Humanoid robot dexterous hand
By designing independent push mechanisms and bevel gear systems in the hands of humanoid robots, the problems of interference and entanglement of traditional robots' hands and fingers are solved, achieving higher flexibility and reliability.
Patent Information
- Application Number
- CN202510208179.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-25
- Publication Date
- 2025-04-18
AI Technical Summary
The grabbing fingers of traditional humanoid robots are interfering with each other through the thread pulling method, resulting in limited flexibility and frequent maintenance.
A humanoid robot is designed with a smart hand, using an independent pushing mechanism to prevent the fingers from interfering with each other during work, and bending movement of the fingers is achieved through bevel gears and active joint motors, and angle sensors and temperature sensors are installed in the fingers and palms.
It improves the flexibility and reliability of fingers, avoids the problem of wire entanglement, and enhances the long-term use ability of robot hands.
Smart Images
Figure CN119839890A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of humanoid robots, and in particular to a dexterous hand of a humanoid robot. Background Art
[0002] At present, humanoid robot hands have always been a technical barrier, especially in the field of grasping objects, and the technology is even more limited. Traditional robot hands use servos as power sources to drive the fingers to perform humanoid finger movements, and the fingers are controlled by the servos pulling the pull wires to achieve the bending movement of the fingers. However, the wire pulling method obviously has the following problems: the five pull wires are prone to mutual interference, and the flexibility is seriously affected; they may even become entangled and become unusable, resulting in the need for frequent maintenance and repair of the robot hand, which is not conducive to long-term use. Summary of the invention
[0003] In order to solve the above problems, the present application provides a humanoid robot dexterous hand.
[0004] The present application provides a humanoid robot dexterous hand that adopts the following technical solution:
[0005] A dexterous humanoid robot hand comprises a palm, a thumb and four grasping fingers, wherein a servo connected to the thumb and an index finger active joint motor 1, a middle finger active joint motor 1, a ring finger active joint motor 1, a little finger active joint motor 1 and a thumb active joint motor 1 corresponding to the four grasping fingers are installed in the palm, and the four grasping fingers are respectively the index finger, the middle finger, the ring finger and the little finger;
[0006] By adopting the above technical solution, the dexterous hand of the humanoid robot has independent pushing mechanisms between the fingers, so the fingers do not interfere with each other when working, and the wires will not get tangled like the traditional wire pulling method, which is more reliable.
[0007] As a further step of the present invention, the thumb includes a first active joint of the thumb and a second active joint of the thumb, the output end of the first active joint motor of the thumb and the first active joint of the thumb are both fixedly sleeved with a first bevel gear and meshed with each other, the first active joint of the thumb is equipped with a second active joint motor of the thumb, the output end of the second active joint motor of the thumb and the second active joint of the thumb are both fixedly sleeved with a second bevel gear and meshed with each other;
[0008] By adopting the above technical solution, the thumb bends and moves. When the thumb active joint motor 1 and the first bevel gear rotate, the movement direction is changed through the first active joint of the thumb and the other first bevel gear, so that the first active joint of the thumb bends inward; when the thumb active joint motor 2 and the second bevel gear rotate, the movement direction is changed through the second active joint of the thumb and the second bevel gear, so that the second joint of the thumb bends inward; when the movement of the two active joints of the thumb is completed, when the palm servo rotates counterclockwise, the thumb is driven to bend toward the palm.
[0009] As a further step of the present invention, the index finger includes a first active joint of the index finger, a second active joint of the index finger and a driven joint of the index finger, the output end of the first active joint motor of the index finger and the first active joint of the index finger are both fixedly sleeved with a third bevel gear and meshed with each other, the first active joint is equipped with a second active joint motor of the index finger, the second active joint motor of the index finger and the second active joint of the index finger are both fixedly sleeved with a fourth bevel gear and meshed with each other, the second active joint of the index finger is hinged with a first connecting rod, and one end of the first connecting rod is hinged with the driven joint of the index finger;
[0010] By adopting the above technical solution, the index finger is bent and moved. When the first motor of the active joint of the index finger and the third bevel gear rotate, the movement direction is changed through the first active joint of the index finger and another third bevel gear, so that the first active joint of the index finger is bent inward; when the second motor of the active joint of the index finger and the fourth bevel gear rotate, the movement direction is changed through the second active joint of the index finger and another fourth bevel gear, so that the second active joint of the index finger is bent inward; the second active joint of the index finger is connected with the driven joint of the index finger by the first connecting rod. Under the action of the first connecting rod, the driven joint of the index finger is bent toward the palm, thereby completing the bending movement of the two active joints and one driven joint of the index finger toward the palm.
[0011] As a further step of the present invention, the middle finger includes a first active joint of the middle finger, a second active joint of the middle finger and a driven joint of the middle finger, the output end of the first active joint motor of the middle finger and the first active joint of the middle finger are both fixedly sleeved with a fifth bevel gear and meshed with each other, the first active joint of the middle finger is equipped with a second active joint motor of the middle finger, the output end of the second active joint motor of the middle finger and the second active joint of the middle finger are both fixedly sleeved with a sixth bevel gear and meshed with each other, the second active joint of the middle finger is hinged with a second connecting rod, and one end of the second connecting rod is hinged with the driven joint of the middle finger;
[0012] By adopting the above technical solution, the middle finger bends and moves. When the middle finger active joint motor 1 and the fifth bevel gear rotate, the movement direction is changed through the middle finger first active joint and another fifth bevel gear, so that the first active joint of the middle finger bends inward; when the middle finger active joint motor 2 and the sixth bevel gear rotate, the movement direction is changed through the middle finger second active joint and another sixth bevel gear, so that the second active joint of the middle finger bends inward; the second active joint of the middle finger has a second connecting rod connected to the middle finger driven joint, and under the action of the second connecting rod, the middle finger driven joint is driven to bend toward the palm, thus completing the bending movement of the two active joints and one driven joint of the middle finger toward the palm.
[0013] As a further step of the present invention, the ring finger includes a first active joint of the ring finger, a second active joint of the ring finger and a driven joint of the ring finger, the output end of the first active joint motor of the ring finger and the first active joint of the ring finger are both fixedly sleeved with a seventh bevel gear and meshed with each other, the first active joint of the ring finger is equipped with a second active joint motor of the ring finger, the output end of the second active joint motor of the ring finger and the second active joint of the ring finger are both fixedly sleeved with an eighth bevel gear and meshed with each other, the second active joint of the ring finger is hinged with a third connecting rod, and one end of the third connecting rod is hinged with the driven joint of the ring finger;
[0014] By adopting the above technical solution, the ring finger is bent, and when the ring finger active joint motor 1 and the seventh bevel gear rotate, the movement direction is changed through the first active joint of the ring finger and another seventh bevel gear, so that the first active joint of the ring finger is bent inward; when the ring finger active joint motor 2 and the eighth bevel gear rotate, the movement direction is changed through the second active joint of the ring finger and another eighth bevel gear, so that the second active joint of the ring finger is bent inward; the second active joint of the ring finger is connected with the driven joint of the ring finger by the third connecting rod, and under the action of the third connecting rod, the driven joint of the ring finger is bent toward the palm, thus completing the bending movement of the two active joints and one driven joint of the ring finger toward the palm.
[0015] As a further step of the present invention, the little finger includes a first active joint of the little finger, a second active joint of the little finger and a driven joint of the little finger, the output end of the first active joint motor of the little finger and the first active joint of the little finger are both fixedly sleeved with a ninth bevel gear and meshed with each other, the first active joint of the little finger is equipped with a second active joint motor of the little finger, the output end of the second active joint motor of the little finger and the second active joint of the little finger are both fixedly sleeved with a tenth bevel gear and meshed with each other, the second active joint of the little finger is hinged with a fourth connecting rod, and one end of the fourth connecting rod is hinged with the driven joint of the little finger;
[0016] By adopting the above technical solution, the little finger bends and moves. When the little finger active joint motor 1 and the ninth bevel gear rotate, the movement direction is changed through the first active joint of the little finger and another ninth bevel gear, so that the first active joint of the little finger bends inwardly; when the little finger active joint motor 2 and the tenth bevel gear rotate, the movement direction is changed through the second active joint of the little finger and another tenth bevel gear, so that the second active joint of the little finger bends inwardly; the second active joint of the little finger is connected with the driven joint of the little finger by the fourth connecting rod. Under the action of the fourth connecting rod, the driven joint of the little finger bends toward the palm from the driven joint, thus completing the bending movement of the two active joints and one driven joint of the little finger toward the palm.
[0017] As a further embodiment of the present invention, the first active joint of the thumb, the second active joint of the thumb, the first active joint of the index finger, the second active joint of the index finger, the first active joint of the middle finger, the second active joint of the middle finger, the first active joint of the ring finger, the second active joint of the ring finger, the first active joint of the little finger, and the second active joint of the little finger are all equipped with angle sensors;
[0018] By adopting the above technical solution, the angle sensor is used to control the bending angle of the finger.
[0019] As a further feature of this solution, a temperature sensor for sensing the temperature of a grasped object is installed on the palm of the hand;
[0020] By adopting the above technical solution, there is a temperature sensor in the palm of the hand, which can sense the temperature of the grasped object.
[0021] In summary, the present application includes at least one of the following beneficial technical effects:
[0022] 1. The structure and control of the humanoid robot dexterous hand provide an efficient, convenient and intelligent dexterous hand solution. The driving mechanisms between the fingers of the humanoid robot dexterous hand are independent of each other, so the fingers do not interfere with each other when working, and the wires will not get tangled like the traditional wire pulling method, which is more reliable; BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 This is a diagram of the dynamic structure of the dexterous hand finger bending of the present invention;
[0024] Figure 2 This is a temperature perception diagram of the palm of the dexterous hand of the present invention;
[0025] Figure 3 This is a diagram of the active joint angle sensor of the finger of the dexterous hand of the present invention;
[0026] Figure 4 This is a structural diagram of the dexterous hand control circuit board of the present invention.
[0027] In the figure: 1. Servo; 2. Motor 1 of thumb active joint; 3. Motor 2 of thumb active joint; 4. Motor 1 of index finger active joint; 5. Motor 2 of index finger active joint; 6. Index finger driven joint; 7. Motor 2 of middle finger active joint; 8. Middle finger driven joint; 9. Motor 1 of middle finger active joint; 10. Ring finger driven joint; 11. Motor 2 of ring finger active joint; 12. Motor 1 of ring finger active joint; 13. Little finger driven joint; 14. Motor 2 of little finger active joint; 15. Motor 1 of little finger active joint; 16. Temperature sensor; 17. Angle sensor. DETAILED DESCRIPTION
[0028] The following combination Figure 1-Figure 4 This application is described in further detail.
[0029] The present application discloses a humanoid robot dexterous hand; Figure 1-4 , including a palm, a thumb and four grasping fingers, characterized in that: a servo 1 connected to the thumb and an index finger active joint motor 4, a middle finger active joint motor 9, a ring finger active joint motor 12, a little finger active joint motor 15 and a thumb active joint motor 2 corresponding to the four grasping fingers are installed in the palm, and the four grasping fingers are the index finger, the middle finger, the ring finger and the little finger;
[0030] The dexterous humanoid robot hand has independent driving mechanisms between its fingers, so the fingers do not interfere with each other when working. Unlike the traditional wire pulling method where the wires will get tangled, the reliability is higher.
[0031] Reference Figure 1-4 The thumb includes a first active joint of the thumb and a second active joint of the thumb. The output end of the thumb active joint motor 1 2 and the first active joint of the thumb are both fixedly sleeved with a first bevel gear and meshed with each other. The first active joint of the thumb is equipped with a thumb active joint motor 2 3. The output end of the thumb active joint motor 2 3 and the second active joint of the thumb are both fixedly sleeved with a second bevel gear and meshed with each other.
[0032] The thumb bends. When the thumb active joint motor 2 and the first bevel gear rotate, the movement direction is changed through the first active joint of the thumb and another first bevel gear, so that the first active joint of the thumb bends inward; when the thumb active joint motor 2 3 and the second bevel gear rotate, the movement direction is changed through the second active joint of the thumb and the second bevel gear, so that the second joint of the thumb bends inward; when the movement of the two active joints of the thumb is completed, when the palm servo 1 rotates counterclockwise, the thumb is driven to bend toward the palm.
[0033] Reference Figure 1-4The index finger includes a first active joint of the index finger, a second active joint of the index finger and a driven joint 6 of the index finger. The output end of the active joint motor 1 of the index finger and the first active joint of the index finger are both fixedly sleeved with a third bevel gear and meshed with each other. The first active joint is equipped with an active joint motor 2 of the index finger 5. The active joint motor 2 of the index finger 5 and the second active joint of the index finger are both fixedly sleeved with a fourth bevel gear and meshed with each other. The second active joint of the index finger is hinged with a first connecting rod, and one end of the first connecting rod is hinged with the driven joint 6 of the index finger.
[0034] The index finger bends when the index finger active joint motor 1 4 and the third bevel gear rotate, and the movement direction is changed through the first active joint of the index finger and another third bevel gear, so that the first active joint of the index finger bends inward; when the index finger active joint motor 2 5 and the fourth bevel gear rotate, the movement direction is changed through the second active joint of the index finger and another fourth bevel gear, so that the second active joint of the index finger bends inward; the second active joint of the index finger is linked to the index finger driven joint 6 by the first connecting rod, and under the action of the first connecting rod, the index finger driven joint 6 is driven to bend toward the palm, thus completing the bending movement of the two active joints and one driven joint of the index finger toward the palm.
[0035] Reference Figure 1-4 The middle finger includes a first active joint of the middle finger, a second active joint of the middle finger and a driven joint of the middle finger 8. The output end of the middle finger active joint motor 1 9 and the first active joint of the middle finger are both fixedly sleeved with a fifth bevel gear and meshed with each other. The first active joint of the middle finger is equipped with a middle finger active joint motor 2 7. The output end of the middle finger active joint motor 2 7 and the second active joint of the middle finger are both fixedly sleeved with a sixth bevel gear and meshed with each other. The second active joint of the middle finger is hinged with a second connecting rod, and one end of the second connecting rod is hinged with the driven joint 8 of the middle finger.
[0036] The middle finger bends. When the middle finger active joint motor 1 9 and the fifth bevel gear rotate, the movement direction is changed through the middle finger first active joint and another fifth bevel gear, so that the first active joint of the middle finger bends inward; when the middle finger active joint motor 2 7 and the sixth bevel gear rotate, the movement direction is changed through the middle finger second active joint and another sixth bevel gear, so that the second active joint of the middle finger bends inward; the second active joint of the middle finger has a second connecting rod connected to the middle finger driven joint 8. Under the action of the second connecting rod, the middle finger driven joint 8 is driven to bend toward the palm, thus completing the bending movement of the two active joints and one driven joint of the middle finger toward the palm.
[0037] Reference Figure 1-4The ring finger includes a first active joint of the ring finger, a second active joint of the ring finger and a driven joint of the ring finger 10. The output end of the ring finger active joint motor 12 and the first active joint of the ring finger are fixedly sleeved with a seventh bevel gear and meshed with each other. The first active joint of the ring finger is equipped with a second active joint motor 11 of the ring finger. The output end of the second active joint motor 11 of the ring finger and the second active joint of the ring finger are fixedly sleeved with an eighth bevel gear and meshed with each other. The second active joint of the ring finger is hinged with a third connecting rod, and one end of the third connecting rod is hinged with the driven joint 10 of the ring finger;
[0038] The ring finger bends. When the ring finger active joint motor 12 and the seventh bevel gear rotate, the movement direction is changed through the first active joint of the ring finger and another seventh bevel gear, so that the first active joint of the ring finger bends inward; when the ring finger active joint motor 2 11 and the eighth bevel gear rotate, the movement direction is changed through the second active joint of the ring finger and another eighth bevel gear, so that the second active joint of the ring finger bends inward; the second active joint of the ring finger is linked to the driven joint 10 of the ring finger by a third connecting rod. Under the action of the third connecting rod, the driven joint 10 of the ring finger is driven to bend toward the palm, thus completing the bending movement of the two active joints and one driven joint of the ring finger toward the palm.
[0039] Reference Figure 1-4 The little finger includes a first active joint of the little finger, a second active joint of the little finger and a driven joint of the little finger 13. The output end of the first active joint motor 15 of the little finger and the first active joint of the little finger are fixedly sleeved with a ninth bevel gear and meshed with each other. The first active joint of the little finger is equipped with a second active joint motor 14 of the little finger. The output end of the second active joint motor 14 of the little finger and the second active joint of the little finger are fixedly sleeved with a tenth bevel gear and meshed with each other. The second active joint of the little finger is hinged with a fourth connecting rod, and one end of the fourth connecting rod is hinged with the driven joint 13 of the little finger.
[0040] The little finger bends when the little finger active joint motor 15 and the ninth bevel gear rotate. The movement direction is changed through the first active joint of the little finger and another ninth bevel gear, so that the first active joint of the little finger bends inwards; when the little finger active joint motor 2 14 and the tenth bevel gear rotate, the movement direction is changed through the second active joint of the little finger and another tenth bevel gear, so that the second active joint of the little finger bends inwards; the second active joint of the little finger is linked with the little finger driven joint 13 by a fourth connecting rod. Under the action of the fourth connecting rod, the little finger driven joint 13 is driven to bend toward the palm, thus completing the bending movement of the two active joints and one driven joint of the little finger toward the palm.
[0041] Reference Figure 1-4The first active joint of the thumb, the second active joint of the thumb, the first active joint of the index finger, the second active joint of the index finger, the first active joint of the middle finger, the second active joint of the middle finger, the first active joint of the ring finger, the second active joint of the ring finger, the first active joint of the little finger, and the second active joint of the little finger are all installed with an angle sensor 17;
[0042] The angle sensor 17 is used to control the finger bending angle.
[0043] Reference Figure 1-4 , a temperature sensor 16 for sensing the temperature of a grasped object is installed on the palm of the hand;
[0044] There is a temperature sensor 16 at the palm of the hand, which can sense the temperature of the grasped object.
[0045] The implementation principle of a humanoid robot dexterous hand in the embodiment of the present application is:
[0046] The thumb bends. When the thumb active joint motor 2 and the first bevel gear rotate, the movement direction is changed through the first active joint of the thumb and another first bevel gear, so that the first active joint of the thumb bends inward; when the thumb active joint motor 2 3 and the second bevel gear rotate, the movement direction is changed through the second active joint of the thumb and the second bevel gear, so that the second joint of the thumb bends inward; when the movement of the two active joints of the thumb is completed, when the palm servo 1 rotates counterclockwise, the thumb is driven to bend toward the palm.
[0047] The index finger is bent. When the index finger active joint motor 1 4 and the third bevel gear rotate, the movement direction is changed through the index finger first active joint and another third bevel gear, so that the first active joint of the index finger is bent inward; when the index finger active joint motor 2 5 and the fourth bevel gear rotate, the movement direction is changed through the index finger second active joint and another fourth bevel gear, so that the second active joint of the index finger is bent inward; the second active joint of the index finger is linked with the index finger driven joint 6 by the first connecting rod. Under the action of the first connecting rod, the index finger driven joint 6 is driven to bend toward the palm, thus completing the bending movement of the two active joints and one driven joint of the index finger toward the palm;
[0048] The middle finger bends. When the middle finger active joint motor 1 9 and the fifth bevel gear rotate, the movement direction is changed through the middle finger first active joint and another fifth bevel gear, so that the first active joint of the middle finger bends inward; when the middle finger active joint motor 2 7 and the sixth bevel gear rotate, the movement direction is changed through the middle finger second active joint and another sixth bevel gear, so that the second active joint of the middle finger bends inward; the second active joint of the middle finger has a second connecting rod connected to the middle finger driven joint 8. Under the action of the second connecting rod, the middle finger driven joint 8 is driven to bend toward the palm, thus completing the bending movement of the two active joints and one driven joint of the middle finger toward the palm.
[0049] The ring finger bends. When the ring finger active joint motor 12 and the seventh bevel gear rotate, the movement direction is changed through the first active joint of the ring finger and another seventh bevel gear, so that the first active joint of the ring finger bends inward; when the ring finger active joint motor 2 11 and the eighth bevel gear rotate, the movement direction is changed through the second active joint of the ring finger and another eighth bevel gear, so that the second active joint of the ring finger bends inward; the second active joint of the ring finger is linked to the driven joint 10 of the ring finger by a third connecting rod. Under the action of the third connecting rod, the driven joint 10 of the ring finger is driven to bend toward the palm, thus completing the bending movement of the two active joints and one driven joint of the ring finger toward the palm.
[0050] The little finger is bent. When the little finger active joint motor 15 and the ninth bevel gear rotate, the movement direction is changed through the first active joint of the little finger and another ninth bevel gear, so that the first active joint of the little finger is bent inward; when the little finger active joint motor 2 14 and the tenth bevel gear rotate, the movement direction is changed through the second active joint of the little finger and another tenth bevel gear, so that the second active joint of the little finger is bent inward; the second active joint of the little finger is linked with the little finger driven joint 13 by a fourth connecting rod. Under the action of the fourth connecting rod, the little finger driven joint 13 is driven to bend toward the palm, thus completing the bending movement of the two active joints and one driven joint of the little finger toward the palm;
[0051] The control method of the five fingers is to use PID control on the corresponding joint motors. The palm temperature is collected using the JX90614 temperature sensor.
[0052] PID controls the angle of an active joint, which essentially controls the motor to a specified angle.
[0053] PID Controller Design:
[0054] Proportional part (P): The proportional part determines the basic amplitude of the control output according to the deviation of the current angle parameter from the set target.
[0055] Integral part (I): Accumulated deviation, used to eliminate the static error of the system and ensure that the system is stable near the set target.
[0056] Derivative part (D): Considers the rate of change of the deviation and predicts the future deviation trend to smoothly adjust the system response speed to avoid overshoot or oscillation.
[0057] Control algorithm implementation: The real-time angle data collected by the sensor is input into the PID control algorithm to calculate the corresponding control output. This output will directly affect the angle control of the motor, such as adjusting the rotation speed of the motor, stopping, etc.
[0058] Under program control, the thumb can arbitrarily contact the other four fingers to form an O shape, which can achieve dexterous grasping movements.
[0059] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.
Claims
1. A humanoid robot dexterous hand, comprising a palm, a thumb and four grasping fingers, characterized in that: A servo motor (1) connected to the thumb and an index finger active joint motor (4), a middle finger active joint motor (9), a ring finger active joint motor (12), a little finger active joint motor (15) and a thumb active joint motor (2) are installed in the palm, and the four grasping fingers are the index finger, the middle finger, the ring finger and the little finger.
2. The humanoid robot dexterous hand according to claim 1, characterized in that: The thumb comprises a first active thumb joint and a second active thumb joint, the output end of the first active thumb joint motor (2) and the first active thumb joint are both fixedly sleeved with a first bevel gear and meshed with each other, the first active thumb joint motor (3) is installed on the first active thumb joint, the output end of the second active thumb joint motor (3) and the second active thumb joint are both fixedly sleeved with a second bevel gear and meshed with each other.
3. The humanoid robot dexterous hand according to claim 1, characterized in that: The index finger comprises a first active joint of the index finger, a second active joint of the index finger and a driven joint (6) of the index finger. The output end of the first active joint motor (4) of the index finger and the first active joint of the index finger are both fixedly sleeved with a third bevel gear and meshed with each other. The first active joint is equipped with a second active joint motor (5) of the index finger. The second active joint motor (5) of the index finger and the second active joint of the index finger are both fixedly sleeved with a fourth bevel gear and meshed with each other. The second active joint of the index finger is hinged with a first connecting rod, and one end of the first connecting rod is hinged with the driven joint (6) of the index finger.
4. The humanoid robot dexterous hand according to claim 1, characterized in that: The middle finger comprises a first active joint of the middle finger, a second active joint of the middle finger and a driven joint (8) of the middle finger. The output end of the first active joint motor of the middle finger (9) and the first active joint of the middle finger are both fixedly sleeved with a fifth bevel gear and meshed with each other. The first active joint of the middle finger is equipped with a second active joint motor of the middle finger (7). The output end of the second active joint motor of the middle finger (7) and the second active joint of the middle finger are both fixedly sleeved with a sixth bevel gear and meshed with each other. The second active joint of the middle finger is hinged with a second connecting rod, and one end of the second connecting rod is hinged with the driven joint (8) of the middle finger.
5. The humanoid robot dexterous hand according to claim 1, characterized in that: The ring finger comprises a first active ring finger joint, a second active ring finger joint and a driven ring finger joint (10); the output end of the first active ring finger joint motor (12) and the first active ring finger joint are both fixedly sleeved with a seventh bevel gear and meshed with each other; the first active ring finger joint is provided with a second active ring finger joint motor (11); the output end of the second active ring finger joint motor (11) and the second active ring finger joint are both fixedly sleeved with an eighth bevel gear and meshed with each other; the second active ring finger joint is hinged with a third connecting rod, one end of which is hinged with the driven ring finger joint (10).
6. The humanoid robot dexterous hand according to claim 1, characterized in that: The little finger comprises a first active joint of the little finger, a second active joint of the little finger and a driven joint (13) of the little finger, the output end of the first active joint motor of the little finger (15) and the first active joint of the little finger are both fixedly sleeved with a ninth bevel gear and meshed with each other, the first active joint of the little finger is equipped with a second active joint motor of the little finger (14), the output end of the second active joint motor of the little finger (14) and the second active joint of the little finger are both fixedly sleeved with a tenth bevel gear and meshed with each other, the second active joint of the little finger is hinged with a fourth connecting rod, one end of the fourth connecting rod is hinged with the driven joint (13) of the little finger.
7. The humanoid robot dexterous hand according to claim 1, characterized in that: The first active joint of the thumb, the second active joint of the thumb, the first active joint of the index finger, the second active joint of the index finger, the first active joint of the middle finger, the second active joint of the middle finger, the first active joint of the ring finger, the second active joint of the ring finger, the first active joint of the little finger, and the second active joint of the little finger are all equipped with angle sensors (17).
8. The humanoid robot dexterous hand according to claim 1, characterized in that: A temperature sensor (16) for sensing the temperature of a grasped object is installed on the palm of the hand.