage drive

Abstract

The present invention discloses a dexterous anthropomorphic robotic hand with integrated linkage drive, which relates to the technical field of robotic hand research and development. It includes a palm unit, which includes a palm center and a thumb component, an index finger component, a middle finger component, a ring finger component and a little finger component fixed at the finger root positions thereof; a drive unit, which includes a micro motor and a connecting rod component fixed on its output shaft. The number of the micro motors and the connecting rod components are both set to five groups, and the other end of the connecting rod component is fixed to the thumb component, the index finger component, the middle finger component, the ring finger component and the little finger component. The present invention solves the problems of the existing robotic hand, such as relatively complex structure and inconvenient maintenance.

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 problem that the existing manipulator has a relatively complex structure and is inconvenient to repair, the present invention is proposed.

[0005] Therefore, the object 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 embodiment of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, the following is provided: A second rotation gap is formed in the middle of the second finger base. Arc plates are symmetrically and fixedly connected to the tops of the second finger base on both sides of the second rotation gap, and arc-shaped slideways are formed on the arc plates. Second rotation holes are formed in the side walls on both sides of the second rotation gap, and second insertion rod holes are further formed in the side walls at the bottoms of the second rotation holes. The limiting rod is fixedly inserted into the second insertion rod holes.

[0010] As a preferred embodiment of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, the following is provided: The thumb assembly includes a thumb tip, a knuckle plate, and a zigzag rod. A third rotation gap is formed in the middle of one end of the thumb tip. Third rotation holes are formed in the side walls on both sides of the third rotation gap. The limiting rod is also fixedly inserted between the third rotation gaps at the tops of the third rotation holes.

[0011] As a preferred embodiment of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, the following is provided: The knuckle plates are symmetrically arranged. Hinge holes and driven arc holes are symmetrically formed at both ends of the knuckle plates, and the hinge holes are located at the arc centers of the driven arc holes. The third rotation holes are concentric with the hinge holes, and the two are fixed by a rotatably inserted hinge rod. The limiting rod slides in the driven arc holes.

[0012] As a preferred embodiment of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, the following is provided: A connecting piece is further fixedly connected to the end of the knuckle plate away from the thumb tip. 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 two horizontal rods at both ends are parallel to each other. The two horizontal rods at both ends are respectively rotatably connected to the limiting rods slidably inserted at both ends of the knuckle plate.

[0013] As a preferred embodiment of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, the following is provided: The index finger assembly includes an index finger tip and a first finger plate and a second finger plate rotatably connected in sequence. The structure of the index finger tip is the same as that of the thumb tip, and the structure of the second finger plate is the same as that of the knuckle plate. The difference is that a reversing rod is rotatably connected between the index finger tip and the second finger plate, and a pull rod is slidably connected between the two second finger plates. The second finger plate is rotatably inserted into the second rotation gap. The structures of the middle finger assembly, the ring finger assembly, and the little finger assembly are all the same as that of the index finger assembly.

[0014] As a preferred embodiment of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, the following is provided: A central block is detachably fixed on the mounting base. The central block can be placed in the mounting gap in a matching manner, and the structure of the central block is the same as that of the second finger base.

[0015] As a preferred embodiment of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention, the following is provided: The link 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 a connecting piece inside the index finger assembly. Symmetrically fixed to the side wall of the push block are insertion rods, which are slidably inserted into an arc-shaped slideway. The second sliding rod has one end hinged to a connecting piece inside the thumb assembly and the other end hinged to a crank. The crank is fixedly connected to the output shaft of a 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: By using multiple sets of micro motors in cooperation with the linkages, the present invention can drive each of the five mechanical fingers to work completely independently, complete simple object grasping, and replace the human hand to complete complex tool use. While ensuring the functions, the maintenance difficulty is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. Among them:

[0018] Figure 1 It is a schematic diagram of the overall structure of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention.

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

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

[0021] Figure 4 It 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 It is a schematic diagram of the index finger assembly structure of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention.

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

[0024] Figure 7 It is a schematic diagram of the drive unit structure of the dexterous anthropomorphic robotic hand with integrated linkage drive of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] To make the above objects, features, and advantages of the present invention more apparent and understandable, the following provides a detailed description of the specific embodiments of the present invention with reference to the accompanying drawings of the specification.

[0026] In the following description, numerous specific details are set forth to facilitate a thorough understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0027] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of "in one embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or alternative embodiments that exclude each other with other embodiments.

[0028] Thirdly, the present invention is described in detail in conjunction with schematic diagrams. When elaborating on the embodiments of the present invention, for ease of explanation, the cross-sectional views showing the device structure are enlarged locally in a non-general proportion, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0029] Embodiment 1

[0030] Referring to Figures 1 to 7 , a first embodiment of the present invention provides an integrated linkage-driven dexterous anthropomorphic robotic hand, which includes a palm unit 100, including a palm center 101 and 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 fixed at the finger root positions thereof.

[0031] Among them, the installation positions of 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 are the same as those of a human palm.

[0032] A driving unit 200, including 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 both 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 micro motors 201 are started, and the finger assemblies connected respectively are driven by the connecting rod assemblies 202. The output shafts of the micro motors 201 rotate. At this time, the connecting rod assemblies 202 switch between the modes of pulling the finger assemblies to bend and pushing the finger assemblies to straighten, so as to achieve the purpose of simulating the actions of a human hand.

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

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

[0036] Furthermore, the four groups of micro motors 201 installed in the first installation groove 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 groove 101b-1 provides driving force for the thumb assembly 102.

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

[0038] Two groups of second finger seats 101d are also fixedly connected to the root position of the palm 101. An installation gap B is formed between the two groups of second finger seats 101d. An installation seat B1 is fixedly connected in the installation gap B. The two groups of second finger seats 101d are equivalent to the root parts of the index finger and the little finger, and the installation gap B is the installation space reserved for the middle finger and the ring finger.

[0039] Embodiment 2

[0040] Refer to Figures 1 to 7 , which is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is that a second rotation gap A2 is formed in the middle of the second finger seat 101d. Arc plates 101d-1 are symmetrically and fixedly connected to the tops of the second finger seats 101d on both sides of the second rotation gap A2. An arc slideway 101d-1a is formed on the arc plate 101d-1. The function of the arc slideway 101d-1a is to limit the bending angles of the index finger assembly 103, the middle finger assembly 104, the ring finger assembly 105 and the little finger assembly 106.

[0041] On both side walls of the second rotation gap A2, there are second rotation holes K2 opened, and on the side wall at the bottom of the second rotation hole K2, there is also a second insertion rod hole C2 opened, and the limiting rod G1 is fixedly inserted into the second insertion rod hole C2.

[0042] The thumb component 102 includes a thumb head 102a, a knuckle plate 102b and a zigzag rod 102c. In the middle of one end of the thumb head 102a, there is a third rotation gap A3 opened. On both side walls of the third rotation gap A3, there are third rotation holes K3 opened, and the limiting rod G1 is also fixedly inserted between the third rotation gaps A3 at the top of the third rotation holes K3.

[0043] The knuckle plates 102b are symmetrically arranged. At both ends of the knuckle plate 102b, there are hinge holes 102b-1 and driven arc holes 102b-2 opened in a centrosymmetric manner, and the hinge hole 102b-1 is located at the center of the arc of the driven arc hole 102b-2.

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

[0045] At the end of the knuckle plate 102b far from the thumb head 102a, there is also a connecting piece 102b-3 fixedly connected, 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 two horizontal rods 102c-2 at both ends are parallel to each other.

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

[0048] Further, referring to Figure 3 and Figure 4 , during the use process, if it is necessary to control the bending movement of the thumb component 102, at this time, the link component 202 pulls the connecting piece 102b-3 to rotate around the first rotation hole K1. At this time, the limiting rod G1 on the right side is fixedly inserted into the first insertion rod hole C1 and cannot rotate. At the same time, this limiting rod G1 slides in the driven arc hole 102b-2 on the right side, and further pushes the thumb head 102a connected to the left side through the zigzag rod 102c. Because the arc opening of the driven arc hole 102b-2 on the left side is downward, at this time, the thumb head 102a will present an inwardly buckled posture.

[0049] Further, when the link component 202 pulls the connecting piece 102b-3 to rotate around the first rotation hole K1, the knuckle plate 102b rotates counterclockwise, and the thumb head 102a also buckles inward counterclockwise. The superposition of the two states realizes the movement of the thumb component 102 in a handshake posture on the first finger seat 101c.

[0050] The remaining structure is the same as that of Embodiment 1.

[0051] Embodiment 3

[0052] Referring to Figures 1 to 7 , this is the third embodiment of the present invention. The difference between this embodiment and the second embodiment is that the index finger assembly 103 includes an index finger tip 103a and a first finger plate 103b and a second finger plate 103c that are sequentially rotatably connected. The structure of the index finger tip 103a is the same as that of the thumb tip 102a, and the structure of the second finger plate 103c is the same as that of the phalanx plate 102b.

[0053] The difference is that a reversing rod 103d is rotatably connected between the index finger tip 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 middle finger assembly 104, the ring finger assembly 105, and the little finger assembly 106 have the same structure as the index finger assembly 103.

[0056] During use, the operating modes 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. Therefore, only the operating principle of the index finger assembly 103 needs to be described in this embodiment.

[0057] Specifically, referring to Figure 6 , during use, if the index finger assembly 103 wants to change from a straight state to a bent state, at this time, the link assembly 202 pulls the connecting piece 102b-3 at the lower right 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 arc-shaped, 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-rotating first finger plate 103b will drive the left end of the reversing rod 103d to push the index finger tip 103a to the left. Referring to Figure 6 , the hinge point between the reversing rod 103d and the index finger tip 103a is located below. At this time, the left-pushing reversing rod 103d will drive the index finger tip 103a to rotate counterclockwise. Combining the actions of the first finger plate 103b and the second finger plate 103c described above, the final handshake action of the index finger assembly 103 is completed.

[0059] A central block B2 is detachably fixed on the mounting base B1. The central block B2 can be placed in the mounting gap B in a matching manner. The structure of the central block B2 is the same as that of the second finger seat 101d. Among them, the central block B2 is detachably fixed on the mounting base B1 by bolts, which is convenient for the overall installation of the manipulator.

[0060] The link 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 pushing block 202a-2 rotatably connected to one end thereof. The pushing block 202a-2 is rotatably sleeved on the connecting piece 102b-3 in the index finger assembly 103. Symmetrically fixed to the side wall of the pushing block 202a-2 are inserting rods 202a-2a, and the inserting rods 202a-2a are slidably inserted into the arc-shaped slideway 101d-1a.

[0061] One end of the second sliding rod 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. The crank 202b-1 is fixedly connected to the output shaft of the micro motor 201.

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

[0063] During the use process, if it is desired to drive the thumb assembly 102 to bend, at this time, the micro motor 201 in the second mounting groove 101b-1 starts. Through the rotation of the crank 202b-1, the reciprocating motion of the second sliding rod 202b can be realized. Combining with the above description of the bending motion of the thumb assembly 102, the bending of the thumb assembly 102 can be realized.

[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 pushing block 202a-2. And under the cooperation of the inserting rods 202a-2a on the pushing block 202a-2 and the arc-shaped slideway 101d-1a, the bending motions of the index finger assembly 103, the middle finger assembly 104, the ring finger assembly 105, and the little finger assembly 106 are realized to a certain extent.

[0065] The remaining structures are the same as those of Embodiment 2.

[0066] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not restrictive. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A dexterous anthropomorphic robotic hand with integrated linkage drive, characterized in that: including a palm unit (100) including a palm center (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 finger root positions thereof; a driving unit (200) including a micro motor (201) and a connecting rod assembly (202) fixed on the output shaft thereof. The numbers of the micro motor (201) and the connecting rod assembly (202) are both set to five groups, and the other ends of the connecting rod assembly (202) are fixed to 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); two groups of second finger seats (101d) are also fixedly connected to the finger root positions of the palm center (101). A first finger seat (101c) is fixedly connected to the same-side side wall of the palm center (101) and the mounting block (101b). A first rotation gap (A1) is formed at one end of the first finger seat (101c) away from the palm center (101). First rotation holes (K1) are formed on the inner walls on both sides of the first rotation gap (A1). A first insertion rod hole (C1) is formed on one side of the first rotation hole (K1). A limiting rod (G1) is fixedly inserted into the first insertion rod hole (C1); a second rotation gap (A2) is formed in the middle of the second finger seat (101d). Arc plates (101d-1) are symmetrically and fixedly connected to the tops of the second finger seats (101d) on both sides of the second rotation gap (A2). An arc slideway (101d-1a) is formed on the arc plates (101d-1); second rotation holes (K2) are formed on the side walls on both sides of the second rotation gap (A2). A second insertion rod hole (C2) is also formed on the side wall at the bottom of the second rotation hole (K2). The limiting rod (G1) is fixedly inserted into the second insertion rod hole (C2); 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 pushing block (202a-2) rotatably connected to one end thereof. The pushing block (202a-2) is rotatably sleeved on a connecting piece (102b-3) inside the index finger component (103). Insertion rods (202a-2a) are symmetrically and fixedly connected to the side wall of the pushing block (202a-2). The insertion rods (202a-2a) are slidably inserted into the arc slideway (101d-1a); one end of the second sliding rod (202b) is hinged to a connecting piece (102b-3) inside the thumb component (102), and the other end is hinged to a crank (202b-1). The crank (202b-1) is fixedly connected to the output shaft of the micro motor (201); the crank (202b-1) is also fixedly connected to one end of the sliding rod (202a-1) away from the pushing block (202a-2).

2. The dexterous anthropomorphic robotic hand with integrated linkage drive according to claim 1, wherein: A first mounting groove (101a) is formed in the middle of the palm (101). One side of the palm (101) is fixedly connected with a mounting block (101b), and a second mounting groove (101b-1) is formed in the mounting block (101b). The four groups of micro motors (201) can be fixedly connected in the first mounting groove (101a) in cooperation, and the remaining one group of micro motors (201) can be fixedly connected in the second mounting groove (101b-1) in cooperation.

3. The integrated linkage-driven dexterous anthropomorphic robotic hand according to claim 2, wherein: An installation gap (B) is formed between the second finger seats (101d), and a mounting seat (B1) is fixedly connected in the installation gap (B).

4. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 3, characterized in that: The thumb assembly (102) includes a thumb head (102a), a knuckle plate (102b) and a zigzag rod (102c). A third rotation gap (A3) is formed in the middle of one end of the thumb head (102a). Third rotation holes (K3) are formed in the side walls on both sides of the third rotation gap (A3), and the limiting rod (G1) is also fixedly inserted between the third rotation gaps (A3) at the top of the third rotation holes (K3).

5. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 4, characterized in that: The knuckle plates (102b) are symmetrically arranged. Hinge holes (102b-1) and driven arc holes (102b-2) are symmetrically formed at both ends of the knuckle plates (102b), and the hinge holes (102b-1) are located at the arc centers of the driven arc holes (102b-2). The third rotation holes (K3) are concentric with the hinge holes (102b-1), and the two are fixed by a hinge rod (G2) inserted in a rotating manner. The limiting rod (G1) slides in the driven arc holes (102b-2).

6. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 5, characterized in that: One end of the knuckle plate (102b) far from the thumb head (102a) is also fixedly connected with 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) includes an inclined end rod (102c-1) and horizontal rods (102c-2) fixed at both ends thereof, and the two horizontal rods (102c-2) at both ends are parallel to each other. The two horizontal rods (102c-2) at both ends are respectively rotatably connected with the limiting rods (G1) slidably inserted at both ends of the knuckle plate (102b).

7. The dexterous anthropomorphic robot hand with integrated linkage drive according to claim 6, characterized 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) 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). The difference is that a reversing rod (103d) is rotatably connected between the index finger head (103a) and the second finger plate (103c), and a pull rod (103e) is slidably connected between the two second finger plates (103c). The second finger plate (103c) is rotatably inserted into the second rotation gap (A2). The structures of the middle finger assembly (104), the ring finger assembly (105) and the little finger assembly (106) are all the same as those of the index finger assembly (103).

8. The dexterous anthropomorphic robotic hand with integrated linkage drive according to claim 7, characterized in that: A center block (B2) is detachably fixed on the mounting base (B1), the center block (B2) can be placed in the mounting gap (B) in a matching manner, and the structure of the center block (B2) is the same as that of the second finger seat (101d).

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