Dexterous Hand and Humanoid Robot

Abstract

The present application relates to the field of robot technology, and particularly to a dexterous hand and a humanoid robot. The dexterous hand includes a palm and dexterous hand fingers. The dexterous hand fingers include a pre-tightening seat and a pre-tightening assembly. The pre-tightening seat is arranged on the palm, and the pre-tightening assembly is arranged on the pre-tightening seat; a finger driving mechanism is movably arranged on the pre-tightening seat and is connected to the pre-tightening assembly; a finger module is rotatably arranged on the palm and is connected to the finger driving mechanism; the pre-tightening assembly is used to provide a pre-tightening force towards the finger module to the finger driving mechanism, so that when the finger driving mechanism drives the finger module to move, it can overcome the pre-tightening force and store energy for the pre-tightening assembly. After the finger module tightly holds an object, although the finger module is limited by the grasped object and cannot continue to do work on it, the finger driving mechanism is not completely blocked. The driving force of the finger driving mechanism can overcome the pre-tightening force and store energy for the pre-tightening assembly, thereby avoiding the problems of serious system heating, high energy consumption and overheating damage caused by the blocking of the finger driving mechanism.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a dexterous hand and a humanoid robot. Background Art

[0002] With the development of intelligent technology, robot technology has become a research hotspot today. As an end effector of a robot, the robot hand, in cooperation with the whole robot, realizes various complex actions, which also attracts more and more researchers' attention.

[0003] In the mechanical structure of the existing humanoid dexterous hand, multiple fingers are set on the mechanical hand to form a multi-fingered dexterous hand. Each finger is driven by one or more motors to realize actions similar to human finger grasping, releasing, or operating tools. However, during use, currently, the dexterous hand fingers mainly rely on the continuous power-on and stall of the motors to maintain the grasping force, resulting in serious system heating, high energy consumption, and the risk of motor overheating and damage. Summary of the Invention

[0004] Based on this, this application provides a dexterous hand and a humanoid robot to solve the problems of serious system heating, high energy consumption, and the risk of motor overheating and damage caused by motor stall when the fingers grasp.

[0005] To achieve the above object, this application adopts the following technical solutions:

[0006] On the one hand, this application provides a dexterous hand, including a palm and dexterous hand fingers arranged on the palm. The dexterous hand fingers include:

[0007] A pre-tightening mechanism, which includes a pre-tightening seat and a pre-tightening component. The pre-tightening seat is arranged on the palm, and the pre-tightening component is arranged on the pre-tightening seat;

[0008] A finger driving mechanism, which is movably arranged on the pre-tightening seat and is connected to the pre-tightening component;

[0009] A finger module, which is rotatably arranged on the palm and is connected to the finger driving mechanism to move under the drive of the finger driving mechanism;

[0010] The pre-tightening component is used to provide a pre-tightening force towards the finger module to the finger driving mechanism, so that when the finger driving mechanism drives the finger module to move, it can overcome the pre-tightening force and charge the pre-tightening component.

[0011] In a possible implementation manner, the pre-tightening component includes:

[0012] A sliding rod, which is arranged on the pre-tightening seat, and the finger driving mechanism is slidably arranged on the sliding rod;

[0013] The pre-tightening member is arranged on the sliding rod. One end of the pre-tightening member abuts against the pre-tightening seat, and the other end abuts against the finger driving mechanism to apply a pre-tightening force towards the finger module to the finger driving mechanism.

[0014] In a possible implementation manner, the finger driving mechanism includes a driving seat which is penetrated through the sliding rod. A pre-tightening block is arranged on the driving seat, and a limiting block is arranged on the pre-tightening seat. The pre-tightening block is used for abutting against the limiting block so that the pre-tightening member has a pre-tightening force applied to the finger driving mechanism.

[0015] In a possible implementation manner, the finger module includes a phalanx assembly and a phalanx seat. The phalanx seat is rotatably arranged on the palm, the phalanx assembly is rotatably connected to the phalanx seat and is connected to the finger driving mechanism. The finger driving mechanism is used for driving the phalanx assembly to rotate around the phalanx seat to bend, and the finger driving mechanism is also used for driving the phalanx seat to rotate so that the phalanx assembly performs a side swing.

[0016] In a possible implementation manner, the finger driving mechanism includes at least two first driving members and first driving linkages. One ends of at least two first driving linkages are connected to the corresponding first driving members, and the other ends are connected to the phalanx assembly. The connection positions of the phalanx assembly and at least two first driving linkages are located on both sides of the phalanx assembly;

[0017] At least two first driving members are used for driving the corresponding first driving linkages to move so as to drive the phalanx assembly to perform a side swing.

[0018] In a possible implementation manner, the finger driving mechanism includes a second driving member and a second driving linkage. One end of the second driving linkage is connected to the second driving member, and the other end is connected to the phalanx assembly;

[0019] The second driving member is used for driving the second driving linkage to move so as to drive the phalanx assembly to rotate and bend.

[0020] In a possible implementation manner, the dexterous hand further includes a dexterous hand thumb, and the dexterous hand thumb includes:

[0021] A thumb seat which is arranged on the palm;

[0022] A thumb driving mechanism which is arranged on the thumb seat and includes a third driving member and a fourth driving member;

[0023] An eversion side swing mechanism which is movably arranged on the thumb seat;

[0024] A thumb module which is connected to the side of the eversion side swing mechanism away from the thumb seat;

[0025] An inbending mechanism which is arranged in the thumb module and is used for driving the thumb module to inbend;

[0026] The third driving member is used to drive the inverting and swinging mechanism, so that the thumb module connected to the inverting and swinging mechanism performs a coupled movement of swinging and inverting; the fourth driving member is used to drive the inverting and swinging mechanism, so that the thumb module performs an inverting movement.

[0027] In a possible implementation manner, the inverting and swinging mechanism includes:

[0028] A swinging wheel is rotatably arranged on the thumb seat and is in transmission connection with the third driving member;

[0029] A swinging seat is connected to the swinging wheel to swing under the drive of the third driving member;

[0030] An inverting gear set is rotatably arranged on the thumb seat and is in transmission connection with the fourth driving member;

[0031] An inverting driven wheel is rotatably arranged on the swinging seat and is in transmission connection with the inverting gear set;

[0032] An inverting seat is connected to the inverting driven wheel, and the thumb module is rotatably connected to the inverting seat;

[0033] The fourth driving member is used to drive the inverting gear set to rotate, so as to drive the inverting driven wheel to rotate, and make the inverting seat perform an inverting movement.

[0034] In a possible implementation manner, the inverting gear set includes:

[0035] An inverting wheel is rotatably arranged on the thumb seat and is in transmission connection with the fourth driving member;

[0036] An inverting driving wheel is connected to the inverting wheel and meshes with the inverting driven wheel;

[0037] The fourth driving member is used to drive the inverting wheel to rotate, so as to drive the inverting driving wheel to rotate, thereby driving the inverting driven wheel meshing with the inverting driving wheel to rotate, and further inverting the inverting seat.

[0038] On the other hand, the present application provides a humanoid robot, including the above-mentioned dexterous hand.

[0039] The dexterous hand and humanoid robot provided by the present application. By arranging a pre-tightening mechanism between the finger driving mechanism and the palm, the finger driving mechanism is movably arranged on the pre-tightening seat and connected to the pre-tightening component. The pre-tightening component provides a pre-tightening force to the finger driving mechanism. When the finger driving mechanism drives the finger module to move, after the finger module tightly holds an object, although the object grasped by the finger module limits its movement and cannot do work on it continuously, the finger driving mechanism is not completely blocked. Due to the existence of the pre-tightening force of the pre-tightening component, the driving force of the finger driving mechanism can overcome the pre-tightening force and store energy in the pre-tightening component, converting the driving force into the internal potential energy of the pre-tightening component, thereby avoiding the problems of serious system heating, high energy consumption, and overheating damage caused by the blocking of the finger driving mechanism. Moreover, when the potential energy of the pre-tightening component reaches a certain value, the driving of the finger driving mechanism can be stopped, and the grasping force of the finger module can be maintained only by the pre-tightening force of the pre-tightening component. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 Structural schematic diagram of the dexterous hand provided by the embodiment of the present application;

[0042] Figure 2 is Figure 1 Partial exploded structural schematic diagram of the dexterous hand shown;

[0043] Figure 3 is Figure 1 Partial exploded structural schematic diagram of the palm of the dexterous hand shown;

[0044] Figure 4 is Figure 1 Structural schematic diagram of the dexterous finger of the dexterous hand shown;

[0045] Figure 5 is Figure 4 One of the partial exploded structural schematic diagrams of the dexterous finger of the dexterous hand shown;

[0046] Figure 6 is Figure 4 Another partial exploded structural schematic diagram of the dexterous finger of the dexterous hand shown;

[0047] Figure 7 is Figure 4 Structural schematic diagram of the dexterous finger of the dexterous hand before touching an object;

[0048] Figure 8 isFigure 4 Schematic diagram of the structure of the dexterous hand finger after touching an object;

[0049] Figure 9 is Figure 1 Schematic diagram of the structure of the thumb of the dexterous hand shown;

[0050] Figure 10 is Figure 9 Schematic diagram of the transmission relationship structure in the thumb of the dexterous hand shown;

[0051] Figure 11 is Figure 9 One of the partial exploded view diagrams of the varus and lateral swing mechanism in the thumb of the dexterous hand shown;

[0052] Figure 12 is Figure 9 Another partial exploded view diagram of the varus and lateral swing mechanism in the thumb of the dexterous hand shown;

[0053] Figure 13 is Figure 9 The third partial exploded view diagram of the varus and lateral swing mechanism in the thumb of the dexterous hand shown;

[0054] Figure 14 is Figure 9 Schematic diagram of the cooperation structure of the lateral swing wheel, the first probe and the second probe in the thumb of the dexterous hand shown;

[0055] Figure 15 is Figure 9 Schematic diagram of the cooperation structure of the varus driven wheel and the third probe in the thumb of the dexterous hand shown;

[0056] Figure 16 is Figure 9 Schematic diagram of the cooperation structure of the thumb module and the inner bending mechanism in the thumb of the dexterous hand shown;

[0057] Figure 17 is Figure 9 Partial exploded view diagram of the cooperation between the thumb module and the inner bending mechanism of the thumb of the dexterous hand shown.

[0058] Explanation of reference numerals:

[0059] 100 - Dexterous hand; 101 - Palm; 102 - Dexterous hand finger; 103 - Dexterous hand thumb; 104 - Thumb base; 105 - Mounting hole; 106 - Main control board; 10 - Pre - tightening mechanism; 11 - Pre - tightening seat; 111 - Limit block; 12 - Pre - tightening component; 121 - Slide bar; 122 - Pre - tightening piece; 20 - Finger driving mechanism; 21 - Driving seat; 211 - Pre - tightening chuck; 22 - First driving member; 221 - First lead screw; 222 - First lead screw slider; 23 - First driving link; 24 - Second driving member; 241 - Second lead screw; 242 - Second lead screw slider; 25 - Second driving link; 26 - Finger control board; 30 - Finger module; 31 - Knuckle assembly; 311 - First knuckle; 312 - Second knuckle; 313 - Finger tip; 32 - Knuckle seat; 33 - First ball head; 34 - Triangular swing bar; 40 - Thumb driving mechanism; 41 - Third driving member; 411 - First worm; 42 - Fourth driving member; 421 - Second worm; 50 - Inward - turning side - swing mechanism; 51 - Side - swing wheel; 511 - Connecting hole; 52 - Side - swing seat; 521 - Side plate member; 522 - Connecting piece; 53 - Inward - turning gear set; 531 - Inward - turning wheel; 5311 - Special - shaped hole; 532 - Inward - turning driving wheel; 5321 - Connecting part; 54 - Inward - turning driven wheel; 541 - Detection groove; 55 - Inward - turning seat; 56 - Main shaft; 561 - Fixing hole; 57 - Inward - turning shaft; 60 - Thumb module; 61 - Third knuckle; 62 - Thumb tip; 63 - Fixing seat; 70 - Inward - bending mechanism; 71 - Fifth driving member; 711 - Third worm; 72 - Inward - bending wheel; 73 - Inward - bending link; 80 - Angle detection mechanism; 81 - Side - swing detection component; 811 - First probe; 812 - Second probe; 813 - First detection block; 814 - Second detection block; 82 - Inward - turning detection component; 821 - Third probe; 83 - Detection seat; 90 - Thumb control mechanism. Detailed implementation mode

[0060] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application. Without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0061] With the development of intelligent technology, robot technology has become a research hotspot today. As an end - effector of a robot, the robot hand cooperates with the whole robot to achieve various complex actions, which has also attracted more and more researchers' attention.

[0062] The mechanical structure of the humanoid dexterous hand in the prior art forms a multi-fingered dexterous hand by arranging multiple fingers on the robotic hand. Each finger is driven by one or more motors to achieve actions similar to those of human fingers for grasping, releasing, or operating tools. However, during use, currently, the fingers of the dexterous hand mainly rely on the continuous power-on and stall of the motors to maintain the grasping force, resulting in serious system heating, high energy consumption, and a risk of overheating and damage to the motors.

[0063] To overcome the defects in the prior art, through repeated thinking and verification, the inventor found that if a structure capable of absorbing and converting the driving force is provided on the driving motor, it can buffer the stall when the motor is about to stall, thereby preventing stall heating. Moreover, the absorbed and converted driving force can also provide a grasping force for the dexterous hand when the driving motor stops driving. Thus, it is possible to avoid the problems of serious system heating, high energy consumption, and the risk of overheating and damage to the motor caused by motor stall, and it is also possible to maintain the grasping force of the fingers when the motor stops, reducing energy consumption.

[0064] In view of this, the present application provides a dexterous hand, including a palm and dexterous hand fingers provided on the palm. The dexterous hand fingers include:

[0065] A pre-tightening mechanism, which includes a pre-tightening seat and a pre-tightening component. The pre-tightening seat is provided on the palm, and the pre-tightening component is provided on the pre-tightening seat;

[0066] A finger driving mechanism, which is movably provided on the pre-tightening seat and is connected to the pre-tightening component;

[0067] A finger module, which is rotatably provided on the palm and is connected to the finger driving mechanism to move under the drive of the finger driving mechanism;

[0068] The pre-tightening component is used to provide a pre-tightening force towards the finger module to the finger driving mechanism, so that when the finger driving mechanism drives the finger module to move, it can overcome the pre-tightening force and store energy for the pre-tightening component.

[0069] By arranging a pre-tightening mechanism between the finger driving mechanism and the palm, movably arranging the finger driving mechanism on the pre-tightening seat and connecting it to the pre-tightening component, and the pre-tightening component providing a pre-tightening force to the finger driving mechanism. When the finger driving mechanism drives the finger module to move, after the finger module tightly holds an object, although the finger module is limited by the grasped object and cannot do work on it continuously, the finger driving mechanism is not completely stalled. Due to the existence of the pre-tightening force of the pre-tightening component, the driving force of the finger driving mechanism can overcome the pre-tightening force and store energy for the pre-tightening component, converting the driving force into the internal potential energy of the pre-tightening component, thereby avoiding the problems of serious system heating, high energy consumption, and overheating damage caused by the stall of the finger driving mechanism. Moreover, when the potential energy of the pre-tightening component reaches a certain value, the driving of the finger driving mechanism can also be stopped, and the grasping force of the finger module can be maintained only by the pre-tightening force of the pre-tightening component.

[0070] The content of the present application will be described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can understand the content of the present application more clearly and in detail.

[0071] Figure 1 It is a schematic structural diagram of the dexterous hand provided by the embodiment of the present application. Figure 2 is Figure 1 A partial exploded structural diagram of the dexterous hand shown. Figure 3 is Figure 1 A partial exploded structural diagram of the palm of the dexterous hand shown. Figure 4 is Figure 1 A schematic structural diagram of the dexterous hand finger of the dexterous hand shown. Figure 5 is Figure 4 One of the partial exploded structural diagrams of the dexterous hand finger shown. Figure 6 is Figure 4 Another partial exploded structural diagram of the dexterous hand finger shown. Figure 7 is Figure 4 A schematic structural diagram of the dexterous hand finger before touching an object of the dexterous hand shown. Figure 8 is Figure 4 A schematic structural diagram of the dexterous hand finger after touching an object of the dexterous hand shown. Figure 9 is Figure 1 A schematic structural diagram of the dexterous thumb of the dexterous hand shown. Figure 10 is Figure 9 A schematic structural diagram of the transmission relationship in the dexterous thumb of the dexterous hand shown. Figure 11 is Figure 9 One of the partial exploded structural diagrams of the varus and lateral swing mechanism in the dexterous thumb of the dexterous hand shown. Figure 12 is Figure 9 Another partial exploded structural diagram of the varus and lateral swing mechanism in the dexterous thumb of the dexterous hand shown. Figure 13 is Figure 9 A third partial exploded structural diagram of the varus and lateral swing mechanism in the dexterous thumb of the dexterous hand shown. Figure 14 is Figure 9 A schematic structural diagram of the cooperation between the lateral swing wheel of the dexterous thumb and the first probe and the second probe of the dexterous hand shown. Figure 15 is Figure 9 A schematic structural diagram of the cooperation between the varus driven wheel of the dexterous thumb and the third probe of the dexterous hand shown. Figure 16 is Figure 9 A schematic structural diagram of the cooperation between the thumb module of the dexterous thumb and the inward bending mechanism of the dexterous hand shown. Figure 17 is Figure 9 A partial exploded structural diagram of the cooperation between the thumb module of the dexterous thumb and the inward bending mechanism of the dexterous hand shown.

[0072] The specific structure of the dexterous hand and various possible implementation manners will be described in detail below.

[0073] As Figure 1 and Figure 2 shown, the dexterous hand 100 provided by the embodiment of the present application includes a palm 101 and dexterous hand fingers 102. The dexterous hand fingers 102 are arranged on the palm 101.

[0074] As Figure 4 shown, the dexterous hand fingers 102 include a pre-tightening mechanism 10, a finger driving mechanism 20, and a finger module 30. The pre-tightening mechanism 10 is arranged on the palm 101. The finger driving mechanism 20 is arranged on the pre-tightening mechanism 10. The finger module 30 is rotatably arranged on the palm 101 and is connected to the finger driving mechanism 20. The finger driving mechanism 20 is used to drive the finger module 30 to move for operations such as grasping. The pre-tightening mechanism 10 is used to provide a pre-tightening force towards the finger module 30 to the finger driving mechanism 20.

[0075] As Figure 5 and Figure 6 shown, specifically, the pre-tightening mechanism 10 includes a pre-tightening seat 11 and a pre-tightening component 12. The pre-tightening seat 11 is arranged on the palm 101, and the pre-tightening component 12 is arranged on the pre-tightening seat 11. The finger driving mechanism 20 is movably arranged on the pre-tightening seat 11 and is connected to the pre-tightening component 12.

[0076] The pre-tightening component 12 is used to provide a pre-tightening force towards the finger module 30 to the finger driving mechanism 20, so that when the finger driving mechanism 20 drives the finger module 30 to move and encounters resistance, the redundant driving force can overcome the pre-tightening force and be converted into the internal potential energy of the pre-tightening component 12 to charge the pre-tightening component 12.

[0077] The introduction of the pre-tightening mechanism 10 enables the dexterous hand fingers 102 to better adapt to and adjust the grasping force through the cooperation of the pre-tightening force and the driving force of the finger driving mechanism 20 when facing objects of different sizes and shapes. Moreover, the pre-tightening mechanism 10 has a simple structure and few components, so it has a small volume and is convenient to be integrated into the dexterous hand fingers 102, making the overall structure of the dexterous hand fingers 102 more compact.

[0078] By arranging a pre-tightening mechanism 10 between the finger driving mechanism 20 and the palm 101, the finger driving mechanism 20 is movably arranged on the pre-tightening seat 11 and connected to the pre-tightening component 12. The pre-tightening component 12 provides a pre-tightening force to the finger driving mechanism 20. When the finger driving mechanism 20 drives the finger module 30 to move, after the finger module 30 tightly holds an object, although the finger module 30 is limited by the grasped object and cannot continue to do work on it, the finger driving mechanism 20 is not completely blocked. Due to the existence of the pre-tightening force of the pre-tightening component 12, the driving force of the finger driving mechanism 20 can overcome the pre-tightening force and charge the pre-tightening component 12, converting the driving force into the internal potential energy of the pre-tightening component 12, thus avoiding the problems of serious system heating, high energy consumption and overheating damage caused by the blocking of the finger driving mechanism 20. Moreover, when the potential energy of the pre-tightening component 12 reaches a certain value, the driving of the finger driving mechanism 20 can be stopped, and the grasping force of the finger module 30 can be maintained only by the pre-tightening force provided by the pre-tightening component 12. This not only reduces the dependence on the finger driving mechanism 20, but also ensures the stability and durability of grasping, and reduces energy waste and the overall energy consumption of the system.

[0079] In a possible implementation, the pre-tightening component 12 includes a slide bar 121 and a pre-tightening member 122. The slide bar 121 is arranged on the pre-tightening seat 11, and the finger driving mechanism 20 is slidably arranged on the slide bar 121. The pre-tightening member 122 is arranged on the slide bar 121. One end of the pre-tightening member 122 abuts against the pre-tightening seat 11, and the other end abuts against the finger driving mechanism 20 to apply a pre-tightening force towards the finger module 30 to the finger driving mechanism 20.

[0080] The combination of the slide bar 121 and the pre-tightening member 122 provides a simple and effective way to achieve the transmission of the pre-tightening force. The slide bar 121 provides a linear guide, enabling the finger driving mechanism 20 to slide smoothly. The pre-tightening member 122 is responsible for applying the necessary pre-tightening force, with a simple mechanical structure, easy to manufacture and maintain. Moreover, the slide bar 121 ensures that the finger driving mechanism 20 slides along a predetermined path, so that the pre-tightening member 122 can accurately apply the pre-tightening force, which helps to improve the operation accuracy and stability of the dexterous hand.

[0081] The pre-tightening member 122 can store the excess driving force when the finger module 30 tightly holds an object and release it when needed. This energy storage and release mechanism improves the energy utilization efficiency of the dexterous hand and reduces the burden on the finger driving mechanism 20. On the other hand, the pre-tightening member 122 can also make the cooperation of the parts in the dexterous hand finger 102 closer, enabling the humanoid hand to have better operation accuracy.

[0082] Meanwhile, by adjusting the parameters of the pre-tightening member 122 (such as the stiffness of the spring or the magnitude of the pre-tightening force), the pre-tightening force applied to the finger driving mechanism 20 can be flexibly changed, allowing the dexterous hand to adapt to different application requirements and operating environments.

[0083] Moreover, in the case of encountering unexpected resistance or overload, the preloading member 122 can absorb the impact force, protecting the finger driving mechanism 20, the finger module 30 and other mechanical components from damage, and improving the safety and reliability of the system.

[0084] In a possible implementation, the preloading member 122 is a spring. The spring is compressed on the preloading seat 11 in its initial state and has a preloading force on the finger driving mechanism 20 towards the finger module 30.

[0085] The spring has low manufacturing cost and is easy to obtain. Moreover, the spring can effectively store and release mechanical energy. When the finger driving mechanism 20 applies a force, the spring is compressed and stores energy; when the finger driving mechanism 20 stops driving, the stored energy can be released to maintain or adjust the grasping force of the finger module 30.

[0086] In a possible implementation, preloading members 122 are respectively arranged on both sides of the sliding rod 121.

[0087] Arranging the preloading members 122 on both sides of the sliding rod 121 can achieve a symmetric distribution of forces, which helps to maintain the balance of the finger driving mechanism 20, reduce tilting or deviation that may be caused by unilateral force, and thus improve the stability and operation accuracy of the system.

[0088] In a possible implementation, the preloading assembly 12 includes two sliding rods 121. The two sliding rods 121 are symmetrically arranged on the preloading seat 11.

[0089] The symmetric arrangement of the two sliding rods 121 provides a more stable support structure, which can effectively disperse and bear the load of the finger driving mechanism 20, reduce the excessive stress that a single sliding rod 121 may bear, and improve the overall stability of the system. Moreover, the symmetric arrangement of the sliding rods 121 can ensure that the finger driving mechanism 20 moves in parallel during the sliding process, reduce the possibility of skewing or tilting, and improve the operation accuracy of the dexterous hand.

[0090] In a possible implementation, the finger driving mechanism 20 includes a driving seat 21. The driving seat 21 is penetrated through the sliding rod 121, and a preloading block 211 is arranged on the driving seat 21. A limiting block 111 is arranged on the preloading seat 11. The preloading block 211 is used to abut against the limiting block 111 so that the preloading member 122 has a preloading force applied to the finger driving mechanism 20.

[0091] In a possible implementation, the limiting block 111 is arranged on one side of the preloading seat 11 facing the driving seat 21. The preloading block 211 is arranged on one side of the driving seat 21 facing the preloading seat 11.

[0092] Through the pre-tightening block 211 provided on the driving seat 21, the whole driving seat 21 is subjected to the pre-tightening force of the spring, and the pre-tightening block 211 is clamped on the pre-tightening seat 11.

[0093] The design of the pre-tightening block 211 and the limiting block 111 ensures that the pre-tightening member 122 can accurately apply the pre-tightening force to the finger driving mechanism 20, which can better control the movement and grasping force of the finger module 30 and improve the accuracy of operation.

[0094] At the same time, the abutment of the pre-tightening block 211 and the limiting block 111 provides additional structural support, enhances the overall stability of the system, and reduces the vibration and instability that may occur during operation.

[0095] By adjusting the positions or shapes of the pre-tightening block 211 and the limiting block 111, the magnitude and action point of the pre-tightening force can be flexibly changed to adapt to different operation requirements and environmental conditions.

[0096] In a possible implementation, the finger module 30 includes a phalanx assembly 31 and a phalanx seat 32. The phalanx seat 32 is rotatably arranged on the palm 101, the phalanx assembly 31 is rotatably connected to the phalanx seat 32, and is connected to the finger driving mechanism 20. The finger driving mechanism 20 is used to drive the phalanx assembly 31 to rotate around the phalanx seat 32 for bending, and the finger driving mechanism 20 is also used to drive the phalanx seat 32 to rotate to make the phalanx assembly 31 perform side swing.

[0097] By the phalanx seat 32 being rotatably arranged on the palm 101 and the phalanx assembly 31 being rotatably connected to the phalanx seat 32, it allows the phalanx assembly 31 to bend and side swing around the phalanx seat 32. The bending and side swing functions of the phalanx assembly 31 enable the finger to better wrap and fix the object, improving the stability and safety of grasping. The finger module 30 can simulate the complex movements of a human finger, enabling the dexterous hand 100 to perform more complex and precise operations, such as grasping objects with irregular shapes or performing precision assembly tasks.

[0098] In a possible implementation, bearings are provided on the palm 101. The phalanx seat 32 is rotatably arranged on the palm 101 through the bearings.

[0099] In a possible implementation, the finger driving mechanism 20 includes at least two first driving members 22 and a first driving link 23. The first driving members 22 are arranged on the driving seat 21. One end of at least two first driving links 23 is connected to the corresponding first driving member 22, and the other end is connected to the phalanx assembly 31, and the connection points of the phalanx assembly 31 and at least two first driving links 23 are located on both sides of the phalanx assembly 31.

[0100] At least two first driving members 22 are used to drive the corresponding first driving link 23 to move, so as to drive the knuckle assembly 31 to swing laterally.

[0101] By using at least two first driving members 22 and the first driving link 23, the system can precisely control the lateral swing movement of the knuckle assembly 31. Each first driving member 22 can be operated independently, so as to achieve fine adjustment and positioning of the knuckle assembly 31.

[0102] Since the first driving link 23 is connected to both sides of the knuckle assembly 31, this symmetric arrangement helps to balance the applied forces, reduce tilting or instability caused by lateral stress, and improve the overall stability of the system.

[0103] The combination of multiple first driving members 22 and the first driving link 23 allows for more complex motion patterns, enabling the knuckle assembly 31 to achieve more flexible lateral swing. By adjusting the parameters of the first driving members 22 and the first driving link 23 (such as length, position, and driving force), the motion characteristics of the knuckle assembly 31 can be flexibly changed to adapt to different operating requirements and environmental conditions.

[0104] In a possible implementation manner, there are two first driving members 22, and the two first driving members 22 are arranged side by side on the driving seat 21.

[0105] In a possible implementation manner, the first driving link 23 is a ball head link. The finger module 30 further includes two first ball heads 33. The two first ball heads 33 are respectively arranged on the knuckle assembly 31 and are located on both sides of the knuckle assembly 31. The other end of the first driving link 23 is ball-jointed with the corresponding first ball head 33.

[0106] In a possible implementation manner, the first driving member 22 is a motor, and a first lead screw 221 is provided at the driving end of the first driving member 22. A first lead screw slider 222 is connected to the first lead screw 221. One end of the first driving link 23 is connected to the first lead screw slider 222.

[0107] When the two first driving members 22 drive the first driving link 23 to move in opposite directions respectively, the first ball head 33 is driven to move, so that the knuckle assembly 31 rotates around the knuckle seat 32, that is, the dexterous hand finger 102 can swing left and right.

[0108] When the two first driving members 22 drive the first driving link 23 to move in the same direction simultaneously, the first ball head 33 is driven to move, so that the knuckle assembly 31 can swing up and down.

[0109] In a possible implementation, the finger driving mechanism 20 includes a second driving member 24 and a second driving link 25. The second driving member 24 is disposed on the driving base 21. One end of the second driving link 25 is connected to the second driving member 24, and the other end is connected to the phalanx assembly 31.

[0110] The second driving member 24 is used to drive the second driving link 25 to move, so as to drive the phalanx assembly 31 to rotate and bend.

[0111] The second driving member 24 directly drives the phalanx assembly 31 to perform a bending motion through the second driving link 25. This direct driving method provides precise control over the bending angle of the phalanx assembly 31, improving the accuracy and flexibility of the operation.

[0112] In a possible implementation, the finger module 30 further includes a triangular swing rod 34. The triangular swing rod 34 is rotatably disposed on the phalanx base 32 and is connected to the phalanx assembly 31. The other end of the second driving link 25 is connected to the triangular swing rod 34.

[0113] The second driving member 24 drives the second driving link 25 to move, so as to drive the triangular swing rod 34 to move. Since the triangular swing rod 34 is rotatably disposed on the phalanx base 32, the triangular swing rod 34 rotates around the axis, so that the phalanx assembly 31 connected to the triangular swing rod 34 rotates and bends.

[0114] In a possible implementation, the triangular swing rod 34 is connected to the phalanx assembly 31 through a connecting swing rod. The phalanx assembly 31 includes a first phalanx 311, a second phalanx 312 and a fingertip 313. The first phalanx 311 is rotatably connected to the phalanx base 32 and is connected to the connecting swing rod. The second phalanx 312 is rotatably connected to the first phalanx 311, and the fingertip 313 is rotatably connected to the second phalanx 312. The second driving member 24 drives the triangular swing rod 34 to rotate, driving the first phalanx 311 connected to the connecting swing rod to rotate. The first phalanx 311 drives the second phalanx 312 to rotate, and the second phalanx 312 drives the fingertip 313 to rotate, so that the phalanx assembly 31 bends.

[0115] In a possible implementation, the second driving member 24 is a motor, and a second lead screw 241 is provided at the driving end of the second driving member 24. A second lead screw slider 242 is connected to the second lead screw 241. One end of the second driving link 25 is connected to the second lead screw slider 242.

[0116] As Figure 7 and Figure 8As shown, when the position where the knuckle assembly 31 contacts the object is restricted, since the pre-tightening seat 11 and the knuckle seat 32 are fixed, at this time, the first driving member 22 and the second driving member 24 are blocked from rotating. Due to the disappearance of the back electromotive force, the internal working current increases, generating a greater torque. The first lead screw 221 and the second lead screw 241 can still be rotated to push the first lead screw slider 222 and the second lead screw slider 242. The first lead screw slider 222 and the second lead screw slider 242 will apply forces to the first lead screw 221 and the second lead screw 241 in the direction away from the knuckle assembly 31. Since the first lead screw 221 and the second lead screw 241 are fixedly connected to the driving seat 21 through the first driving member 22 and the second driving member 24, at this time, the driving seat 21 is subjected to a gradually increasing acting force, gradually offsetting the pre-tightening force initially applied to the driving seat 21 by the pre-tightening member 122.

[0117] When the forces exerted by the first driving member 22 and the second driving member 24 on the first lead screw 221 and the second lead screw 241 to drive the first lead screw slider 222 and the second lead screw slider 242 are greater than the pre-tightening force applied by the pre-tightening member 122, the driving seat 21 will drive the first driving member 22, the second driving member 24, the first lead screw 221 and the second lead screw 241 to slide on the slide bar 121 in the direction away from the knuckle assembly 31, thereby compressing the pre-tightening member 122, causing the pre-tightening member 122 to generate a greater elastic force to counteract the reaction forces of the first lead screw slider 222 and the second lead screw slider 242 on the first lead screw 221 and the second lead screw 241. At this time, the pre-tightening block 211 is disengaged from the limiting block 111 on the pre-tightening seat 11 and no longer plays a limiting role. In this process, the work done by the first driving member 22 and the second driving member 24 will charge the pre-tightening member 122.

[0118] When the pre-tightening member 122 is charged sufficiently, the first driving member 22 and the second driving member 24 can be powered off. Due to the self-locking of the lead screws, the first lead screw slider 222 and the second lead screw slider 242 will not slide on the first lead screw 221 and the second lead screw 241, and the force of the pre-tightening member 122 on the driving seat 21 still exists. At this time, the knuckle assembly 31 still maintains a grasping force on the target operating object.

[0119] The power consumption of the first driving member 22 and the second driving member 24 is only used to overcome the stiffness of the spring, and the energy storage efficiency η can reach 72%, saving 65% energy compared with the blocked-rotor mode.

[0120] In a possible implementation, the first driving member 22 and the second driving member 24 are micro brushless motors with a diameter ≤ 12 mm. Thereby reducing the occupied volume and having high driving accuracy.

[0121] In a possible implementation, the first driving member 22 and the second driving member 24 adopt coreless motors. Coreless motors have the characteristics of low inertia, high efficiency, low electromagnetic interference, smooth torque output and high power density. Therefore, the first driving member 22 and the second driving member 24 have lower inertia, can quickly respond to control signals, and achieve quick start and stop; reduce eddy current loss and iron loss, and have higher efficiency; have lower electromagnetic interference; can provide a smoother torque output and reduce cogging effect; are compact in design and can provide high power output within a smaller volume.

[0122] In a possible implementation, the first driving member 22 is arranged on the side of the second driving member 24 away from the pre-tightening seat 11, and the second driving member 24 is located between two first driving members 22.

[0123] In a possible implementation, the finger driving mechanism 20 further includes a finger control board 26. The finger control board 26 is arranged on the driving seat 21 through fixing parts such as screws. The finger control board 26 is electrically connected to the first driving member 22 and the second driving member 24.

[0124] In a possible implementation, the dexterous hand 100 further includes a dexterous hand thumb 103.

[0125] As Figure 9 shown, the dexterous hand thumb 103 includes a thumb seat 104, a thumb driving mechanism 40, an eversion and swing mechanism 50, a thumb module 60 and an inward bending mechanism 70. The thumb seat 104 is arranged on the palm 101. The thumb driving mechanism 40 is arranged on the thumb seat 104. The eversion and swing mechanism 50 is movably arranged on the thumb seat 104 and is responsible for the swing and eversion movements of the thumb. The thumb module 60 is connected to the side of the eversion and swing mechanism 50 away from the thumb seat 104, simulating the phalangeal part of the human thumb. The thumb module 60 is a key component for realizing fine grasping actions. The inward bending mechanism 70 is arranged in the thumb module 60.

[0126] The thumb driving mechanism 40 is used to drive the eversion and swing mechanism 50, so that the thumb module 60 connected to the eversion and swing mechanism 50 performs swing and eversion movements. The inward bending mechanism 70 is used to drive the thumb module 60 to bend inward.

[0127] The eversion, swing and bending movements of three degrees of freedom of the dexterous hand thumb 103 are realized through the thumb driving mechanism 40 and the inward bending mechanism 70.

[0128] In a possible implementation, the thumb driving mechanism 40 includes a third driving member 41 and a fourth driving member 42.

[0129] The third driving member 41 is used to drive the inverting and swinging mechanism 50, so that the thumb module 60 connected to the inverting and swinging mechanism 50 performs a coupled movement of swinging and inverting. The fourth driving member 42 is used to drive the inverting and swinging mechanism 50, so that the thumb module 60 performs an inverting movement.

[0130] The thumb base 104 serves as the foundation of the entire thumb structure, providing stable support. By mounting the third driving member 41 and the fourth driving member 42 on the thumb base 104, it is used to provide power to realize the movement of the thumb. The inverting and swinging mechanism 50 is movably mounted on the thumb base 104 and is responsible for the swinging and inverting movements of the thumb under the drive of the third driving member 41 and the fourth driving member 42. The thumb module 60 is connected to the distal end of the inverting and swinging mechanism 50, simulating the phalanx part of the human thumb to achieve fine grasping actions. The in-bending mechanism 70 is arranged in the thumb module 60 and is specifically used to drive the in-bending action of the thumb module 60, enabling the thumb to better adapt to objects of different shapes and sizes. By driving the inverting and swinging mechanism 50 with the third driving member 41, the coupled movement of swinging and inverting of the thumb module 60 is realized. By driving the inverting and swinging mechanism 50 with the fourth driving member 42, the independent inverting movement of the thumb module 60 is realized. This function enables the thumb to perform an inverting action alone. At the same time, through the decoupled transmission with the third driving member 41, the swinging action of the thumb is realized, improving the operation flexibility and allowing the thumb to make flexible adjustments in the complex three-dimensional space. Through the design of the above structure and functions, the dexterous hand thumb 103 can realize the movements of inverting, swinging, and bending with three degrees of freedom, not only improving the grasping accuracy of the dexterous hand 100, but also enhancing its adaptability in complex tasks, enabling the dexterous hand 100 to realize complex three-dimensional movements.

[0131] As Figure 16 shown, in this embodiment, the dexterous hand thumb 103 can achieve three active degrees of freedom by the thumb driving mechanism 40 and the in-bending mechanism 70, which are the swing around the Y-axis, the inverting around the X-axis, and the in-bending around the Z-axis respectively.

[0132] As Figure 10 shown, in a possible implementation manner, the inverting and swinging mechanism 50 includes a swinging wheel 51, a swinging seat 52, an inverting gear set 53, an inverting driven wheel 54, and an inverting seat 55. The swinging wheel 51 and the inverting gear set 53 are respectively rotatably arranged on the thumb base 104. The swinging wheel 51 is in transmission connection with the third driving member 41. The inverting gear set 53 is in transmission connection with the fourth driving member 42. The swinging seat 52 is connected to the swinging wheel 51 to swing under the drive of the third driving member 41. The inverting driven wheel 54 is rotatably arranged on the swinging seat 52 and is in transmission connection with the inverting gear set 53. The inverting seat 55 is connected to the inverting driven wheel 54. The thumb module 60 is rotatably connected to the inverting seat 55.

[0133] The fourth driving member 42 is used to drive the inward-turning gear set 53 to rotate, so as to drive the inward-turning driven wheel 54 to rotate, so as to make the inward-turning seat 55 turn inward.

[0134] The side swing wheel 51 and the inverted gear set 53 are respectively connected to the corresponding driving parts, ensuring efficient power transmission, reducing energy loss, and improving the overall efficiency of the system. The modular design of the side swing seat 52 and the inverted seat 55 makes the maintenance and upgrade of the system more convenient. Each module can be replaced or adjusted independently, which enhances the maintainability of the system.

[0135] By controlling the lateral swing and inward turning motion separately, the third driving member 41 and the fourth driving member 42 are responsible for different motions respectively. This decoupling design allows each motion to be controlled independently, thereby improving the accuracy and flexibility of the motion. Through the cooperation of the inward turning gear set 53 and the inward turning driven wheel 54, the motion of the inward turning seat 55 can be precisely controlled.

[0136] At the same time, the mechanical design of the inverted side-swing mechanism 50 can realize complex side-swing and inverted motion functions in a limited space, and has a compact structure, which does not occupy too much space inside and on the surface of the dexterous hand, and can make the dexterous hand thumb 103 more flexible, which is particularly important for robot systems that require miniaturization and integration, so that the dexterous hand can simulate the complex movements of human fingers and adapt to more application scenarios. In addition, the mechanical transmission system used in the inverted side-swing mechanism 50 has high reliability and durability, is suitable for long-term operation in various environments, and can withstand large mechanical stress, extending the service life of the system.

[0137] In a possible implementation, the side balance wheel 51 is fixed to the side balance seat 52 by means of fixing parts such as screws, so that the side balance seat 52 can rotate along with the side balance wheel 51 .

[0138] In a possible implementation, the inverted gear set 53 includes an inverted wheel 531 and an inverted driving wheel 532. The inverted wheel 531 is rotatably disposed on the thumb seat 104 and is transmission-connected to the fourth driving member 42. The inverted driving wheel 532 is connected to the inverted wheel 531 and meshes with the inverted driven wheel 54.

[0139] The fourth driving member 42 is used to drive the inward-turning wheel 531 to rotate, so as to drive the inward-turning driving wheel 532 to rotate, thereby causing the inward-turning driven wheel 54 meshing with the inward-turning driving wheel 532 to rotate, thereby turning the inward-turning seat 55 inward.

[0140] The inverting wheel 531 is connected to the inverting driving wheel 532, and the meshing of the inverting driving wheel 532 with the inverting driven wheel 54 ensures the precise transmission of power and enables fine control of the inverting motion. By integrating the inverting wheel 531, the inverting driving wheel 532, and the inverting driven wheel 54 into the structure of the inverting side-swing mechanism 50, space can be effectively saved.

[0141] Gear transmission has a high mechanical efficiency, reducing energy loss during transmission, which helps improve the overall performance and energy-saving effect of the system. The use of a gear set can increase the output torque by adjusting the gear ratio, improving the load capacity of the system. The modular design of the gear set makes the maintenance and replacement of the system more convenient. The inverting wheel 531 and the inverting driving wheel 532 can be independently replaced or adjusted, enhancing the maintainability of the system.

[0142] As Figure 11 shown, in a possible implementation, the inverting side-swing mechanism 50 further includes a main shaft 56. The main shaft 56 is disposed in the thumb seat 104. The side-swing wheel 51, the inverting wheel 531, and the inverting driving wheel 532 are respectively sleeved on the main shaft 56. At least one of the side-swing wheel 51 and the inverting wheel 531 is not fixedly connected to the main shaft 56, so that the side-swing wheel 51 and the inverting wheel 531 can respectively rotate around the main shaft 56.

[0143] The main shaft 56 provides a stable support structure, ensuring the stability of the side-swing wheel 51 and the inverting wheel 531 during movement, thereby improving the accuracy of motion control. By respectively sleeving the side-swing wheel 51 and the inverting wheel 531 on the main shaft 56 and at least one of them not being fixedly connected to the main shaft 56, allowing them to rotate independently around the main shaft 56, the side-swing and inverting motions can be controlled separately, improving the flexibility and accuracy of the system.

[0144] Using one main shaft 56 as a common support structure simplifies the design of the entire inverting side-swing mechanism 50, helps reduce the number of components, and lowers the complexity of manufacturing and assembly. Moreover, by sharing one main shaft 56, the designs of the side-swing wheel 51 and the inverting wheel 531 are more compact, saving space. Also, it allows for independent adjustment or replacement of the side-swing wheel 51 and the inverting wheel 531 without changing the main shaft 56, enabling the system to be optimized according to specific application requirements.

[0145] In a possible implementation, both ends of the main shaft 56 are rotatably disposed on the thumb seat 104 through bearings.

[0146] In a possible implementation, the side-swing wheel 51 is fixedly connected to the main shaft 56, and the inverting wheel 531 and the inverting driving wheel 532 are rotatably disposed on the main shaft 56.

[0147] In a possible implementation, the inverting wheel 531 is provided with a special-shaped hole 5311. A connecting portion 5321 is provided on the side of the inverting driving wheel 532 facing away from the inverting driven wheel 54. The connecting portion 5321 is disposed in the special-shaped hole 5311 so that the inverting driving wheel 532 is fixedly connected to the inverting wheel 531, thereby enabling the inverting driving wheel 532 to rotate coaxially on the main shaft 56 at the same angular velocity as the inverting wheel 531.

[0148] As Figure 12 shown, in a possible implementation, the inverting side-swing mechanism 50 further includes an inverting shaft 57. The inverting shaft 57 is disposed on the side-swing seat 52. The inverting driven wheel 54 is sleeved on the inverting shaft 57 so that the inverting driven wheel 54 rotates around the inverting shaft 57.

[0149] In a possible implementation, a fixing hole 561 is provided on the main shaft 56. A connecting hole 511 is provided on the side-swing wheel 51. The inverting shaft 57 passes through the fixing hole 561 on the side-swing seat 52 and the main shaft 56 and is connected to the connecting hole 511.

[0150] In a possible implementation, one end of the inverting shaft 57 disposed in the fixing hole 561 is provided with an external thread, and an internal thread is provided in the fixing hole 561. By means of threaded connection, the inverting shaft 57 is fixed in the side-swing wheel 51.

[0151] Therefore, the side-swing wheel 51, the side-swing seat 52, and the inverting shaft 57 can be regarded as an integral whole that is fixedly connected to each other. When the side-swing wheel 51 rotates, the entire dexterous hand thumb 103 will be driven to rotate at the same angular velocity.

[0152] In a possible implementation, a bearing is provided between the inverting shaft 57 and the inverting driven wheel 54, thereby reducing the friction when the inverting driven wheel 54 rotates on the inverting shaft 57.

[0153] In a possible implementation, the side-swing wheel 51 is a worm wheel, and a first worm 411 meshing with the worm wheel is provided at the driving end of the third driving member 41.

[0154] The inverting wheel 531 is a worm wheel, and a second worm 421 meshing with the worm wheel is provided at the driving end of the fourth driving member 42.

[0155] The worm and worm wheel mechanism has a natural self-locking characteristic, that is, in the absence of external force, the worm wheel will not drive the worm in the reverse direction, ensuring the stability of the position and preventing accidental movement when there is no power.

[0156] Moreover, the worm and worm gear mechanism can achieve a high reduction ratio, enabling a large output torque to be achieved with a smaller driving component, which is very beneficial for dexterous hands that require precise control and high torque output. At the same time, the worm and worm gear mechanism has a compact structure, is suitable for use in environments with limited space, and helps to achieve miniaturization and integration. In the meshing mode of the worm and worm gear, the transmission process is very smooth, reducing vibration and noise. By selecting different combinations of worms and worm gears, the transmission ratio and output characteristics can be flexibly adjusted to meet different application requirements.

[0157] In a possible implementation, the inward-turning driving wheel 532 and the inward-turning driven wheel 54 are respectively bevel gears.

[0158] The bevel gears can change the transmission direction, thereby enabling the inward-turning driving wheel 532 to drive the inward-turning driven wheel 54 to perform an inward turn. The setting of the bevel gears can make the structural design of the inward-turning side-swing mechanism 50 more compact.

[0159] In a possible implementation, the third driving component 41 and the fourth driving component 42 are arranged side by side along the extension direction of the main shaft 56 on the thumb base 104.

[0160] In a possible implementation, the third driving component 41 and the fourth driving component 42 are respectively micro brushless motors with a diameter ≤ 12 mm. This reduces the occupied volume and has high driving precision.

[0161] Through the dual-motor embedded layout of the third driving component 41 and the fourth driving component 42, combined with the gear differential transmission topology in the inward-turning side-swing mechanism 50, the two micro brushless motors are nested coaxially within the thumb base 104. Utilizing the composite transmission path of the planetary gear set and the bevel gear, orthogonal decoupled transmission of the side-swing and inward-turning motions is achieved, enabling the palm thickness to be compressed to less than 28 mm. At the same time, the interference between the side-swing and inward-turning degrees of freedom is eliminated, and the coupling degree between the two degrees of freedom is < 2%.

[0162] When the third driving component 41 rotates, it will cause the first worm 411 to drive the side-swing wheel 51, the side-swing seat 52, and the entire thumb to rotate, thereby causing the thumb side-swing motion. At the same time, since there is meshing between the inward-turning driven wheel 54 and the inward-turning driving wheel 532, if the inward-turning driving wheel 532 remains stationary and the shaft of the inward-turning driven wheel 54, the inward-turning shaft 57, is inserted in the side-swing wheel 51, the rotation of the side-swing wheel 51 will cause relative motion at the meshing position between the inward-turning driven wheel 54 and the inward-turning driving wheel 532, thereby causing the inward-turning driven wheel 54 to rotate relative to the inward-turning shaft 57, driving the inward-turning seat 55 to rotate, and thus causing the thumb inward-turning motion. Therefore, the third driving component 41 can cause the coupled motion of the inward-turning and side-swing of the dexterous hand thumb 103.

[0163] Since there is no meshing relationship between the side-swing wheel 51 and the in-turn driven wheel 54, the rotation of the fourth driving member 42 to drive the in-turn wheel 531 and the in-turn driving wheel 532 will only cause the in-turn driven wheel 54 to rotate, resulting in the in-turn movement of the thumb, rather than the side-swing movement of the thumb.

[0164] When the fourth driving member 42 rotates, it will cause the second worm 421 to drive the in-turn wheel 531 to rotate. Since the in-turn wheel 531 is fixedly connected to the in-turn driving wheel 532, the in-turn driving wheel 532 will also rotate. Since the in-turn driving wheel 532 meshes with the in-turn driven wheel 54, the in-turn driven wheel 54 will rotate, driving the in-turn seat 55 to rotate. Therefore, the entire thumb mechanism will perform an in-turn movement.

[0165] In summary, the third driving member 41 will cause the coupled movement of the in-turn and side-swing of the thumb, and the fourth driving member 42 will cause the in-turn of the thumb. By designing the rotation speeds of the third driving member 41 and the fourth driving member 42 and performing differential input, the independent side-swing decoupled movement of the thumb can be achieved. The in-turn and side-swing movements in the orthogonal directions can be realized by two parallel motors plus gear sets.

[0166] In a possible implementation manner, the thumb seat 104 is provided with mounting holes 105. The third driving member 41 and the fourth driving member 42 respectively pass through the corresponding mounting holes 105 and are fixed to the thumb seat 104.

[0167] In a possible implementation manner, the thumb seat 104 is composed of two parts. An installation cavity is formed between the two parts, and the two parts are fixedly connected by fixing members such as screws, thereby enclosing all the intermediate parts to provide protection.

[0168] As Figure 13 shown, in a possible implementation manner, the dexterous hand thumb 103 further includes an angle detection mechanism 80. The angle detection mechanism 80 includes a side-swing detection component 81 and an in-turn detection component 82. The side-swing detection component 81 is used to detect the rotation angle of the side-swing wheel 51, and the in-turn detection component 82 is used to detect the rotation angle of the in-turn driven wheel 54.

[0169] Since the angle encoder built in the motor is a differential encoder, during long-term operation or the power-on and power-off process of the motor, the initial position of the angle cannot be accurately given. At this time, an external sensor is required to give an accurate angle position detection. In order to correct the error of measuring the angle by the differential angle encoder built in the motor, the angle detection mechanism 80 is designed in the embodiment of the present application. By using a photoelectric sensor, etc., the absolute angle position of the joint of the dexterous hand thumb 103 is measured to solve the overload risk caused by the loss of the absolute position.

[0170] The angle detection mechanism 80 provides a closed-loop feedback system, enabling the controller to adjust according to the actual motion conditions. This feedback mechanism improves the response speed and accuracy of the system. By detecting the swing angle of the swing wheel 51 and the inversion angle of the inversion driven wheel 54 in real time, the system can perform precise motion control, which is crucial for executing complex grasping and operating tasks. Through angle detection, the system can adaptively adjust the motion parameters according to different task requirements, improving the adaptability of the dexterous hand in various application scenarios.

[0171] Real-time monitoring of the motion angle can help identify abnormal conditions, such as jamming or an unexpected motion range, thus improving the reliability and safety of the system. The angle detection mechanism 80 can help identify and diagnose faults in the system. By detecting angle deviations or abnormal motion patterns, maintenance and repair can be carried out in a timely manner.

[0172] In a possible implementation, the swing detection component 81 includes a first probe 811, a second probe 812, a first detection block 813, and a second detection block 814. The first probe 811 and the second probe 812 are arranged on the swing seat 52, and the first detection block 813 and the second detection block 814 are arranged on the thumb seat 104 and are arranged circumferentially around the swing wheel 51.

[0173] The inversion detection component 82 includes a third probe 821 and a detection groove 541. The third probe 821 is arranged on the swing seat 52, and the detection groove 541 is arranged on the inversion driven wheel 54.

[0174] Through the combination of multiple probes such as the first probe 811 and the second probe 812, and multiple detection blocks such as the first detection block 813 and the second detection block 814, high-precision detection of the motion angle of the swing seat 52 can be achieved, thereby preventing excessive swing of the thumb 103 of the dexterous hand. Through the arrangement of the third probe 821 and the detection groove 541, high-precision detection of the motion angle of the inversion driven wheel 54 can be achieved, thereby detecting whether the inversion driven wheel 54 is in the middle position and ensuring that the thumb 103 of the dexterous hand is in the center position when not inverted.

[0175] The design of the probe and the detection block (or detection groove) allows real-time monitoring of the motion state, providing immediate feedback information, which helps to quickly adjust and optimize the motion control. This detection mechanism is relatively simple and is easy to integrate into the existing mechanical structure. It does not require complex electronic sensors, reducing the complexity and cost of the system. Moreover, due to the simple structure, the space occupation is reduced, making the layout of the thumb 103 of the dexterous hand compact. The maintenance and replacement of the detection component are relatively easy, which helps to extend the service life of the system and reduce the maintenance cost.

[0176] Such as Figure 14As shown, in a possible implementation, the dexterous hand thumb 103 further includes a thumb control mechanism 90. The thumb control mechanism 90 is electrically connected to the third driving member 41, the fourth driving member 42, the inward bending mechanism 70, the first probe 811, the second probe 812, and the third probe 821 respectively, so as to achieve precise control of the movement of the dexterous hand thumb 103.

[0177] In a possible implementation, the thumb control mechanism 90 is a control board, and the control board is installed on the thumb base 104.

[0178] In a possible implementation, the thumb control mechanism 90 adopts a design combining a PCB circuit board and an FPC flexible circuit board to adapt to the movement of the dexterous hand thumb 103.

[0179] As Figure 3 shown, in a possible implementation, the dexterous hand 100 further includes a main control board 106. The main control board 106 is arranged in the palm 101 and is electrically connected to the finger control board 26 and the thumb control mechanism 90 respectively.

[0180] In a possible implementation, the first detection block 813 and the second detection block 814 are respectively arranged at the limit positions of the dexterous hand thumb 103 during side swing and inward turning movements (for example, the side swing angle range is 0° - 90°, and the inward turning angle range is ±20°). When the dexterous hand thumb 103 approaches the limit angle (for example, the trigger threshold is set to ±1°), an interrupt signal is sent to the controller to forcibly cut off the power supply of the third driving member 41 and the fourth driving member 42 and activate the mechanical brake, ensuring that the joint movement range of the dexterous hand thumb 103 is strictly limited within the safety threshold to avoid structural damage caused by error accumulation or control failure.

[0181] By detecting the limit protection of the first detection block 813 and the second detection block 814, it is possible to avoid the problem in the prior art that mainly relies on software for limiting positions (such as setting the maximum rotation angle of the motor), but sudden load impacts or abnormal control signals may cause the joints to exceed the limit movement (such as the inward turning angle exceeding ±25°), resulting in broken teeth of the gears or stuck bearings in the inward turning and side swing mechanism 50.

[0182] In a possible implementation, the first probe 811, the second probe 812, and the third probe 821 are respectively infrared opposed sensors to detect the joint rotation angle of the dexterous hand thumb 103 in real time.

[0183] One end of each probe emits infrared rays. When the corresponding infrared ray signal is received by the other end, the infrared opposed sensor will send a corresponding signal to the thumb control mechanism 90.

[0184] As Figure 15As shown, in a possible implementation, the angle detection mechanism 80 further includes a detection base 83. The detection base 83 is disposed on the side-swing base 52, and the first probe 811, the second probe 812, and the third probe 821 are respectively disposed on the detection base 83.

[0185] Since the detection base 83 is disposed on the side-swing base 52, and the side-swing base 52 and the side-swing wheel 51 are fixedly connected to each other, the first probe 811, the second probe 812, and the third probe 821 will rotate together with the side-swing wheel 51. When the side-swing wheel 51 rotates to the maximum positive angle, the first detection block 813 will block the first probe 811, and at this time, the thumb control mechanism 90 will receive a signal indicating that the joint has reached the maximum positive angle. Similarly, when the side-swing wheel 51 rotates to the maximum negative angle, the second detection block 814 will block the second probe 812, and at this time, the thumb control mechanism 90 will receive a signal indicating that the joint has reached the maximum negative angle. Thus, the error in measuring the angle by the differential angle encoder built in the motor can be corrected according to the angle detection mechanism 80.

[0186] In a possible implementation, the first probe 811 and the second probe 812 are disposed on one side of the detection base 83, and the third probe 821 is disposed on the other side of the detection base 83.

[0187] In a possible implementation, the first detection block 813 and the second detection block 814 are bumps integrally formed on the thumb base 104.

[0188] As Figure 15 shown, in a possible implementation, the detection groove 541 is a notch formed in the inward-turning driven wheel 54. The function of the detection groove 541 is to allow the infrared ray emitted from one end of the third probe 821 to pass through the detection groove 541 when the inward-turning driven wheel 54 is in the middle position, so that the signal can be received by the other end of the third probe 821, thereby indicating whether the angle of the inward-turning driven wheel 54 is in the middle position. If the angle of the inward-turning driven wheel 54 is in the middle position, the thumb control mechanism 90 will receive the signal transmitted from the third probe 821, thereby correcting the error in measuring the angle by the differential angle encoder built in the motor.

[0189] In a possible implementation, the side-swing base 52 includes a side plate member 521 and a connecting member 522. The side plate member 521 and the connecting member 522 are connected to each other. The side plate member 521 is connected to the side-swing wheel 51, and the detection base 83 is disposed on the side plate member 521. The inward-turning driven wheel and the inward-turning shaft 57 are disposed through the connecting member 522.

[0190] As Figure 16 shown, in a possible implementation, the thumb module 60 includes a third finger joint 61 and a thumb tip 62. The third finger joint 61 is rotatably disposed on the side of the inward-turning side-swing mechanism 50 away from the thumb base 104, and the thumb tip 62 is rotatably disposed on the third finger joint 61.

[0191] The third finger joint 61 is rotatably provided on the side of the adduction base 55 away from the thumb base 104.

[0192] This segmented design endows the thumb module 60 with good modular characteristics, facilitating maintenance and replacement. Each part can be adjusted or upgraded independently, enhancing the maintainability of the system.

[0193] By designing the third finger joint 61 and the thumb tip 62 as independent rotating components, driven by the inward bending mechanism 70, the thumb module 60 can achieve more complex motion patterns, enabling the dexterous hand to simulate the natural movements of human fingers. The independent rotation ability of the thumb tip 62 allows the dexterous hand to perform delicate operations, such as pinching small objects or making complex gestures. The independent movements of the third finger joint 61 and the thumb tip 62 provide greater flexibility, enabling the dexterous hand to adapt to objects of different shapes and sizes, improving the adaptability of grasping and operation. Through the coordinated movements of the third finger joint 61 and the thumb tip 62, a more natural and smooth motion transition can be achieved. The multi-joint design can better distribute the force applied to the object, enhancing the stability and safety of grasping, which is particularly important for tasks that require long-term grasping. By adjusting the lengths, shapes, and rotation angles of the third finger joint 61 and the thumb tip 62, it is possible to flexibly adapt to different application requirements, contributing to optimizing the performance of the dexterous hand in various application scenarios.

[0194] As Figure 17 shown, in a possible implementation, the inward bending mechanism 70 includes a fifth driving member 71, an inward bending wheel 72, and an inward bending connecting rod 73. The fifth driving member 71 is provided in the third finger joint 61. The inward bending wheel 72 is connected to the thumb tip 62 and is in transmission connection with the fifth driving member 71. One end of the inward bending connecting rod 73 is connected to the inward bending wheel 72, and the other end is connected to the side of the adduction side swing mechanism 50 away from the thumb base 104.

[0195] The fifth driving member 71 is used to drive the inward bending wheel 72 to rotate, so as to drive the thumb tip 62 to rotate, and through the inward bending connecting rod 73, the third finger joint 61 is rotated to achieve the inward bending of the thumb module 60.

[0196] In a possible implementation, the other end of the inward bending connecting rod 73 is connected to the side of the adduction base 55 away from the thumb base 104.

[0197] The fifth driving member 71 is specifically used to control the inward bending movement of the thumb module 60, enabling the inward bending of the thumb tip 62 and the third phalanx 61 to be independent of other movements, thereby improving the accuracy and flexibility of the movement. Through the transmission connection of the inward bending wheel 72 and the inward bending link 73, the thumb tip 62 and the third phalanx 61 can achieve complex inward bending movements, enabling the dexterous hand to better simulate the natural movements of human fingers and adapt to diverse operation requirements. The inward bending mechanism 70 allows the thumb tip 62 and the third phalanx 61 to perform coordinated movements, achieving a more natural and smooth movement transition. The inward bending movement of the thumb module 60 enables the dexterous hand to better wrap and grasp objects, improving the stability and safety of grasping.

[0198] The modular design of the inward bending mechanism 70 enables each component to be independently replaced or adjusted, enhancing the maintainability of the system. Through the mechanical transmission of the inward bending wheel 72 and the inward bending link 73, the system can efficiently transmit the power of the fifth driving member 71 to the thumb tip 62 and the third phalanx 61, reducing energy loss and improving the overall efficiency.

[0199] In a possible implementation, the inward bending wheel 72 is a worm wheel, and the driving end of the fifth driving member 71 is provided with a third worm 711 that meshes with the worm wheel.

[0200] In a possible implementation, the thumb module 60 further includes a fixed seat 63. The fixed seat 63 is connected to the thumb tip 62. The inward bending wheel 72 is fixed to the fixed seat 63 by fixing members such as screws, so that when the inward bending wheel 72 rotates, the thumb tip 62 of the entire thumb rotates accordingly.

[0201] In a possible implementation, one end of the inward bending link 73 is rotatably connected to the inward bending wheel 72 by fixing members such as screws, and the other end is rotatably connected to the inward turning seat 55 by fixing members such as screws.

[0202] When the fifth driving member 71 rotates, it will cause the third worm 711 to drive the inward bending wheel 72 to rotate. Since the inward bending wheel 72 is fixedly connected to the thumb tip 62 of the thumb, the thumb tip 62 of the thumb will also rotate around the Z axis. Since the inward bending link 73 moves due to the rotation of the inward bending wheel 72, it drives the third phalanx 61 of the thumb to also rotate around the Z axis, realizing the inward bending of the entire thumb.

[0203] In a possible implementation, the third driving member 41, the fourth driving member 42, and the fifth driving member 71 are configured identically, all being micro brushless motors provided with worms, thereby reducing the manufacturing and assembly costs.

[0204] The dexterous hand 100 provided by the embodiment of the present application integrates a dexterous hand thumb 103 and four dexterous hand fingers 102 on the palm 101. The size of the palm 101 is similar to that of an adult's palm, and the number of independently controllable active degrees of freedom reaches 15.

[0205] On the dexterous hand thumb 103, a turbine-gear compound transmission architecture and a coaxial nested design are adopted, so that while the dexterous hand thumb 103 realizes 3 degrees of freedom, the axial length is controlled within 65 mm. On the dexterous hand finger, through the parallel layout of the slide bar 121 and the spring, the thickness of the finger driving mechanism 20 is compressed to 18 mm.

[0206] The dexterous hand 100 provided by the embodiment of the present application includes a palm 101 and dexterous hand fingers 102 arranged on the palm 101. The dexterous hand finger 102 includes a pre-tightening mechanism 10, a finger driving mechanism 20 and a finger module 30. The pre-tightening mechanism 10 includes a pre-tightening seat 11 and a pre-tightening component 12. The pre-tightening seat 11 is arranged on the palm 101, and the pre-tightening component 12 is arranged on the pre-tightening seat 11; the finger driving mechanism 20 is movably arranged on the pre-tightening seat 11 and is connected with the pre-tightening component 12; the finger module 30 is rotatably arranged on the palm 101 and is connected with the finger driving mechanism 20 to move under the drive of the finger driving mechanism 20. The pre-tightening component 12 is used to provide a pre-tightening force towards the finger module 30 to the finger driving mechanism 20, so that when the finger driving mechanism 20 drives the finger module 30 to move, it can overcome the pre-tightening force and store energy for the pre-tightening component 12.

[0207] By arranging the pre-tightening mechanism 10 between the finger driving mechanism 20 and the palm 101, the finger driving mechanism 20 is movably arranged on the pre-tightening seat 11 and is connected with the pre-tightening component 12. The pre-tightening component 12 provides a pre-tightening force to the finger driving mechanism 20. When the finger driving mechanism 20 drives the finger module 30 to move, after the finger module 30 tightly holds an object, although the finger module 30 is limited by the grasped object and cannot continue to do work on it, the finger driving mechanism 20 is not completely blocked. Due to the existence of the pre-tightening force of the pre-tightening component 12, the driving force of the finger driving mechanism 20 can overcome the pre-tightening force and store energy for the pre-tightening component 12, converting the driving force into the internal potential energy of the pre-tightening component 12, thus avoiding the problems of serious system heating, high energy consumption and overheating damage caused by the blocking of the finger driving mechanism 20. Moreover, when the potential energy of the pre-tightening component 12 reaches a certain value, the driving of the finger driving mechanism 20 can be stopped, and the grasping force of the finger module 30 can be maintained only by the pre-tightening force of the pre-tightening component 12.

[0208] On the other hand, the embodiment of the present application also provides a humanoid robot. The humanoid robot includes the dexterous hand 100.

[0209] Since the humanoid robot in this embodiment includes the dexterous hand 100 described in any of the above embodiments, the humanoid robot includes the structural features and beneficial effects of the dexterous hand 100, which will not be elaborated herein again.

[0210] It should be noted that the phrases such as "one embodiment", "embodiment", "exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include specific features, structures or characteristics, but not necessarily every embodiment includes such specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. Moreover, when combining specific features, structures or characteristics with an embodiment, implementing such features, structures or characteristics in other embodiments, whether explicitly or implicitly described, is within the knowledge scope of those skilled in the art.

[0211] Generally speaking, terms should be understood at least in part by their use in the context. For example, at least in part according to the context, the term "one or more" used in the text can be used to describe any feature, structure or characteristic in the sense of singularity, or can be used to describe a combination of features, structures or characteristics in the sense of plurality. Similarly, at least in part according to the context, terms such as "a" or "the" can also be understood to convey singular usage or plural usage.

[0212] It should be easily understood that the terms "on", "above", and "over" in this application should be interpreted in the broadest way, so that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over something", but also can include the meaning of "above" or "over something" without intermediate features or layers therebetween (that is, directly on something).

[0213] In addition, for the convenience of description, spatial relative terms such as "below", "beneath", "under", "above", "over" etc. may be used in the text to describe the relationship of one element or feature relative to other elements or features as shown in the figure. Spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation shown in the drawings. The device may have other orientations (rotated 90° or in other orientations), and the spatial relative descriptive terms used in the text can be interpreted accordingly.

[0214] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A dexterous hand, comprising a palm (101) and dexterous hand fingers (102) arranged on the palm (101), characterized in that: The dexterous hand fingers (102) include: A pre-tightening mechanism (10), the pre-tightening mechanism (10) comprising a pre-tightening seat (11) and a pre-tightening assembly (12), the pre-tightening seat (11) being arranged on the palm (101), and the pre-tightening assembly (12) being arranged on the pre-tightening seat (11); A finger drive mechanism (20), the finger drive mechanism (20) being movably disposed on the pre-tightening seat (11) and connected to the pre-tightening assembly (12); a finger module (30), the finger module (30) being rotatably disposed on the palm (101) and being connected to the finger driving mechanism (20) so as to move under the drive of the finger driving mechanism (20); The pre-tightening component (12) is used to provide the finger driving mechanism (20) with a pre-tightening force towards the finger module (30), so that when the finger driving mechanism (20) drives the finger module (30) to move, it can overcome the pre-tightening force and charge the pre-tightening component (12); The pre-tightening assembly (12) comprises: A slide rod (121), the slide rod (121) being disposed on the preload seat (11), and the finger drive mechanism (20) being slidably disposed on the slide rod (121); A pre-tightening member (122), wherein the pre-tightening member (122) is disposed on the slide bar (121), one end of the pre-tightening member (122) abuts against the pre-tightening seat (11), and the other end abuts against the finger driving mechanism (20), so as to apply a pre-tightening force toward the finger module (30) to the finger driving mechanism (20).

2. The dexterous hand according to claim 1, characterized in that: The finger drive mechanism (20) comprises a drive seat (21), the drive seat (21) is inserted into the slide bar (121), a pre-tightening block (211) is provided on the drive seat (21), a limit block (111) is provided on the pre-tightening seat (11), and the pre-tightening block (211) is used to abut against the limit block (111), so that the pre-tightening member (122) has a pre-tightening force applied to the finger drive mechanism (20).

3. The dexterous hand according to any one of claims 1-2, characterized in that: The finger module (30) comprises a finger joint assembly (31) and a finger joint seat (32); the finger joint seat (32) is rotatably disposed on the palm (101); the finger joint assembly (31) is rotatably connected to the finger joint seat (32) and is connected to the finger driving mechanism (20); the finger driving mechanism (20) is used to drive the finger joint assembly (31) to rotate around the finger joint seat (32) to bend; the finger driving mechanism (20) is also used to drive the finger joint seat (32) to rotate so that the finger joint assembly (31) swings sideways.

4. The dexterous hand according to claim 3, characterized in that: The finger drive mechanism (20) comprises at least two first drive members (22) and a first drive connecting rod (23), one end of at least two of the first drive connecting rods (23) is connected to the corresponding first drive member (22), and the other end is connected to the finger joint assembly (31), and the connection between the finger joint assembly (31) and the at least two first drive connecting rods (23) is located on both sides of the finger joint assembly (31); At least two of the first driving members (22) are used to drive the corresponding first driving connecting rods (23) to move, so as to drive the finger joint assembly (31) to swing sideways.

5. The dexterous hand according to claim 3, characterized in that: The finger drive mechanism (20) comprises a second drive member (24) and a second drive connecting rod (25), wherein one end of the second drive connecting rod (25) is connected to the second drive member (24), and the other end is connected to the finger joint assembly (31); The second driving member (24) is used to drive the second driving connecting rod (25) to move, so as to drive the finger joint assembly (31) to rotate and bend.

6. The dexterous hand according to any one of claims 1-2, characterized in that: The dexterous hand (100) further comprises a dexterous hand thumb (103), wherein the dexterous hand thumb (103) comprises: A thumb seat (104), wherein the thumb seat (104) is disposed on the palm (101); A thumb drive mechanism (40) is disposed on the thumb seat (104), comprising a third drive member (41) and a fourth drive member (42); An inward-turning and side-swinging mechanism (50) movably disposed on the thumb seat (104); A thumb module (60) connected to a side of the inward-turning side-swinging mechanism (50) away from the thumb seat (104); An inward bending mechanism (70), provided in the thumb module (60), and used for driving the thumb module (60) to bend inward; The third driving member (41) is used to drive the inward-turning side-swing mechanism (50) so as to cause the thumb module (60) connected to the inward-turning side-swing mechanism (50) to perform a coupled movement of side-swinging and inward-turning; the fourth driving member (42) is used to drive the inward-turning side-swing mechanism (50) so as to cause the thumb module (60) to perform an inward-turning movement.

7. The dexterous hand according to claim 6, characterized in that: The inward-turning and side-swaying mechanism (50) comprises: A side swing wheel (51) rotatably mounted on the thumb seat (104) and transmission-connected to the third driving member (41); A side swing seat (52) connected to the side swing wheel (51) so as to swing sideways under the drive of the third driving member (41); an inwardly turned gear set (53), rotatably disposed on the thumb seat (104) and transmission-connected to the fourth driving member (42); An inward-turning driven wheel (54) is rotatably disposed on the side swing seat (52) and is transmission-connected to the inward-turning gear set (53); An inverted seat (55) connected to the inverted driven wheel (54), and the thumb module (60) is rotatably connected to the inverted seat (55); The fourth driving member (42) is used to drive the inward-turning gear set (53) to rotate, thereby driving the inward-turning driven wheel (54) to rotate, thereby causing the inward-turning seat (55) to turn inward.

8. The dexterous hand according to claim 7, characterized in that: The inward-turned gear set (53) comprises: An inward-turning wheel (531) is rotatably disposed on the thumb seat (104) and is transmission-connected to the fourth driving member (42); An inward-turning driving wheel (532) is connected to the inward-turning wheel (531) and meshes with the inward-turning driven wheel (54); The fourth driving member (42) is used to drive the inward-turning wheel (531) to rotate, thereby driving the inward-turning driving wheel (532) to rotate, thereby causing the inward-turning driven wheel (54) meshing with the inward-turning driving wheel (532) to rotate, thereby turning the inward-turning seat (55) inward.

9. A humanoid robot, characterized in that: The method comprises the dexterous hand (100) as claimed in any one of claims 1 to 8.

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