A rigid-flexible hybrid actuated robotic hand with palm-finger coordinated motion

Abstract

A rigid-flexible hybrid drive robotic hand with palm-finger coordinated motion function relates to the field of intelligent robot technology. The palm assembly is equipped with five finger assemblies, and the finger assemblies use under-actuated fingers with a hybrid transmission of connecting rods and tendon rope mechanisms. The palm assembly adopts a modular rigid-flexible hybrid palm. A winding motor is fixedly installed in the middle position of the inner side of the palm assembly and connected to the transmission winding wheel. The tendon rope lead-out ends of the five finger assemblies are guided and constrained by the tendon rope guide limit mechanism and then connected and fixed to the winding wheel. The winding wheel rotates and winds to simultaneously realize the bending movement of the five finger assemblies and the tightening and gathering of the palm assembly inward. A winding motor is used to simultaneously control the bending movement of the palm assembly and the five finger assemblies, effectively realizing the coordinated movement between the palm and fingers, providing a flexible grasping function, and having significant advantages in simulation, comfort, operability and cost-effectiveness.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function. Background Art

[0002] With the rapid development of modern technology, prosthetic technology has made significant progress in helping people with physical disabilities regain some functional ability. Existing prosthetic robotic hands are primarily humanoid in design, aiming to mimic the dexterity and naturalness of the human hand as closely as possible. However, the following issues are common with prosthetic hands currently on the market:

[0003] Insufficient finger coordination: Existing prosthetic robotic hands use traditional drive methods and structural designs, typically only capable of simple movements of individual knuckles. However, the movements of the fingers and palm are complex and collaborative, and individually driven control methods make it difficult to achieve the natural and flexible grasping movements of a real human hand. This is especially true for delicate operations such as grasping objects and pinching, as traditional prosthetic robotic hands often lack sufficient flexibility and precision.

[0004] Complex drive systems: Existing prosthetic fingers mostly rely on complex multiple drive sources, using electric or pneumatic drive systems. Electric drive systems, in particular, typically require complex motors, transmission devices, and a large number of control components. This not only increases the cost and weight of the equipment, but also increases manufacturing and maintenance costs. It also increases the wearer's burden and affects the wearer's comfort in daily activities. This is especially true after prolonged use, which can easily lead to arm fatigue and discomfort.

[0005] Limitations of humanoid size: Existing prosthetic robotic hands differ significantly from the human hand in terms of size and proportion, particularly in the palm, which often struggles to achieve natural proportions similar to the human body. Furthermore, the palm length, joint spacing, and relative motion between joints all fail to achieve the enveloping function of a human hand, making them unable to meet the adaptive, enveloping grasping requirements of the wearer. Summary of the Invention

[0006] In order to address the shortcomings of the background technology, the present invention provides a rigid-flexible hybrid drive robotic hand with palm-finger coordinated movement function, which designs an under-actuated finger component based on a hybrid transmission of a connecting rod and tendon mechanism and a modular rigid-flexible hybrid palm component. A winding motor is used to simultaneously control the bending movement of the palm component and the five finger components, effectively realizing the coordinated movement between the palm and fingers, providing flexible grasping function, and having significant advantages in simulation, comfort, operability and cost-effectiveness.

[0007] To achieve the above objectives, the present invention adopts the following technical solutions: a rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function, comprising a palm assembly and five finger assemblies, wherein the finger assembly comprises a base, an arc-shaped connecting rod, an upper swing rod, a tendon rope, a driving wheel, a lower swing rod, a root joint shaft, a sleeve, a transfer connecting rod, an intermediate joint shaft, a top joint shaft, a root end knuckle shell, an intermediate knuckle shell and a tip end knuckle shell, the top front end of the base is hinged to the bottom of the lower swing rod, and the top of the lower swing rod is laterally fixed with an intermediate connecting pin, The sleeve is slidably mounted on the lower swing rod, and the root joint shaft is rotatably inserted in the through hole at the rear end of the top of the base. The driving wheel is coaxially connected and fixed with the root joint shaft. The two ends of the arc connecting rod are respectively hinged to the driving wheel and the sleeve. The tendon rope is wrapped around the driving wheel and fixed and led out. The transfer connecting rod is tilted along the front and back directions and arranged at a position adjacent to the front end above the lower swing rod. The front end of the transfer connecting rod is hinged to the bottom of the upper swing rod, and the top connecting pin is laterally fixed on the top of the upper swing rod. The intermediate joint shaft is rotatably inserted in the through hole at the rear end of the transfer connecting rod. The top joint axis is arranged horizontally in the hole near the front end of the upper swing rod, the two sides of the bottom of the end knuckle shell are rotatably connected to the root joint axis, the two sides of the bottom of the middle knuckle shell are rotatably connected to the middle joint axis, and a torsion spring is arranged between the two to provide a reverse torque, the two ends of the middle connecting pin are respectively plugged into the pin holes opened at the corresponding positions of the middle knuckle shell, the two sides of the bottom of the tip knuckle shell are rotatably connected to the top joint axis, and the two ends of the top connecting pin are respectively plugged into the pin holes opened at the corresponding positions of the tip knuckle shell, the palm assembly includes four rigid frames arranged at intervals along the width direction and three flexible connecting frames connecting adjacent rigid frames, a winding motor is fixedly installed in the middle position of the inner side of the palm assembly and connected to the transmission winding wheel, the bases of the five finger assemblies are respectively fixed to the corresponding positions of the palm assembly by screws, the tendon lead-out ends of the five finger assemblies are guided and constrained by the tendon guide and limiting mechanism and then connected and fixed to the winding wheel, the rotating winding of the winding wheel can simultaneously realize the bending action of the five finger assemblies and the tightening and gathering of the palm assembly inward.

[0008] Furthermore, a sensing and communication module is fixedly installed inside the tip knuckle shell, and a proximity sensor is connected and installed on the front surface of the sensing and communication module. The proximity sensor is exposed to the outside through a window opened at the front end of the tip knuckle shell, and is used to measure the proximity information between the tip knuckle shell and the grasped object.

[0009] Furthermore, the sensing communication module is connected to the root angle sensor and the top angle sensor, the root angle sensor is connected and fixed to the inner wall of the root end knuckle shell and is mounted on the root joint shaft, and is used to measure the rotational position information of the driving wheel relative to the root end knuckle shell, and the top angle sensor is connected and fixed to the inner wall of the tip end knuckle shell and is mounted on the top joint shaft, and is used to measure the rotational position information of the tip end knuckle shell relative to the top joint shaft.

[0010] Furthermore, a positioning beam is provided on the top of the middle finger joint shell, and a nesting hole is provided laterally on the top of the positioning beam to be rotatably connected to the top joint axis. The sensing communication module is connected to strain gauge 1 and strain gauge 2, and strain gauge 1 and strain gauge 2 are respectively fixed on the front end and side of the positioning beam for measuring the force condition of the positioning beam.

[0011] Furthermore, a deflection motor is fixedly installed at the inner bottom end of the palm assembly corresponding to the thumb, and the deflection motor is connected to a transmission rotary joint, and the rotary joint is fixed to the base of the finger assembly serving as the thumb by screws.

[0012] Furthermore, the tendon rope guiding and limiting mechanism includes a guide tube, a limiting ring, three changing wheels and four rotating wheels. The four rotating wheels are respectively installed on the top inner sides of four rigid frames. The three changing wheels are arranged in an L shape and installed between the rotating wheel at the tail end and the bottom of the winding motor. The tendon rope lead-out ends of the four finger assemblies except the thumb are first turned through the corresponding rotating wheels respectively, and then change direction through the three changing wheels in turn, and finally are connected and fixed to the winding wheel. The middle position of the outer wall of the guide tube is hinged to the corresponding position of the rotary joint, and the limiting ring is fixed to the bottom inner side of the palm assembly. The tendon rope lead-out end of the finger assembly serving as the thumb passes through the guide tube and the limiting ring in turn, changes direction upward, and then is connected and fixed to the winding wheel.

[0013] Furthermore, curved clamping portions are integrally provided on both end edges in the width direction of the palm assembly.

[0014] Furthermore, the deformation stiffness coefficient of the flexible connecting frame of the palm assembly is smaller than the stiffness coefficient of the finger assembly.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention takes humanoid robot dexterous hands and medical rehabilitation prostheses as the application background, designs an under-actuated finger assembly based on a hybrid transmission of a connecting rod and tendon mechanism, and a modular rigid-flexible hybrid palm assembly, adopts a winding motor to simultaneously control the bending movements of the palm assembly and the five finger assemblies, and the finger assembly can realize adaptive finger movements with the help of the under-actuated control strategy, without the need to drive each joint separately, and can maintain natural bending and flexibility when grasping objects, while the palm assembly can provide stable supporting force and lag behind the movement deformation of the fingers as needed, and the finger assembly executes a fixed-ratio linkage when it is not in contact with the grasped object, and the palm does not perform The finger assembly performs bending movements, presenting an anthropomorphic pre-grasping movement. After the finger assembly performs the grasping movement, the flexible connecting frame position of the palm assembly bends to achieve adaptive envelope grasping of the grasped object. This coupled automatic collaborative movement is difficult to achieve with traditional technologies, especially when it comes to complex grasping and operation tasks, and can provide higher utilization efficiency and grasping stability. In addition, the thumb is equipped with a deflection motor to achieve swinging movements, further providing flexible grasping functions. The overall structure and control are simple and easy to operate, solving the problems of traditional prosthetic robot hands such as insufficient anthropomorphic design, poor coordinated movement, complex control, high cost and heavy weight, and has significant advantages in simulation, comfort, operability and cost-effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the internal structure of the finger assembly of the robot hand of the present invention;

[0017] Figure 2 Schematic diagram of the external structure of the finger assembly of the robot hand of the present invention;

[0018] Figure 3 Schematic diagram of the structure of the palm assembly of the robot hand of the present invention;

[0019] Figure 4 It is a schematic diagram of the overall structure of the robot hand of the present invention.

[0020] In the figure: 1. Base; 2. Arc connecting rod; 3. Middle connecting pin; 4. Upper swing rod; 5. Top connecting pin; 6. Sensor communication module; 7. Tendon rope; 8. Drive wheel; 9. Lower swing rod; 10. Root angle sensor; 11. Root joint shaft; 12. Sleeve; 13. Transfer connecting rod; 14. Torsion spring; 15. Middle joint shaft; 16. Top angle sensor; 17. Top joint shaft; 18. Proximity sensor; 19. Root end knuckle shell; 20. Middle knuckle shell ; 21. Tip knuckle shell; 22. Strain gauge one; 23. Strain gauge two; 24. Rigid skeleton one; 25. Rigid skeleton two; 26. Rigid skeleton three; 27. Rigid skeleton four; 28. Flexible connecting frame; 29. Turntable; 30. Changing wheel one; 31. Changing wheel two; 32. Changing wheel three; 33. Winding motor; 34. Reducer one; 35. Winding wheel; 36. Deflection motor; 37. Reducer two; 38. Rotary joint; 39. Guide tube; 40. Limiting ring. DETAILED DESCRIPTION

[0021] The technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] like Figures 1 to 4 As shown, a rigid-flexible hybrid drive robot hand with palm-finger coordinated motion function includes a palm component and five finger components. Specifically:

[0023] The finger assembly consists of two parts: a control mechanism and a shell. The control mechanism includes a base 1, an arc-shaped connecting rod 2, an intermediate connecting pin 3, an upper swing rod 4, a top connecting pin 5, a tendon rope 7, a driving wheel 8, a lower swing rod 9, a root joint shaft 11, a sleeve 12, a transfer connecting rod 13, a torsion spring 14, an intermediate joint shaft 15 and a top joint shaft 17; the shell includes a root end finger joint shell 19, an intermediate finger joint shell 20 and a tip finger joint shell 21.

[0024] The palm assembly includes a rigid frame 1 24 , a rigid frame 25 , a rigid frame 3 26 , a rigid frame 4 27 and three flexible connecting frames 28 .

[0025] Combine Figure 1As shown, the base 1 serves as the root connector of the finger assembly. Its bottom is provided with mounting holes for easy installation and fixation with the palm assembly. Its top extends forward and is provided with a connecting ear at the front end for connection to the lower swing rod 9. A through hole is provided laterally at the rear end of the top for installation of the root joint shaft 11. The bottom of the lower swing rod 9 and the connecting ear at the front end of the top of the base 1 are hingedly connected by a pin to form a revolving pair. The top of the lower swing rod 9 is laterally fixed with an intermediate connecting pin 3 for connection to the intermediate finger joint housing 20. The sleeve 12 is slidably mounted on the lower swing rod 9 to form a moving pair. A positioning shaft is integrally provided on the side of the bottom of the outer wall of the sleeve 12 for connection to the arc-shaped connecting rod 2. The base joint shaft 11 is rotatably inserted into a through-hole at the top rear end of the base 1. The drive wheel 8 is coaxially connected and fixed to the base joint shaft 11. An eccentric shaft is integrally mounted at the rear end of the wheel face of the drive wheel 8 on the same side as the positioning shaft. The curved connecting rod 2 has axial holes at both ends and is articulated with the eccentric shaft of the drive wheel 8 and the positioning shaft of the sleeve 12, respectively, to form a revolving pair. A winding groove is formed at the top of the circumference of the drive wheel 8, and its rear end is fixedly connected to one end of the tendon 7. The other end of the tendon 7 passes through the winding groove and is led downward from the front end of the drive wheel 8 to transmit the motion and force output by the winding motor. The tendon 7 controls the rotation of the drive wheel 8, which is transmitted to the sleeve 12 via the curved connecting rod 2, achieving sliding of the sleeve 12 and forward swinging of the lower swing arm 9. The transfer link 13 is arranged obliquely in the front-to-back direction, above and adjacent to the front end of the lower swing arm 9. Its front end is provided with a connecting lug for connection to the upper swing arm 4, and its rear end has a transverse through-hole for mounting the intermediate joint shaft 15. The connecting ears at the bottom of the upper swing link 4 and the front end of the transfer link 13 are hingedly connected via a pin, forming a revolute joint. A top connecting pin 5 is laterally fixed to the top of the upper swing link 4, connecting the tip knuckle housing 21. Motion and force are transmitted through the transfer link 13, while the upper swing link 4 and the lower swing link 9 are staggered, ensuring that their working spaces are not in the same plane, thereby preventing structural interference during the grasping action. The intermediate joint shaft 15 is rotatably inserted into the through-hole at the rear end of the transfer link 13. The top joint shaft 17 is arranged laterally above and adjacent to the front end of the upper swing link 4. The torsion spring 14 is mounted on the intermediate joint shaft 15 and connected to the intermediate knuckle housing 20, providing a torque to the intermediate joint shaft 15 opposite the grasping direction, enabling under-actuated grasping and automatic reset after grasping. This under-actuated mechanism enables proportional coupled motion during grasping, as well as continued motion of the tip knuckle housing 21 after the intermediate knuckle housing 20 contacts the grasped object.

[0026] Combine Figure 2As shown, the root knuckle shell 19, the middle knuckle shell 20 and the tip knuckle shell 21 are respectively mounted on the outside of the lower swing rod 9, the upper swing rod 4 and the top joint shaft 17. The bottom two sides of the root knuckle shell 19 are rotatably connected to the two ends of the root joint shaft 11 through bearings to form a rotation pair; the bottom two sides of the middle knuckle shell 20 are rotatably connected to the two ends of the middle joint shaft 15 through bearings to form a rotation pair. At the same time, pin holes are provided on the two sides of the bottom of the middle knuckle shell 20 at positions corresponding to the middle connecting pin 3. The top of the lower swing rod 9 is connected to the pin holes on the two sides of the bottom of the middle knuckle shell 20 through the middle connecting pin 3 to form a rotation pair, which transmits the movement and force of the lower swing rod 9 to the middle knuckle shell 20, thereby pushing the middle knuckle shell 20 to rotate around the middle joint shaft 15. Rotation. In addition, an installation position is set on the inner wall of the middle finger joint shell 20 to install and fix the torsion spring 14; the two sides of the bottom of the tip finger joint shell 21 are rotatably connected with the two ends of the top joint shaft 17 through bearings to form a rotating pair. At the same time, pin holes are opened on both sides of the bottom of the tip finger joint shell 21 at positions corresponding to the top connecting pin 5, and the top of the upper swing rod 4 is connected with the pin holes on both sides of the bottom of the tip finger joint shell 21 through the top connecting pin 5 to form a rotating pair, which transmits the movement and force of the upper swing rod 4 to the tip finger joint shell 21, thereby pushing the tip finger joint shell 21 to rotate around the top joint shaft 17.

[0027] Combine Figures 1 and 2 As shown, in order to improve the precise control of the finger assembly, a sensing system can be integrated. The sensing system includes a sensing communication module 6 and a root angle sensor 10, a top angle sensor 16, a proximity sensor 18, and strain gauges 1 22 and 23 that are connected and communicated with the sensor communication module 6. The sensor communication module 6 is arranged near the top joint shaft 17 and is fixedly connected to the inner wall of the tip knuckle shell 21. The proximity sensor 18 is mounted on the front surface of the sensor communication module 6 to measure the proximity information between the tip knuckle shell 21 and the grasped object. A window is provided at the front end of the tip knuckle shell 21 to expose the proximity sensor 18 to the outside. The root angle sensor 10 is fixedly connected to the inner wall of the root knuckle shell 19 and is sleeved on the root joint shaft 11 to measure the rotational position information of the drive wheel 8 relative to the root knuckle shell 19. The top angle sensor 16 is connected and fixed to the inner wall of the tip knuckle shell 21 and is mounted on the top joint shaft 17 to measure the rotational position information of the tip knuckle shell 21 relative to the top joint shaft 17; a positioning beam is set on the top of the middle knuckle shell 20, and a nesting hole is set horizontally on the top of the positioning beam to be rotatably connected to the top joint shaft 17. The strain gauge 1 22 and the strain gauge 2 23 are respectively fixed on the front end and side of the positioning beam. When grasping, it is subjected to the reaction force of the grasped object, and the force condition of the positioning beam can be measured by the strain gauge 1 22 and the strain gauge 2 23.

[0028] Compared with a single rope drive or connecting rod rotation, this hybrid transmission mechanism of connecting rod and tendon rope mechanism combines the characteristics of tendon rope drive such as freedom of mode and spatial guidance with the characteristics of high connecting rod stiffness and determined motion trajectory, thereby realizing free grasping of prosthetic robot fingers.

[0029] Combine Figure 3 As shown, the rigid skeleton one 24, the rigid skeleton two 25, the rigid skeleton three 26 and the rigid skeleton four 27 are arranged at intervals along the width direction of the palm component, and the rigid skeleton one 24 and the rigid skeleton two 25, the rigid skeleton two 25 and the rigid skeleton three 26, and the rigid skeleton three 26 and the rigid skeleton four 27 are respectively connected to form a palm as a whole through a flexible connecting frame 28 in a detachable assembly manner, such as by using a slide rail that fits tightly together, wherein the edges of the rigid skeleton one 24 and the rigid skeleton four 27 can be integrally provided with a curved clamping portion, so as to play a certain clamping and positioning role on the grasped object when the two ends of the palm component are bent inward and enveloped. In addition, in order to realize the winding arrangement of the tendon rope 7 in the finger assembly and the bending envelope of the palm assembly, a rotating wheel 29 is installed at the same height at the top inner side of the rigid frame 1 24, the rigid frame 25, the rigid frame 3 26 and the rigid frame 4 27, respectively, a changing wheel 1 30 is installed on the inner side of the rigid frame 1 24, adjacent to the position below the corresponding rotating wheel 29, a changing wheel 2 31 is installed at the inner bottom end of the rigid frame 1 24, and a changing wheel 3 32 is installed at the inner bottom end of the rigid frame 3 26, so that the three changing wheels are arranged in an L shape between the rotating wheel 29 at the tail end and the bottom of the winding motor 33.

[0030] Combine Figures 3 and 4As shown, when the five finger assemblies are assembled with the palm assembly, a winding motor 33 is fixedly mounted in the middle of the inner side of rigid frame 3 26. The output end of the winding motor 33 is connected to the transmission winding wheel 35 via reducer 1 34. A deflection motor 36 is fixedly mounted at the inner bottom end of rigid frame 4 27. The output end of the deflection motor 36 is connected to the transmission rotary joint 38 via reducer 2 37. The bases 1 of the four finger assemblies, excluding the thumb, are respectively connected and fixed to the tops of rigid frames 1 24, 25, 36, and 4 27 via screws. The lead-out ends of the tendon ropes 7 of the four finger assemblies are first turned by the corresponding rotating wheels 29, and then collectively changed direction by the changing wheels 1 30, 2 31, and 3 32 in sequence, before finally being connected and fixed to the winding wheel 35. The base 1 of the thumb's finger assembly is connected and fixed to the rotary joint 38 via screws, and the lead-out end of the tendon 7 of the finger assembly passes through the guide tube 39 and the limit ring 40 in sequence, then changes direction upward and is then connected and fixed to the winding wheel 35. The middle position of the outer wall of the guide tube 39 is hinged to the corresponding position of the rotary joint 38. The limit ring 40 is fixed to the bottom of the inner side of the palm assembly and is located between the winding motor 33 and the rotary joint 38. The guide tube 39 and the limit ring 40 constrain the movement path of the tendon 7, reducing its free space to prevent the tendon 7 from interfering with other structures during the thumb's swing. Among them, the rotating wheel 29, the direction-changing wheel 1 30, the direction-changing wheel 2 31, the direction-changing wheel 32, the guide tube 39, and the limit ring 40 together constitute a tendon guide and limit mechanism to achieve reasonable guidance and constraint of the spatial position of each tendon 7. The winding motor 33 rotates the winding wheel 35, transmitting motion and force through the winding tendons 7 to the five finger assemblies, achieving bending. Simultaneously, the tendons 7 of the five finger assemblies force the flexible connecting frame 28 to bend, tightening and converging the palm assembly inward. Furthermore, the thumb assembly is equipped with a deflection motor 36, which drives the rotation of the swivel joint 38 to control the thumb's swing, achieving a more dexterous grip.

[0031] It is worth mentioning that the deformation stiffness coefficient of the flexible connecting frame 28 should be smaller than the stiffness coefficient of the finger assembly, so that the robot hand can maintain a certain rigidity and not bend in the initial stage when the dexterous hand moves freely and the finger assembly contacts the grasped object. After the bending movement of the finger assembly encounters a certain resistance, the flexible connecting frame 28 begins to perform bending movement, so that the rigid skeleton 1 24 and the rigid skeleton 4 27 at both ends of the palm assembly in the width direction cooperate with the five finger assemblies to adaptively envelop the grasped object.

[0032] The present invention takes humanoid robot dexterous hands and medical rehabilitation prostheses as the application background, and designs a lightweight humanoid dexterous hand, specifically a rigid-flexible hybrid five-finger dexterous hand with palm-finger coordinated movement function. It has under-actuated robot fingers based on a hybrid transmission of connecting rods and tendon mechanisms and a modular rigid-flexible hybrid structure palm. It adopts an innovative driving mechanism. While ensuring the accuracy of humanoid design and size, it can effectively realize the coordinated movement between the palm and fingers, provide flexible grasping function, and solve the problems of traditional prosthetic robot hands such as insufficient humanoid design, poor coordinated movement, complex control, high cost and heavy weight. It has significant advantages in simulation, comfort, operability and cost-effectiveness.

[0033] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other configurations without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations coming within the meaning and range of equivalents of the claims are intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0034] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A rigid-flexible hybrid drive robotic hand with palm-finger coordinated motion, characterized by: The upper end of the lower frame is hinged to the bottom of the lower frame, and the middle connecting pin is fixed on the top of the lower frame, and the lower frame is hinged on the top of the lower frame, and the middle connecting pin is fixed on the top of the lower frame. The two sides of the bottom of the end knuckle shell are rotatably connected to the root joint shaft, the two sides of the bottom of the middle knuckle shell are rotatably connected to the middle joint shaft, and a torsion spring is arranged between the two to provide a reverse torque, the two ends of the middle connecting pin are respectively connected with the pin holes opened at the corresponding position of the middle knuckle shell, the two sides of the bottom of the tip knuckle shell are rotatably connected to the top joint shaft, and the two ends of the top connecting pin are respectively connected with the pin holes opened at the corresponding position of the tip knuckle shell. The palm assembly includes four rigid skeletons arranged at intervals along the width direction and three flexible connecting frames connecting adjacent rigid skeletons. A winding motor is fixedly installed at the middle position of the inner side of the palm assembly and is connected to the transmission winding wheel. The bases of the five finger assemblies are respectively fixed to the corresponding positions of the palm assembly by screws. The tendon rope lead-out ends of the five finger assemblies are guided and constrained by the tendon rope guide and limiting mechanism and then connected and fixed to the winding wheel. The rotation and winding of the winding wheel can simultaneously realize the bending action of the five finger assemblies and the tightening and gathering of the palm assembly inward; The tendon rope guiding and limiting mechanism includes a guide tube, three changing wheels and four rotating wheels. The four rotating wheels are respectively installed on the top inner side of the four rigid frames. The three changing wheels are arranged in an L shape and installed between the rotating wheel at the tail end and the bottom of the winding motor. The tendon rope lead-out ends of the four finger assemblies except the thumb are first turned through the corresponding rotating wheels, and then change direction together through the three changing wheels in turn, and finally are connected and fixed to the winding wheel.

2. A rigid-flexible hybrid drive robotic hand with palm-finger coordinated motion according to claim 1, characterized in that: A sensing and communication module is fixedly installed inside the shell of the tip knuckle, and a proximity sensor is connected and installed on the front surface of the sensing and communication module. The proximity sensor is exposed to the outside through a window opened at the front end of the shell of the tip knuckle, and is used to measure the proximity information between the shell of the tip knuckle and the grasped object.

3. A rigid-flexible hybrid drive robot hand with palm-finger coordinated motion according to claim 2, characterized in that: The sensing and communication module is connected to the root angle sensor and the top angle sensor. The root angle sensor is connected and fixed to the inner wall of the root end knuckle shell and is mounted on the root joint shaft, and is used to measure the rotational position information of the driving wheel relative to the root end knuckle shell. The top angle sensor is connected and fixed to the inner wall of the tip knuckle shell and is mounted on the top joint shaft, and is used to measure the rotational position information of the tip knuckle shell relative to the top joint shaft.

4. A rigid-flexible hybrid drive robot hand with palm-finger coordinated motion according to claim 2 or 3, characterized in that: A positioning beam is set on the top of the middle finger joint shell, and a nesting hole is set horizontally on the top of the positioning beam to be rotatably connected to the top joint axis. The sensing communication module is connected to strain gauge 1 and strain gauge 2. Strain gauge 1 and strain gauge 2 are respectively fixed on the front end and side of the positioning beam to measure the force condition of the positioning beam.

5. A rigid-flexible hybrid drive robotic hand with palm-finger coordinated motion according to claim 1, characterized in that: A deflection motor is fixedly installed at the inner bottom end of the palm assembly and the position corresponding to the thumb. The deflection motor is connected to the transmission rotary joint. The rotary joint is fixed to the base of the finger assembly serving as the thumb by screws.

6. A rigid-flexible hybrid drive robot hand with palm-finger coordinated motion according to claim 5, characterized in that: The tendon rope guiding and limiting mechanism also includes a limiting ring. The middle position of the outer wall of the guide tube is hinged to the corresponding position of the rotary joint. The limiting ring is fixed to the bottom inner side of the palm assembly. The tendon rope lead-out end of the thumb finger assembly passes through the guide tube and the limiting ring in turn, then changes direction upward and is fixed to the winding wheel.

7. A rigid-flexible hybrid drive robotic hand with palm-finger coordinated motion according to claim 1, characterized in that: The two end edges of the palm assembly in the width direction are respectively provided with a curved clamping portion.

8. A rigid-flexible hybrid drive robotic hand with palm-finger coordinated motion according to claim 1, characterized in that: The deformation stiffness coefficient of the flexible connecting frame of the palm assembly is smaller than the stiffness coefficient of the finger assembly.

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