Dexterous hand and humanoid robot

Abstract

The invention provides a dexterous hand and a humanoid robot, the dexterous hand comprises a palm structure and a holding finger structure, the holding finger structure comprises a joint assembly, a first driving assembly, a swing assembly, a fixing frame and an auxiliary assembly, and the fixing frame is connected to the palm structure. The swing assembly is rotationally connected to the palm structure and elastically connected with the fixing frame, the joint assembly is rotationally connected to the swing assembly, and a rotating shaft of the swing assembly is perpendicular to a rotating shaft of the joint assembly. The auxiliary assembly is arranged to be elastically telescopic, in the telescopic direction of the auxiliary assembly, one end of the auxiliary assembly is connected to the joint assembly through a universal structure, the other end of the auxiliary assembly is connected to the first driving assembly through a universal structure, and the first driving assembly is connected to the fixing frame. The first driving assembly is suitable for driving the auxiliary assembly to move so as to drive the joint assembly to rotate relative to the swing assembly. Through the arrangement, the flexible adaptability of the dexterous hand can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a dexterous hand and a humanoid robot. Background Art

[0002] The robot dexterous hand is a sophisticated and complex structure and is also a key end-effector in modern robotics technology. Its design goal is to be as human-like as possible in form and function. Therefore, the structure of the dexterous hand includes a palm and fingers. A driving structure and a transmission structure are arranged in the palm. The driving structure drives the fingers to move through the transmission structure to enable the dexterous hand to grasp objects.

[0003] However, when the driving structure and transmission structure of the dexterous hands currently on the market are coordinated, it is easy to cause the dexterous hands to have poor adaptability, making the dexterous hands relatively stiff and not very flexible. Summary of the invention

[0004] The present application provides a dexterous hand and a humanoid robot to solve the problem of poor adaptability of the dexterous hand.

[0005] An embodiment of the present application provides a dexterous hand, including a palm structure and a gripping finger structure, the gripping finger structure including a joint assembly, a first drive assembly, a swing assembly, a fixed frame and an auxiliary assembly, the fixed frame being connected to the palm structure; the swing assembly being rotatably connected to the palm structure, the swing assembly and the fixed frame being elastically connected, the joint assembly being rotatably connected to the swing assembly, and the rotating axis of the swing assembly is perpendicular to the rotating axis of the joint assembly; the auxiliary assembly is configured to be elastically retractable, along the extension and retraction direction of the auxiliary assembly, one end of the auxiliary assembly is connected to the joint assembly via a universal structure, and the other end is connected to the first drive assembly via a universal structure, the first drive assembly is connected to the fixed frame, and the first drive assembly is suitable for driving the auxiliary assembly to move to drive the joint assembly to rotate relative to the swing assembly.

[0006] The dexterous hand provided by the present application is provided with a swing component, the joint component is rotatably connected to the swing component, and the swing component is rotatably connected to the palm structure, so that the joint component can rotate relative to the swing component to realize the bending of the joint component relative to the palm structure, so that the joint component cooperates with the palm structure to hold an object, and because the joint component can swing relative to the palm structure together with the swing component, the joint component can have a side swing movement in addition to bending movement, thereby increasing the flexibility of the joint component. Moreover, the swing component and the fixed frame are elastically connected, and such a connection method enables the swing component to generate a restoring force between the swing component and the fixed frame when the swing component rotates relative to the palm structure under the action of an external force, and the restoring force enables the swing component to have a tendency to rotate in the opposite direction relative to the palm structure to return to its original position. When the external force is removed, the restoring force forces the swing component to rotate in the opposite direction to return to its original position, thereby returning the joint component to its original position, so that the flexible adaptive ability of the joint component can be improved, and the joint component can move flexibly and adaptively return to its original position.

[0007] In addition, the present application is also provided with an auxiliary component, which can transmit the driving force of the first drive component so that the joint component can rotate relative to the swing component to achieve the bending of the joint component relative to the palm structure, thereby achieving the joint component and the palm structure to cooperate in holding an object. Moreover, the auxiliary component of the present application is not only used to transmit the driving force, but also the auxiliary component of the present application is elastically retractable. When the first drive component loses power, the output end of the first drive component is fixed. At this time, when an external force is applied to the joint component and forces the joint component to rotate relative to the swing component, the auxiliary component is compressed under the action of the external force. When the auxiliary component is compressed, the joint component can rotate relative to the swing component, so that even when the first drive component loses power, the joint component can still bend relative to the palm structure, thereby ensuring the flexibility of the joint component. Moreover, when the auxiliary component is compressed, the auxiliary component has an elastic force to restore the original state, forcing the auxiliary component to have a tendency to restore the original state. If the external force is removed from the joint component, the auxiliary component can restore the original state by the elastic force. In the process of restoring the original state, the auxiliary component drives the joint component to rotate relative to the swing component to restore the original position, thereby increasing the adaptive function of the joint component.

[0008] In one possible implementation, the auxiliary component includes a sleeve and a pin rod, the pin rod and the sleeve are slidably connected, a first elastic member is connected between the sleeve and the pin rod, an end of the sleeve away from the pin rod is connected to a first connecting part, and an end of the pin rod away from the sleeve is connected to a second connecting part, and the first connecting part and the second connecting part are both universal structures.

[0009] In a possible implementation, the first connection portion includes a first ball head and a connecting rod, the connecting rod is convexly arranged on the first ball head, the connecting rod is suitable for being rotatably connected to the joint assembly, the end of the sleeve away from the pin rod is provided with a first connecting hole, and the first ball head is connected to the first connecting hole;

[0010] The second connecting part includes a second ball head and a connecting shaft. A second connecting hole is opened at one end of the pin rod away from the sleeve. The second ball head is connected to the second connecting hole. The connecting shaft is connected to the second ball head. The connecting shaft is suitable for being rotatably connected to the first driving assembly.

[0011] In a possible implementation, the sleeve includes an insertion channel, and the pin rod is inserted into the insertion channel.

[0012] In one possible implementation, a limit groove is further provided on the outer wall of the sleeve, and the limit groove is provided along the direction in which the pin rod slides relative to the sleeve. A limit pin is further connected to the pin rod, and the limit pin is inserted into the limit groove.

[0013] In one possible implementation, along a direction perpendicular to the rotation axis of the swing assembly, a first connection portion is provided at one end of the swing assembly and a second connection portion is provided at the other end, the first connection portion is rotatably connected to the joint assembly, and the second connection portion is elastically connected to the fixed frame.

[0014] In one possible implementation, the swing assembly also includes at least one second elastic member, both ends of which are respectively connected to the second connecting portion and the fixed frame, and the second elastic member is suitable for providing the second connecting portion with an elastic force to resist the rotation of the swing body.

[0015] In one possible implementation, the first driving component includes a first driving member, a first driving screw and a first sliding member, the first driving member is connected to the fixed frame, the first driving screw is connected to the output end of the first driving member, the first sliding member has a screw hole, the first sliding member is screwed to the first driving screw through the screw hole, the first sliding member is movably connected to the fixed frame, and one end of the auxiliary component is connected to the first sliding member.

[0016] In one possible implementation, the fixed frame includes a frame body, the first driving member is fixed to the frame body, a plurality of guide members are provided on the frame body, the guide members extend along an extension direction of the first driving screw rod, and the guide members are passed through the first sliding member.

[0017] In one possible implementation, the frame body is provided with a receiving groove, and the frame body is also provided with a first through-hole and a second through-hole at intervals, the first through-hole and the second through-hole are both connected to the receiving groove, the first driving screw rod is sequentially provided with the first through-hole, the receiving groove and the second through-hole, and the first sliding member is located in the receiving groove.

[0018] In a possible implementation, a conversion piece is further provided in the second through hole, and the first driving screw is rotatably connected to the frame body via the conversion piece at a position where the first driving screw is located in the second through hole.

[0019] In one possible implementation, the joint assembly includes a first joint, a second joint, and a third joint that are arranged in sequence, two ends of the second joint are rotatably connected to the first joint and the second joint respectively, and the first joint is rotatably connected to the swing assembly.

[0020] In a possible implementation, a first connecting rod is further disposed in the first joint, one end of the first connecting rod is rotatably connected to the swing assembly, and the other end of the first connecting rod is rotatably connected to the second joint.

[0021] In a possible implementation, a third elastic member is disposed in the second joint, one end of the third elastic member is connected to the first joint, and the other end of the third elastic member is connected to the third joint.

[0022] In a possible implementation, the rotating shafts of the second joint and the third joint are further connected to a torsion spring, two ends of the torsion spring are respectively abutted against the second joint and the third joint, and the torsion spring is suitable for resisting the elastic force of the third elastic member.

[0023] In one possible implementation, the dexterous hand also includes a thumb structure, which includes a mounting seat, a first knuckle and a second knuckle, wherein two ends of the first knuckle are rotatably connected to the mounting seat and the second knuckle respectively, and the mounting seat is connected to the palm structure.

[0024] In one possible implementation, the thumb structure includes a second drive assembly and a rotating member, the first knuckle is connected to the rotating member, the rotating member is rotatably connected to the mounting seat, and the second drive assembly is suitable for driving the rotating member to rotate relative to the mounting seat.

[0025] In one possible implementation, the thumb structure also includes a fixing component, which is rotatably connected to the mounting seat, and the second driving component includes a second driving member, a second driving screw and a second sliding member, the second driving member is connected to the fixing component, the second driving screw is connected to the output end of the second driving member, the second sliding member is screwed to the second driving screw, the second sliding member is provided with a plurality of connecting rods, the mounting seat is provided with a slide groove, the rotating member is provided with a rotating through hole, and at least one of the connecting rods is inserted into the slide groove and the rotating through hole.

[0026] In one possible implementation, the thumb structure also includes a second connecting rod and a third driving assembly, one end of the second connecting rod is rotatably connected to the second knuckle, the other end of the second connecting rod is rotatably connected to the rotating member, the first knuckle is rotatably connected to the rotating member, the third driving assembly is rotatably connected to the first knuckle, and a partial structure of the third driving assembly is transmission-connected to the second connecting rod to drive the first knuckle and the second knuckle to rotate via the second connecting rod.

[0027] In one possible implementation, the third drive assembly includes a third drive member, a third drive screw and a third sliding member, the third drive screw is connected to the protruding end of the third drive member, the third sliding member is threadedly connected to the third drive screw, the end of the second connecting rod is rotatably connected to the third sliding member, and the position where the second connecting rod and the third sliding member are connected is rotatably connected to the second knuckle.

[0028] An embodiment of the present application also provides a humanoid robot, comprising a robot body and the above-mentioned dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0030] Figure 1 A schematic diagram of the structure of a dexterous hand provided by an embodiment of the present invention;

[0031] Figure 2 An exploded diagram of a palm structure provided by an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of a structure of a gripping finger structure provided by an embodiment of the present invention;

[0033] Figure 4 An exploded view of a gripping finger structure provided by an embodiment of the present invention;

[0034] Figure 5An exploded view of an auxiliary component provided for an embodiment of the present invention;

[0035] Figure 6 An exploded view of a portion of the structure of the gripping finger portion provided by an embodiment of the present invention;

[0036] Figure 7 An exploded diagram of a dexterous hand provided by an embodiment of the present invention;

[0037] Figure 8 A schematic structural diagram of the auxiliary structure and the first sliding member connection structure provided by an embodiment of the present invention;

[0038] Fig. 9 An exploded view of a fixing frame provided by an embodiment of the present invention;

[0039] Fig.10 A cross-sectional view of a gripping finger structure provided by an embodiment of the present invention;

[0040] Fig.11 A cross-sectional view of another gripping finger structure provided by an embodiment of the present invention;

[0041] Fig.12 A cross-sectional view of another gripping finger structure provided by an embodiment of the present invention;

[0042] Fig.13 An exploded view of another dexterous hand provided by an embodiment of the present invention;

[0043] Fig.14 An exploded diagram of a thumb structure provided by an embodiment of the present invention;

[0044] Fig.15 An exploded view of the second drive assembly and the mounting seat installation structure provided by an embodiment of the present invention;

[0045] Fig.16 An exploded view of another thumb structure provided by an embodiment of the present invention;

[0046] Fig.17 A partial structural schematic diagram of a dexterous hand provided in an embodiment of the present invention.

[0047] Description of reference numerals:

[0048] 10. Palm structure; 11. Palm; 111. Fixing piece; 112. Mounting port; 12. Back of palm; 13. Fixing seat; 131. Fixing countersunk hole; 14. Flexible pad; 15. Control assembly; 151. Control board; 152. Communication interface; 20. Gripping finger structure; 21. Joint assembly; 211. First joint; 2111. First connecting boss; 212. Second joint; 2121. Second connecting boss; 213. Third joint; 2131. Third connecting boss; 214. First connecting rod; 215. Third elastic piece; 216. Torsion spring; 22. First driving assembly; 221, first driving member; 222, first driving screw rod; 223, first sliding member; 2231, screw hole; 23, fixing frame; 231, frame body; 2311, receiving groove; 2312, first through hole; 2313, second through hole; 2314, first mounting hole; 232, guide member; 233, adapter; 24, swing assembly; 241, swing bearing; 242, fixing screw; 243, swing body; 2431, first connecting part; 2432, second connecting part; 24321, second mounting hole; 244, second elastic member; 25, auxiliary assembly; 251, first a connecting assembly; 2511, a first ball head; 2512, a connecting rod; 252, a sleeve; 2521, a first connecting hole; 2522, a plug-in channel; 2523, a limiting groove; 253, a first elastic member; 254, a pin rod; 2541, a second connecting hole; 255, a limiting pin; 256, a second connecting assembly; 2561, a second ball head; 25611, a plug-in hole; 2562, a connecting shaft; 30, a thumb structure; 31, a mounting seat; 311, a first seat body; 3111, a slide groove; 312, a second seat body; 32, a second driving assembly; 321, a second driving member; 32 2. Second driving screw rod; 323. Second sliding member; 3231. Connecting protrusion; 33. Fixing assembly; 331. First fixing member; 332. Second fixing member; 3321. Connecting protrusion; 3322. Groove; 333. Fixed bearing; 334. Clamping member; 34. Rotating member; 341. Rotating through hole; 342. First rotating hole; 343. Second rotating hole; 344. Rotating axis; 35. First knuckle; 36. Second knuckle; 37. Second connecting rod; 38. Third driving assembly; 381. Third driving member; 382. Third driving screw rod; 383. Third sliding member.

[0049] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0050] Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0051] According to the background technology, the existing dexterous hands have the problem of poor adaptability. The reason for this problem is that the transmission structure of the dexterous hands currently on the market is mainly divided into tendon ropes, connecting rods, gears and worm gears, etc., and the driving structure is directly connected to the fingers through the transmission structure. When the driving structure is working, the movement can be transmitted to the fingers through the transmission structure to make the fingers bend. However, when the driving structure is not working, that is, in a static state, since the transmission structure is directly connected to the dexterous hand and the transmission structure is connected to the driving structure, the driving structure becomes the only driving method to drive the fingers to bend. At this time, when external force is applied to the fingers, a locking structure is formed between the transmission structure and the driving structure, which hinders the bending of the fingers and makes the fingers unable to bend adaptively when the driving structure is not working, thereby causing the fingers to be inflexible.

[0052] Based on this, the present application provides a dexterous hand. The dexterous hand of the present application is provided with an auxiliary component. The driving structure is connected to the joint component through the auxiliary component. The auxiliary component can transmit the driving force of the driving structure so that the driving structure can drive the joint component to bend. Moreover, when the driving structure is not working, the auxiliary component can also provide space for the bending of the joint component, so that the joint component can bend adaptively, and the joint component no longer relies solely on the driving structure to drive the bending.

[0053] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0054] On the one hand, the embodiments of the present application provide a dexterous hand, which can be used in a humanoid robot and is used to simulate a human hand and hold an object. Figures 1 to 4As shown, in some achievable ways, the dexterous hand of the present application includes a palm structure 10 and a holding finger structure 20, and the holding finger structure 20 is connected to the palm structure 10, and is used for the dexterous hand to hold objects. It can be understood that the holding finger structure 20 is a finger structure set for the dexterous hand anthropomorphic hand, and the holding finger structure 20 of the present application specifically includes the index finger, middle finger, ring finger and little finger set for the anthropomorphic hand. In the present application, the main structures of the index finger, middle finger, ring finger and little finger of the dexterous hand are similar, and the functions that can be realized and the degrees of freedom that can be realized are consistent. Therefore, the holding finger structure 20 of the present application is used to replace any one of the anthropomorphic finger structures of the index finger, middle finger, ring finger and little finger. It should be noted that the holding finger structure 20 is different from the thumb structure 30 described later, because the thumb structure 30 has only two knuckles, and the structures of the thumb structure 30 and the other four fingers are quite different, so the present application will explain the thumb structure 30 and the other four fingers separately.

[0055] The gripping finger structure 20 of the present application includes a joint assembly 21, a first drive assembly 22, a swing assembly 24, a fixed frame 23 and an auxiliary assembly 25, and the fixed frame 23 is connected to the palm structure 10. The joint assembly 21 is a joint set for an anthropomorphic finger, and each joint is connected and can move. The joint assembly 21, the first drive assembly 22, the swing assembly 24, the fixed frame 23 and the auxiliary assembly 25 are matched and connected to form a finger module of an anthropomorphic finger, and the fixed frame 23 can be connected to the palm structure 10 to connect the entire finger module to the palm structure 10.

[0056] Specifically, the palm structure 10 includes a palm 11 and a palm back 12. The palm 11 and the palm back 12 are separately arranged, and the palm 11 and the palm back 12 are detachably connected. For example, the palm 11 and the palm back 12 can be connected together by a clamping structure, a buckling structure or screws. In the present application, the palm 11 and the palm back 12 are connected by screws. In addition, a flexible pad 14 is also provided on the end surface of the palm 11 facing away from the palm back 12. The flexible pad 14 can be made of silicone or rubber material, and the flexible pad 14 can be connected to the palm 11 by gluing. By providing the flexible pad 14, not only can the object be prevented from directly contacting the palm 11, which is beneficial to prevent the palm 11 from being worn, but the flexible pad 14 can also increase the friction coefficient of the palm 11, so that the object is not easy to slip when the dexterous hand grasps the object.

[0057] A accommodating space is defined between the palm 11 and the palm back 12 of the present application, and a fixing frame 23 may be located in the accommodating space. The fixing frame 23 may be connected to the palm 11 by screws so as to connect the gripping finger structure 20 to the palm structure 10. When the gripping finger structure 20 is connected to the palm structure 10, a joint assembly 21 of the gripping finger structure 20 is exposed outside the palm structure 10 so that the joint assembly 21 bends to cooperate with the palm structure 10 to achieve a gripping action.

[0058] The swing assembly 24 is rotatably connected to the palm structure 10, and the swing assembly 24 and the fixing frame 23 are elastically connected, and the joint assembly 21 is rotatably connected to the swing assembly 24, so that when the swing assembly 24 rotates relative to the palm structure 10, the joint assembly 21 can rotate relative to the palm structure 10 together with the swing assembly 24, and the joint assembly 21 can also rotate relative to the swing assembly 24, so the movement of the joint assembly 21 relative to the palm structure 10 at least includes the rotation with the swing assembly 24 and the rotation of the joint assembly 21 itself.

[0059] It should be noted that the rotation axis of the swing assembly 24 relative to the palm structure 10 and the rotation axis of the joint assembly 21 relative to the swing assembly 24 are arranged vertically. In this application, the rotation of the joint assembly 21 relative to the swing assembly 24 is recorded as the bending movement of the joint assembly 21, which can also be regarded as the holding movement of the joint assembly 21 bending relative to the palm structure 10. When the joint assembly 21 rotates relative to the swing assembly 24, it can cooperate with the palm structure 10 to hold an object. In this application, the rotation of the swing assembly 24 relative to the palm structure 10 is recorded as the swing of the joint assembly 21, that is, when the joint assembly 21 rotates with the swing assembly 24, it swings left and right relative to the palm structure 10, thereby simulating the left and right swing of a human finger. It should be noted here that, for the left and right swinging of the joint assembly 21 simulating the index finger and the little finger of the human hand, it means that the joint assembly 21 moves toward or away from the adjacent joint assembly 21 around the axis of rotation of the swing assembly 24 relative to the palm structure 10; for the joint assembly 21 simulating the middle finger and the ring finger of the human hand, there are two adjacent joint assemblies 21 in the swinging direction, for example, the fingers adjacent to the middle finger are the index finger and the ring finger, and the fingers adjacent to the ring finger are the middle finger and the little finger. Therefore, the left and right swinging of the joint assembly 21 simulating the middle finger and the ring finger of the human hand means that the joint assembly 21 moves toward one of the adjacent joint assemblies 21 around the axis of rotation of the swing assembly 24 relative to the palm structure 10 and moves away from the other adjacent joint assembly 21.

[0060] The auxiliary component 25 is configured to be elastically retractable. Along the retracting direction of the auxiliary component 25, one end of the auxiliary component 25 is connected to the joint component 21 through a universal structure, and the other end is connected to the output end of the first drive component 22 through a universal structure. The first drive component 22 of the present application is connected to the fixed frame 23, so that the first drive component 22 can drive the auxiliary component 25 to move. Since the joint component 21 is connected to the swing component 24 and the auxiliary component 25 at the same time, when the auxiliary component 25 moves, it can drive the joint component 21 to rotate relative to the swing component 24.

[0061] The dexterous hand of the present application is provided with a swing component 24, and the joint component 21 is rotatably connected to the swing component 24, and the swing component 24 is rotatably connected to the palm structure 10, so that the joint component 21 can rotate relative to the swing component 24 to achieve the bending of the joint component 21 relative to the palm structure 10, so that the joint component 21 cooperates with the palm structure 10 to grasp the object, and because the joint component 21 can swing relative to the palm structure 10 together with the swing component 24, the joint component 21 can have a side swing movement in addition to the bending movement, thereby increasing the flexibility of the joint component 21. Moreover, the swing component 24 and the fixed frame 23 are elastically connected. Such a connection method enables, when the swing component 24 rotates relative to the palm structure 10 under the action of an external force, an elastic force in the opposite direction to the rotation direction of the swing component 24 relative to the palm structure 10 is generated between the swing component 24 and the fixed frame 23 as a restoring force of the swing component 24. The restoring force enables the swing component 24 to have a tendency to rotate in the opposite direction relative to the palm structure 10 to restore to its original position. When the external force is removed, the restoring force forces the swing component 24 to rotate in the opposite direction to restore to its original position, thereby restoring the joint component 21 to its original position. In this way, the flexible adaptive ability of the joint component 21 can be improved, so that the joint component 21 can move flexibly and adaptively restore to its original position.

[0062] In addition, the present application is also provided with an auxiliary component 25, which can transmit the driving force of the first driving component 22, so that the joint component 21 can rotate relative to the swing component 24 to achieve the bending of the joint component 21 relative to the palm structure 10, thereby achieving the cooperation between the joint component 21 and the palm structure 10 to hold objects. Moreover, the auxiliary component 25 of the present application is not only used to transmit driving force. The auxiliary component 25 of the present application is elastically retractable. When the first driving component 22 loses power, the output end of the first driving component 22 is fixed. At this time, when external force is applied to the joint component 21 and forces the joint component 21 to rotate relative to the swing component 24, the auxiliary component 25 is compressed under the action of the external force. When the auxiliary component 25 is compressed, the joint component 21 can rotate relative to the swing component 24, so that even when the first driving component 22 loses power, the joint component 21 can still bend relative to the palm structure 10, thereby ensuring the flexibility of the joint component 21. Moreover, when the auxiliary component 25 is compressed, the auxiliary component 25 has an elastic force to restore its original state, forcing the auxiliary component 25 to have a tendency to restore its original state. If the external force is removed from the joint component 21, the auxiliary component 25 can restore its original state through the elastic force. In the process of restoring its original state, the auxiliary component 25 also drives the joint component 21 to rotate relative to the swing component 24 to restore its original position, thereby increasing the adaptive function of the joint component 21.

[0063] Furthermore, the auxiliary component 25 of the present application is respectively connected to the joint component 21 and the first drive component 22 through a universal structure, so that the end of the auxiliary component 25 can not only rotate relative to the joint component 21 and the first drive component 22, but also swing relative to the joint component 21 and the first drive component 22, so as to avoid affecting the swing of the joint component 21 relative to the palm structure 10 with the swing component 24.

[0064] See also Figure 4 and Figure 5 As shown, in some achievable embodiments, the auxiliary component 25 includes a sleeve 252 and a pin 254, and the pin 254 and the sleeve 252 are slidably connected so that the pin 254 and the sleeve 252 can move toward or away from each other. In addition, a first elastic member 253 is also connected between the sleeve 252 and the pin 254, and the first elastic member 253 does not produce any deformation in a free state, that is, the first elastic member 253 does not produce elastic force on the pin 254 and the sleeve 252. When the pin 254 and the sleeve 252 are driven to move relative to each other, the first elastic member 253 produces elastic force, so that the pin 254 and the sleeve 252 have a tendency to return to their original positions.

[0065] One end of the sleeve 252 away from the pin 254 is connected to the first connecting component 251, and the other end of the pin 254 away from the sleeve 252 is connected to the second connecting component 256. The first connecting component 251 and the second connecting component 256 are both universal structures. The sleeve 252 is connected to the joint component 21 through the first connecting component 251, and the pin 254 is connected to the first driving component 22 through the second connecting component 256.

[0066] In some embodiments, the first connecting component 251 includes a first ball head 2511 and a connecting rod 2512. The first ball head 2511 is a spherical structure. The connecting rod 2512 is convexly arranged on the surface of the first ball head 2511. The connecting rod 2512 can be rotatably connected to the end of the joint component 21 close to the swing component 24. The end of the sleeve 252 away from the pin 254 is provided with a first connecting hole 2521. The first ball head 2511 is connected to the first connecting hole 2521. The first ball head 2511 can perform a rotational motion in the first connecting hole 2521, so that the joint component 21 can be adapted to perform a rotational motion relative to the sleeve 252.

[0067] The second connecting assembly 256 includes a second ball head 2561 and a connecting shaft 2562. The second ball head 2561 is a spherical structure. A second connecting hole 2541 is provided at one end of the pin 254 away from the sleeve 252. The second ball head 2561 is connected to the second connecting hole 2541, and the second ball head 2561 can rotate in the second connecting hole 2541. The connecting shaft 2562 is connected to the second ball head 2561. For example, the connecting shaft 2562 can be convexly arranged on the second ball head 2561, or as in the embodiment of the present application, the second ball head 2561 is provided with a plug hole 25611, the plug hole 25611 passes through the second ball head 2561, and the connecting shaft 2562 is plugged into the plug hole 25611. The connecting shaft 2562 of the present application can be rotatably connected to the output end of the first driving assembly 22, so that the end of the pin 254 can rotate relative to the first driving assembly 22.

[0068] In some embodiments, the sleeve 252 includes a plug-in channel 2522, which is opened from one end of the sleeve 252 in the length direction toward the other end along the length direction of the sleeve 252, and the plug-in channel 2522 does not penetrate the other end of the sleeve 252. The end of the pin 254 away from the second connection hole 2541 can be plugged into the plug-in channel 2522, and the shape and size of the end of the pin 254 used to be plugged into the plug-in channel 2522 are consistent with the shape and size of the plug-in channel 2522, so that the end of the pin 254 can be plugged and adapted to the plug-in channel 2522, so that relative sliding between the pin 254 and the sleeve 252 can be achieved. However, it is not limited to this, the sleeve 252 and the pin 254 can also be slidably connected through the cooperation of a slide rail and a slider, which will not be described in detail in the embodiments of the present application.

[0069] It is worth mentioning that the first elastic member 253 of the present application is a spring, and the first elastic member 253 is arranged in the plug-in channel 2522, and the first elastic member 253 is located between the bottom of the plug-in channel 2522 and the pin rod 254. In the free state, the first elastic member 253 may not undergo any deformation, that is, the first elastic member 253 is neither compressed nor stretched. When the pin rod 254 moves along the plug-in channel 2522, it can squeeze or stretch the first elastic member 253, and make the first elastic member 253 generate elastic force. Specifically, when the pin rod 254 and the sleeve 252 move relative to each other, the first elastic member 253 can be squeezed, and when the pin rod 254 and the sleeve 252 move away from each other, the first elastic member 253 is stretched.

[0070] In some embodiments, a limiting groove 2523 is further provided on the outer wall of the sleeve 252 . The limiting groove 2523 is provided along the extension direction of the insertion channel 2522 . The limiting groove 2523 penetrates the outer wall of the sleeve 252 and is connected to the insertion channel 2522 . The pin rod 254 is inserted into the end portion of the insertion channel 2522 (the end of the pin rod 254 away from the second connecting hole 2541) and is also connected to a limit pin 255. The limit pin 255 is protruding from the end face of the pin rod 254. When the pin rod 254 is inserted into the insertion channel 2522, the limit pin 255 is inserted into the limit groove 2523, so that the limit pin 255 can move along the limit groove 2523. The length of the limit groove 2523 limits the moving range of the limit pin 255, thereby limiting the moving range of the pin rod 254 relative to the sleeve 252. Therefore, through the cooperation of the limit groove 2523 and the limit pin 255, the pin rod 254 can be prevented from being separated from the sleeve 252 when moving between the pin rod 254 and the sleeve 252.

[0071] To facilitate assembly, the limit pin 255 and the pin rod 254 can be detachably connected. For example, the peripheral wall of the pin rod 254 can be provided with a hole structure with a smooth inner wall, and the limit pin 255 can be directly inserted into the hole structure of the peripheral wall of the pin rod 254, and the limit pin 255 can be tightly matched with the hole structure to fix the limit pin 255 relative to the pin rod 254; or the peripheral wall of the pin rod 254 is provided with a threaded hole, and the end of the limit pin 255 is provided with an external thread, and the end of the limit pin 255 is threadedly connected to the threaded hole, so that the end of the limit pin 255 can be connected to the peripheral wall of the pin rod 254.

[0072] See also Figure 4 , Figures 6 to 8 As shown, in some achievable ways, the swing assembly 24 includes a swing body 243, and the swing body 243 is used to be rotatably connected to the palm structure 10. In this embodiment, the palm structure 10 also includes a fixed seat 13, one end of which can be connected to the palm 11, and the fixed seat 13 is also provided with a plurality of fixed countersunk holes 131, which penetrate the fixed seat 13, and the fixed seat 13 is correspondingly arranged at the position of the swing assembly 24, and the fixed seat 13 is provided with a fixed countersunk hole 131 corresponding to each swing assembly 24. The swing assembly 24 also includes a swing bearing 241, which can be inserted into the fixed countersunk hole 131. In the present application, the fixed countersunk hole 131 is a countersunk hole, and the size of the larger end of the fixed countersunk hole 131 is adapted to the size of the outer ring of the swing bearing 241, so that the swing bearing 241 can be directly accommodated in the larger end of the fixed countersunk hole 131, or the outer ring of the swing bearing 241 can also be fixed to the inner wall of the larger end of the fixed countersunk hole 131 by bonding or the like.

[0073] A fixing screw 242 is inserted into the swing bearing 241. The fixing screw 242 passes through the swing bearing 241 and then exits from the end of the fixed countersunk hole 131 with a smaller aperture. The swing body 243 can be arranged at the end of the fixed seat 13 where the fixed countersunk hole 131 with a larger aperture is located, and a threaded hole is arranged on the end surface of the swing body 243 facing the fixed seat 13. When the swing body 243 is arranged on the fixed seat 13, the threaded hole on the swing body 243 corresponds to the swing bearing 241 and the fixed countersunk hole 131. At this time, the fixing screw 242 can be threadedly connected to the threaded hole after passing through the fixed countersunk hole 131, so that the swing body 243 and the fixing screw 242 can be connected together. Under the action of external force, the swing structure can be driven to rotate relative to the fixed seat 13 around the central axis of the swing bearing 241.

[0074] In some embodiments, along the direction perpendicular to the rotation axis of the swinging body 243, a first connecting portion 2431 is provided at one end of the swinging body 243, and a second connecting portion 2432 is provided at the other end. The first connecting portion 2431 is rotatably connected to the joint assembly 21, and the second connecting portion 2432 is elastically connected to the fixing frame 23, thereby realizing the connection between the swinging body 243 and the joint assembly 21 and the fixing frame 23.

[0075] It should be noted that the second connecting part 2432 and the fixing frame 23 are connected by an elastic member. For example, the swing assembly 24 also includes at least one second elastic member 244. The two ends of the second elastic member 244 are respectively connected to the second connecting part 2432 and the fixing frame 23. The second elastic member 244 is used to provide the second connecting part 2432 with an elastic force to resist the rotation of the swing body 243.

[0076] For ease of explanation, refer to Figure 4 , the direction indicated by the X-axis is the first direction, the direction indicated by the Y-axis is the second direction, and the direction indicated by the Z-axis is the third direction, and the first direction, the second direction and the third direction are perpendicular to each other. Among them, the first direction is parallel to the direction of the rotation axis when the joint component 21 rotates relative to the swing component 24. In the embodiment of the present application, the rotation axis when the joint component 21 rotates relative to the swing component 24 can be represented by a dotted line A, and the second direction is parallel to the direction of the rotation axis when the swing component 24 rotates relative to the palm structure 10. The rotation axis when the swing component 24 rotates relative to the palm structure 10 can be represented by a dotted line B. When the swing component 24 does not swing relative to the palm structure 10, the first connecting portion 2431 and the second connecting portion 2432 are arranged along the third direction.

[0077] Combination Figure 4 , Figure 6 and Fig. 9As shown, the second elastic member 244 can be a structure made of a spring or other elastic material. In the present application, the second elastic member 244 is an elastic rope. One end of the fixing frame 23 is arranged away from the second connecting portion 2432. The first mounting hole 2314 and the second mounting hole 24321 are respectively arranged on the end of the fixing frame 23 and the second connecting portion 2432. The first mounting hole 2314 of the fixing frame 23 and the second mounting hole 24321 on the second connecting portion 2432 are arranged correspondingly. The corresponding arrangement means that when the swing assembly 24 does not swing relative to the palm structure 10, the first mounting hole 2314 on the end of the fixing frame 23 away from the second connecting portion 2432 and the second mounting hole 24321 on the second connecting portion 2432 are arranged along the third direction. The two ends of the second elastic member 244 can be connected to the first mounting hole 2314 and the second mounting hole 24321 respectively. The second elastic member 244 of the present application is a closed-loop structure, so the second elastic member 244 can be directly inserted into the first mounting hole 2314 and the second mounting hole 24321 .

[0078] If a plurality of second elastic members 244 are provided, a plurality of first mounting holes 2314 and second mounting holes 24321 need to be provided on the fixing frame 23 and the second connecting portion 2432, respectively. The first mounting holes 2314 on the fixing frame 23 and the second mounting holes 24321 on the second connecting portion 2432 are provided one by one, and the corresponding first mounting holes 2314 and second mounting holes 24321 are used to connect a second elastic member 244. In the embodiment of the present application, two second elastic members 244 are provided as an example for explanation.

[0079] When two second elastic members 244 are provided, two second mounting holes 24321 are provided on the second connecting portion 2432, and two first mounting holes 2314 are provided on the fixing frame 23. The two first mounting holes 2314 and the two second mounting holes 24321 correspond to each other one by one, and the corresponding first mounting holes 2314 and second mounting holes 24321 are used to connect one second elastic member 244. The two first mounting holes 2314 and the two second mounting holes 24321 are arranged at intervals along the first direction. In the arrangement direction of the two first mounting holes 2314, the position where the swing body 243 is used to connect with the palm structure 10 is located at the center between the two first mounting holes 2314, so that when the swing body 243 swings in the opposite direction relative to the palm structure 10, the restoring force received is equal.

[0080] In some achievable ways, the first drive assembly 22 includes a first drive member 221, a first drive screw rod 222 and a first sliding member 223. The first drive assembly 22 can drive the joint assembly 21 to rotate through the cooperation of the first drive member 221, the first drive screw rod 222 and the first sliding member 223. Specifically, the first drive member 221 of the present application is a drive motor, the first drive member 221 is fixedly connected to the fixing frame 23, the first drive screw rod 222 is connected to the output end of the first drive member 221, and the first drive member 221 can drive the first drive screw rod 222 to rotate coaxially.

[0081] The first sliding member 223 has a screw hole 2231, and the first sliding member 223 is screwed to the first driving screw rod 222 through the screw hole 2231, and the first sliding member 223 is movably connected to the fixing frame 23. It should be noted here that the fixing frame 23 can limit the movement of the first sliding member 223. When the first driving member 221 drives the first driving screw rod 222 to rotate, the first sliding member 223 can rotate relative to the first driving screw rod 222, and the movement of the first sliding member 223 relative to the fixing frame 23 is used to limit the first sliding member 223 to move only in a straight line. It should also be noted that the moving direction of the first sliding member 223 relative to the fixing frame 23 is parallel to the third direction, so that when the first driving screw rod 222 rotates, it will drive the first sliding member 223 to move along the third direction.

[0082] See also Figure 4 , Figure 6 and Fig. 9 As shown, in some embodiments, the fixing frame 23 includes a frame body 231, and the frame body 231 is further provided with a receiving groove 2311 along the third direction, and along the third direction, the two ends of the frame body 231 are further provided with a first through hole 2312 and a second through hole 2313, the first through hole 2312 and the second through hole 2313 are both connected to the receiving groove 2311, the second through hole 2313 is relatively close to the swing assembly 24, and the first through hole 2312 is relatively far away from the swing assembly 24. The first driving member 221 is fixed to one end of the frame body 231 where the first through hole 2312 is provided, and the first driving member 221 is located on a side of the frame body 231 that is away from the receiving groove 2311, and the first driving member 221 can be detachably connected to the frame body 231 by a clamping structure, a buckling structure or a screw. The first driving screw rod 222 is sequentially penetrated with the first through hole 2312, the receiving groove 2311 and the second through hole 2313, so that the middle section of the first driving screw rod 222 is located in the receiving groove 2311, and the first sliding member 223 connected to the first driving screw rod 222 is also located in the receiving groove 2311, and the first sliding member 223 can move along the extension path of the receiving groove 2311.

[0083] It is worth mentioning that an adapter 233 is also provided in the second through hole 2313. The adapter 233 is a bearing. The outer ring of the adapter 233 is fixed to the inner wall of the second through hole 2313. The end of the first driving screw rod 222 can be inserted into the inner ring of the adapter 233, so that the first driving screw rod 222 is located in the second through hole 2313 and is rotatably connected to the frame 231 through the adapter 233.

[0084] In the present application, a plurality of guide members 232 are also provided on the frame 231, and the guide members 232 extend along a third direction. The extension direction of the guide members 232 is parallel to the extension direction of the first driving screw rod 222 and is parallel to the moving direction of the first sliding member 223. The guide members 232 are of a light rod structure, and the two ends of the guide members 232 are respectively connected to the two ends of the frame 231 along the third direction. The guide members 232 are located in the accommodating groove 2311, and the guide members 232 are passed through the first sliding member 223. A plurality of guide members 232 are passed through the first sliding member 223, which can limit the rotation of the first sliding member 223 itself, so that the first sliding member 223 moves linearly along the third direction relative to the frame 231.

[0085] It should be noted that the pin 254 of the auxiliary component 25 is connected to the first sliding member 223 through the second connecting component 256. Specifically, the connecting shaft 2562 of the second connecting component 256 can be rotatably connected to the first sliding member 223. For example, a bearing can be provided at one end of the first sliding member 223, and then the connecting shaft 2562 is inserted into the inner ring of the bearing of the first sliding member 223, and the connecting shaft 2562 is rotatably connected to the first sliding member 223 through the bearing. When the connecting shaft 2562 is rotatably connected to the first sliding member 223, the rotation axis of the connecting shaft 2562 is parallel to the first direction, that is, parallel to the rotation axis direction of the joint component 21 rotating relative to the swing component 24. In the present application, the position where the first sliding member 223 is used to connect with the connecting shaft 2562 is close to the bottom of the accommodating groove 2311. Along the third direction, an end of the frame 231 close to the joint assembly 21 is provided with an end hole, and one end of the pin rod 254 provided with the connecting shaft 2562 can extend into the accommodating groove 2311 through the end hole to be connected to the first sliding member 223 through the connecting shaft 2562.

[0086] The present application can increase the bending adaptability of the joint component 21 by setting the auxiliary component 25, which can be referred to Figures 10 to 12 The state of the joint assembly 21 shown is used for explanation. Fig.10 The joint assembly 21 is shown in a straightened state. Fig.11 The joint assembly 21 is shown in a bent state. Fig.12 The figure shows another bending state of the joint assembly 21. Fig.10When the first sliding member 223 is in the straight state, the first driving member 221 can be used to drive the first sliding member 223 to translate from left to right relative to the fixing frame 23, for example, to Fig.11 In the process of driving the first sliding member 223 to move horizontally, the entire auxiliary assembly 25 can be pulled to move to the right of the fixing frame 23, and then the joint assembly 21 can be pulled according to Fig.10 The viewing angle shown rotates counterclockwise to Fig.11 location.

[0087] When the first driving member 221 is not working, that is, the first sliding member 223 is located at the left end of the fixing frame 23 and does not move, if Fig.10 An external force is applied to the joint assembly 21 in the middle, forcing the joint assembly 21 to rotate counterclockwise. At this time, the joint assembly 21 can drive the sleeve 252 to move toward the pin 254, thereby squeezing the first elastic member 253 between the two. The first elastic member 253 shrinks and gives way, allowing the joint assembly 21 to rotate counterclockwise to Fig.12 Because the first elastic member 253 is compressed to generate elastic force, when the external force on the joint assembly 21 is removed, the elastic force of the first elastic member 253 forces the sleeve 252 and the pin 254 to move in opposite directions, and the sleeve 252 drives the joint assembly 21 to rotate clockwise to the original position, that is, to return to the original position. Fig.10 In this way, the bending of the joint component 21 can be driven by the first driving member 221. When the first driving member 221 is not working, the joint component 21 can also bend under the action of external force, and the joint component 21 returns to its original position after the external force is removed, thereby increasing the bending adaptability of the joint component 21.

[0088] In some achievable embodiments, the joint assembly 21 includes a first joint 211 , a second joint 212 and a third joint 213 arranged in sequence, the two ends of the second joint 212 are rotatably connected to the first joint 211 and the third joint 213 , respectively, and the first joint 211 is rotatably connected to the swing assembly 24 .

[0089] It should be noted that the first joint 211, the second joint 212 and the third joint 213 are all composed of two separately arranged joint bodies, and the two joint bodies can be fixed together by a snap-on structure, a buckle structure or screws. When the two joint bodies are connected, a chamber is formed between the two joint bodies, so that a chamber is formed inside the first joint 211, the second joint 212 and the third joint 213.

[0090] In the present application, the two joint bodies of the first joint 211, the second joint 212 and the third joint 213 are fixedly connected by screws. For example, circular holes are provided at both ends of the two joint bodies in the length direction, and the circular holes penetrate the joint bodies. When the two joint bodies are connected, the circular holes at both ends are correspondingly provided. At this time, the screws can be inserted into the circular holes, and the screws are passed from one end of one joint body to the other end of the other joint body. Finally, the nut and the end of the screw are threadedly connected to connect the two joint bodies together.

[0091] It is worth mentioning that the circular hole in the present application can also be a threaded hole, and the screw can be directly connected to the circular hole thread.

[0092] In some embodiments, in order to further simplify the structure, the connection between the first joint 211 and the swing assembly 24, and the connection between the joints can be directly achieved by screws connecting the joint bodies of the joints.

[0093] Specifically, the connection between the first joint 211 and the swing assembly 24 is taken as an example for explanation. The screw of the present application is a plug screw, the middle part of which is a bare rod structure, and the end part is a screw structure with an external thread. When the two joint bodies of the first joint 211 are connected, the first connection part 2431 of the swing assembly 24 can be first clamped in the chamber between the two joint bodies. At this time, a circular hole is provided at the position where the first joint 211 is used to connect with the first connection part 2431 of the swing assembly 24. The circular holes are respectively provided at the ends of the two joint bodies of the first joint 211, and a perforation is also provided at the position of the first connection part 2431 corresponding to the circular hole, and the perforation passes through the first connection part 2431. Then, the driving screw is inserted into the circular hole on one of the joint bodies and penetrated toward the circular hole of the other joint body. During this period, the driving screw passes through the through hole of the first connecting part 2431 and the circular hole of the other joint body in sequence, and then the threaded part of the driving screw and the nut are screwed together at the other joint body. In this way, the two joint bodies of the first joint 211 can be connected together, and the first joint 211 and the swing assembly 24 can be rotatably connected through the driving screw.

[0094] Similarly, the first joint 211 is provided with a connection end at one end away from the end connected to the swing assembly 24, and the connection end is used to be rotatably connected to the second joint 212. The screw used to connect the two joint bodies of the second joint 212 is a plug screw. When the two joint bodies of the second joint 212 are butted, the connection end of the first joint 211 can be clamped in the cavity of the second joint 212, and then the plug screw is passed through one of the joint bodies of the second joint 212, the connection end of the first joint 211 and the other joint body of the second joint 212 in sequence, and then the nut and the end of the plug screw are threadedly connected to achieve the connection of the two joint bodies of the second joint 212 and the rotational connection of the second joint 212 body and the first joint 211 body. The connection between the third joint 213 and the second joint 212 is similar to the connection between the second joint 212 and the first joint 211, and no further description is given here.

[0095] It should be noted that when the first joint 211 and the first connecting part 2431 of the swing assembly 24 are connected by a plug screw, and when two adjacent joints are connected by a plug screw, a bushing can also be arranged on the outer cover of the plug screw. The bushing can play a protective role and can facilitate lubrication when the plug screw is turned.

[0096] It is worth mentioning that Fig.10Taking the perspective shown as an example, the position where the first joint 211 and the second joint 212 are connected, and the position where the second joint 212 and the third joint 213 are connected are both provided with a limiting structure, and the limiting structure is used to limit the bending degree between the joints. The second joint 212 of the present application can rotate clockwise and counterclockwise relative to the first joint 211 around an axis parallel to the first direction, and the third joint 213 can also rotate clockwise and counterclockwise relative to the second joint 212 around an axis parallel to the first direction. When the second joint 212 rotates counterclockwise relative to the first joint 211 and the third joint 213 rotates counterclockwise relative to the second joint 212, the joint assembly 21 rotates toward the palm 11. When the second joint 212 rotates clockwise relative to the first joint 211 and the third joint 213 rotates clockwise relative to the second joint 212, the joint assembly 21 tends to straighten, but the joint assembly 21 only needs to be straightened without bending counterclockwise. Therefore, by providing a limiting structure at the connection position of the first joint 211 and the second joint 212 and the connection position of the second joint 212 and the third joint 213, the rotation angle of the second joint 212 relative to the first joint 211 and the third joint 213 relative to the second joint 212 in the direction away from the palm 11 can be limited, so that the joint assembly 21 tends to straighten, thereby avoiding excessive bending of the joint assembly 21 away from the palm 11. The limiting structure can be directly formed by the end structures of the first joint 211, the second joint 212 and the third joint 213. When the second joint 212 rotates clockwise relative to the first joint 211 and the third joint 213 rotates clockwise relative to the second joint 212, the limiting structures of the two limit the rotation by abutting each other.

[0097] In some feasible embodiments, the first joint 211, the second joint 212 and the third joint 213 of the present application also have a linkage effect, that is, when the first joint 211 is driven to rotate relative to the swing component 24, the rotation of the first joint 211 can also drive the second joint 212 and the third joint 213 to rotate.

[0098] Specifically, a first connecting rod 214 is further provided in the first joint 211, one end of the first connecting rod 214 is rotatably connected to the swing assembly 24, specifically, rotatably connected to the first connecting portion 2431 of the swing assembly 24, and the rotation axis of the first connecting rod 214 is parallel to the rotation axis of the first joint 211. A second connecting boss 2121 is provided in the second joint 212, and the other end of the first connecting rod 214 is rotatably connected to the second connecting boss 2121 in the second joint 212.

[0099] When the first joint 211 rotates relative to the swing body 243 toward the palm 11, the swing body 243 does not move, and the position where the first connecting rod 214 and the first connecting part 2431 are connected is fixed relative to the position of the swing body 243, but the second joint 212 and the third joint 213 both rotate with the first joint 211. During the rotation of the second joint 212, the first connecting rod 214 will move with it. At this time, the first connecting rod 214 will pull the second joint 212, causing the second joint 212 to rotate relative to the first joint 211, and the rotation direction of the second joint 212 is toward the palm 11.

[0100] It should be noted that in order to ensure that when the first joint 211 rotates toward the palm 11, the first connecting rod 214 can drive the second joint 212 to rotate toward the palm 11, it is necessary to set the connection position when the first connecting rod 214 is connected to the second connecting portion 2432 and the second joint 212. Fig.10 Taking the perspective in as an example, the first connecting rod 214 is connected to the end of the first connecting part 2431 away from the second connecting part 2432, and the first connecting part 2431 is also used for rotational connection with the first joint 211. Along the second direction (the direction of the rotation axis of the swing body 243), the connection position of the first connecting rod 214 and the first connecting part 2431 is set to be higher than the connection position of the first connecting part 2431 and the first joint 211, and the connection position of the first connecting rod 214 and the second joint 212 is close to the rotational connection position of the second joint 212 and the first joint 211, and along the second direction, the height of the connection position of the first connecting rod 214 and the second joint 212 in space is lower than the rotational connection position of the second joint 212 and the first joint 211. In this way, the connection position between the first connecting rod 214 and the first connecting part 2431 and the connection position between the first connecting rod 214 and the second joint 212 can be located on both sides of the line connecting the rotation centers of the first joint 211 and the first connecting part 2431 and the rotation centers of the first joint 211 and the second joint 212, respectively, and along the second direction, the height of the connection position of the first connecting rod 214 and the first connecting part 2431 in space is higher than the height of the connection position of the first connecting rod 214 and the second joint 212. In this way, when the first joint 211 rotates toward the palm 11 relative to the swing body 243, the end connected to the first connecting rod 214 and the first connecting part 2431 can pull the second joint 212 to rotate relative to the first joint 211 toward the palm 11.

[0101] See also Fig.10As shown, in some embodiments, a third elastic member 215 is disposed in the second joint 212, one end of the third elastic member 215 is connected to the first joint 211, and the other end of the third elastic member 215 is connected to the third joint 213. In the present application, the third elastic member 215 is a spring, a first connection boss 2111 is convexly disposed in the first joint 211, a third connection boss 2131 is convexly disposed in the third joint 213, and two ends of the third elastic member 215 are fixedly connected to the first connection boss 2111 and the third connection boss 2131, respectively.

[0102] The connection position between the third elastic member 215 and the first joint 211 is close to the rotation axis of the first joint 211 and the second joint 212. When the joint assembly 21 tends to be straightened, along the second direction, the connection position between the third elastic member 215 and the first joint 211 is higher than or equal to the rotation axis height of the second joint 212 and the first joint 211, and the connection position between the third elastic member 215 and the third joint 213 is lower than the rotation axis height of the third joint 213 and the second joint 212. In this way, when the second joint 212 rotates toward the palm 11, the connection position between the third elastic member 215 and the first joint 211 can pull the third joint 213, so that the third joint 213 rotates relative to the second joint 212, and the third joint 213 rotates toward the palm 11.

[0103] It should be noted that the height along the second direction mentioned above is Fig.10 Let’s take the perspective of as an example.

[0104] By setting the first connecting rod 214 and the third elastic member 215, when the first joint 211 rotates toward the palm 11, the first connecting rod 214 can drive the second joint 212 to rotate relative to the first joint 211, and the rotation of the second joint 212 can drive the third joint 213 to rotate relative to the second joint 212, thereby achieving a linkage effect, so that the entire joint assembly 21 can simulate the bending of human fingers.

[0105] In some achievable embodiments, the second joint 212 and the third joint 213 are further connected to a torsion spring 216 at the pivot position, and the pivots of the second joint 212 and the third joint 213 pass through the torsion center of the torsion spring 216. The two ends of the torsion spring 216 abut against the second joint 212 and the third joint 213, respectively. The two ends of the torsion spring 216 can directly abut against the inner walls of the second joint 212 and the third joint 213, or abutment portions can be respectively provided in the second joint 212 and the third joint 213, and the two ends of the torsion spring 216 can abut against the abutment portions of the second joint 212 and the abutment portions in the third joint 213, respectively. The torsion spring 216 is suitable for resisting the elastic force of the third elastic member 215. More specifically, the torsion spring 216 can provide a relative rotational torsional force for the second joint 212 and the third joint 213. The torsional force can force the third joint 213 to have a tendency to rotate relative to the second joint 212 along the direction away from the palm 11, that is, when the joint assembly 21 is such as Fig.10 In the straightened state shown, the torsional force of the torsion spring 216 can cause the third joint 213 to have a tendency to rotate clockwise relative to the second joint 212, but at this time the clockwise rotation of the third joint 213 relative to the second joint 212 is restricted by the limiting structure therebetween and is also restricted by the third elastic member 215.

[0106] See also Figures 10 to 12 As shown, when the first joint 211 rotates counterclockwise toward the palm 11, the second joint 212 and the third joint 213 can be driven to rotate together. The second joint 212 rotates counterclockwise relative to the first joint 211, and the third joint 213 rotates counterclockwise relative to the second joint 212. At this time, the elastic force of the third elastic member 215 due to stretching is greater than the torsional force of the torsion spring 216. Therefore, the elastic force of the third elastic member 215 can drive the third joint 213 to overcome the torsional force of the torsion spring 216 and rotate, so that the joint assembly 21 is rotated from Fig.10 The straightened state shown becomes Fig.11 When the third joint 213 contacts an object or is subjected to a force opposite to the rotation direction, the third joint 213 can rotate clockwise relative to the second joint 212, so that the joint assembly 212 is bent from Fig.11 The bending state shown becomes Fig.12 When the external force is removed or the object abutting the third joint 213 is detached, the third joint 213 still rotates counterclockwise relative to the second joint 212 to the original rotation position under the action of the third elastic member 215. Fig.12 The bending state shown becomes Fig.11 The bending state is shown.

[0107] Therefore, by setting the torsion spring 216, the torsion spring 216 can apply a torsional force between the third joint 213 and the second joint 212, and the torsional force is used to counteract the elastic force of the third elastic member 215, so that the third joint 213 and the second joint 212 in the free state are in an extended state. When the second joint 212 rotates and pulls the third elastic member 215, the elastic force of the third elastic member 215 due to stretching is greater than the torsional force of the torsion spring 216, and the third joint 213 can be driven to rotate relative to the second joint 212, so that the third joint 213 can have better adaptive function.

[0108] See also Fig.13 and Fig.14 As shown, in some feasible embodiments, the dexterous hand also includes a thumb structure 30, which is installed on the palm structure 10. The thumb structure 30 includes a mounting seat 31, a first finger joint 35 and a second finger joint 36. The two ends of the first finger joint 35 are rotatably connected to the mounting seat 31 and the second finger joint 36 respectively. The mounting seat 31, the first finger joint 35 and the second finger joint 36 are integrated into a whole, which is conducive to the modular setting of the thumb structure 30, and the mounting seat 31 can be connected to the palm structure 10, so that the thumb structure 30 can be easily installed and removed from the palm structure 10 separately.

[0109] In one embodiment, the thumb structure 30 includes a second drive assembly 32 and a rotating member 34, the first knuckle 35 is connected to the rotating member 34, and the rotating member 34 is rotatably connected to the mounting seat 31, so that the first knuckle 35 can rotate relative to the mounting seat 31. It should be noted here that the rotation axis between the rotating member 34 and the mounting seat 31 is perpendicular to the rotation axis between the first knuckle 35 and the second knuckle 36, so that the thumb structure 30 can be rotated in two directions, that is, the bending rotation between the knuckles, and the first knuckle 35 and the second knuckle 36 can be turned relative to the mounting seat 31 with the rotating member 34. The second drive assembly 32 of the present application is suitable for driving the rotating member 34 to rotate relative to the mounting seat 31, that is, the second drive assembly 32 is suitable for driving the turning movement of the first knuckle 35 and the second knuckle 36.

[0110] Specifically, in some embodiments, the mounting base 31 includes a first base body 311 and a second base body 312, and the first base body 311 and the second base body 312 are detachably connected. For example, the first base body 311 and the second base body 312 can be connected by a snap-on structure, a buckle structure or screws. In the present application, the first base body 311 and the second base body 312 are fixedly connected by screws.

[0111] The first seat body 311 and the second seat body 312 are both shell structures. When the first seat body 311 and the second seat body 312 are connected, an accommodating space is formed between the first seat body 311 and the second seat body 312. Part of the structure of the second drive component 32 can be located in the accommodating space, and part of the structure of the rotating member 34 can also be located in the accommodating space.

[0112] The rotating member 34 and the mounting seat 31 can be connected by a plug screw. The first seat body 311 and the second seat body 312 have one end connected to the rotating member 34 with a circular hole. The end of the rotating member 34 connected to the mounting seat 31 is penetrated by a first rotating hole 342. The end of the rotating member 34 with the first rotating hole 342 is set in the accommodating space so that the first rotating hole 342 of the rotating member 34 and the circular holes on the first seat body 311 and the second seat body 312 are arranged opposite to each other. At this time, the plug screw is penetrated through the circular holes of the first seat body 311, the second seat body 312, and the first rotating hole 342 of the rotating member 34, and then connected to the end of the plug screw through a nut. Not only can the first seat body 311 and the second seat body 312 be clamped to make the connection between the first seat body 311 and the second seat body 312 more stable, but the rotating member 34 can also be rotatably connected to the mounting seat 31.

[0113] It is worth mentioning that a bearing can be arranged in the first rotating hole 342, and the optical axis of the plug screw can be passed through the bearing, or a bushing can be arranged in the first rotating hole 342, and the optical axis of the plug screw can be passed through the bushing, which can play a lubricating role and is beneficial to reducing the resistance of the rotating part 34 when it rotates relative to the mounting seat 31.

[0114] See also Figures 13 to 15 As shown, the thumb structure 30 of the present application further includes a fixing assembly 33, which is rotatably connected to the mounting seat 31, and a second driving assembly 32 includes a second driving member 321, a second driving screw rod 322 and a second sliding member 323. The second driving member 321 is a driving motor, and the second driving member 321 is connected to the fixing assembly 33, so that the second driving member 321 can rotate relative to the mounting seat 31. The second driving screw rod 322 is connected to the output end of the second driving member 321, and the second driving member 321 is used to drive the second driving screw rod 322 to rotate. The second sliding member 323 is provided with a screw hole 2231, and the second sliding member 323 is screwed to the second driving screw rod 322 through the screw hole 2231.

[0115] The second sliding member 323 is provided with a plurality of connecting protrusions 3231, and the mounting seat 31 is provided with a slide groove 3111, which is an arc groove, and the center of the slide groove 3111 coincides with the rotation axis of the rotating member 34 relative to the mounting seat 31. The slide groove 3111 can be specifically provided on the first seat body 311, and a rotating through hole 341 is provided on the rotating member 34 at one end facing the slide groove 3111, and the rotating through hole 341 is provided corresponding to the slide groove 3111. When the second sliding member 323 is connected to the second driving screw rod 322, along the direction perpendicular to the length of the second screw rod, at least one pair of connecting protrusions 3231 on the second sliding member 323 is located on opposite sides of the second sliding member 323, and the ends of the pair of connecting protrusions 3231 extend opposite to each other, and the pair of connecting protrusions 3231 are respectively inserted into the slide groove 3111 and the rotating through hole 341. Of course, the second sliding member 323 may also have multiple pairs of connecting protrusions 3231 as set above, and one or more connecting protrusions 3231 may be inserted into the sliding groove 3111 and the rotating through hole 341, which is not limited here.

[0116] It is worth mentioning that when the connecting protrusion 3231 is inserted into the rotating through hole 341 , the connecting protrusion 3231 is rotatably arranged relative to the rotating through hole 341 , and the rotating axis of the connecting protrusion 3231 and the rotating through hole 341 is parallel to the rotating axis between the rotating member 34 and the mounting seat 31 .

[0117] The second driving member 321 can drive the second driving screw rod 322 to rotate. When the second driving screw rod 322 rotates, the second sliding member 323 rotates relative to the second driving screw rod 322, and the second sliding member 323 is connected to the sliding groove 3111 and the rotating through hole 341 through the connecting protrusion 3231, thereby preventing the second sliding member 323 from rotating relative to the mounting seat 31, and the second sliding member 323 has a tendency to move along the extending direction of the second driving screw rod 322. Moreover, because the sliding groove 3111 is an arc groove, the sliding groove 3111 can limit the moving path of the second sliding member 323, so that the second sliding member 323 moves along the path of the sliding groove 3111. During the movement of the second sliding member 323 along the opening path of the sliding groove 3111, the second driving member 321 rotates relative to the mounting seat 31, and the connecting protrusion 3231 connected to the rotating member 34 also moves along the opening path of the sliding groove 3111, thereby driving the rotating member 34 to rotate relative to the mounting seat 31.

[0118] In some embodiments, the fixing assembly 33 includes a first fixing member 331 and a second fixing member 332. The first fixing member 331 and the second fixing member 332 can be connected by a clamping structure, a buckling structure or a screw. In the present application, the first fixing member 331 and the second fixing member 332 are connected together by screws. A recessed portion is provided at one end of the first fixing member 331 for connecting with the second fixing member 332, and a recessed portion is provided at one end of the second fixing member 332 for connecting with the first fixing member 331. When the first fixing member 331 and the second fixing member 332 are connected, the recessed portions between the two are connected and form a receiving space. The end of the second driving member 321 close to the second driving screw 322 can be inserted into the receiving space. When the first fixing member 331 and the second fixing member 332 are connected, the end of the second driving member 321 can be clamped to fix the position of the second driving member 321 relative to the first fixing member 331 and the second fixing member 332.

[0119] The fixing assembly 33 also includes a fixing bearing 333 and a clamping member 334. The second fixing member 332 is provided with a groove 3322 at a position close to the connection position between the second driving screw rod 322 and the second driving member 321. The fixing bearing 333 is connected in the groove 3322. The fixing bearing 333 can be pressed in the groove 3322 by connecting the first fixing member 331 and the second fixing member 332. The position where the output end of the second driving screw rod 322 and the second driving member 321 are connected is a light rod structure. The clamping member 334 is sleeved at the light rod structure, and then the inner ring of the fixing bearing 333 is sleeved outside the clamping member 334, so that the second driving screw rod 322 can be rotatably connected between the first fixing member 331 and the second fixing member 332.

[0120] It should be noted that a connecting protrusion 3321 is also provided on the second fixing member 332, and the second fixing member 332 can be rotatably connected to the mounting seat 31 through the connecting protrusion 3321. A plurality of connecting protrusions 3321 can be provided on the second fixing member 332, for example, connecting protrusions 3321 are provided on both sides of the second fixing member 332 facing the first seat body 311 and the second seat body 312, and the second fixing member 332 is rotatably connected to the first seat body 311 and the second seat body 312 through the connecting protrusions 3321 on both sides. A bearing or a bushing can be sleeved outside the connecting protrusion 3321, and the bearing or bushing is rotatably connected to the first seat body 311 and the second seat body 312.

[0121] See also Fig.13 and Fig.16As shown, in some achievable embodiments, the thumb structure 30 further includes a second connecting rod 37 and a third driving assembly 38, and the second connecting rod 37 and the third driving assembly 38 cooperate to drive the first knuckle 35 and the second knuckle 36 to rotate. Specifically, a second rotating hole 343 is further provided at one end of the rotating member 34 away from the first rotating hole 342, and one end of the first knuckle 35 can be rotatably connected to the second rotating hole 343 of the rotating member 34 by the cooperation of a screw and a nut. The rotating axes of the first knuckle 35 and the rotating member 34 are perpendicular to the rotating axes of the rotating member 34 and the mounting seat 31, and the rotating axes of the first knuckle 35 and the rotating member 34 are parallel to the rotating axes of the first knuckle 35 and the second knuckle 36.

[0122] One end of the second connecting rod 37 is rotatably connected to the second finger joint 36, and a rotating shaft 344 is provided at one end of the rotating member 34 away from the first rotating hole 342, and the rotating shaft 344 extends in the direction of the rotating shaft of the rotating member 34 and the first finger joint 35. The other end of the second connecting rod 37 is rotatably connected to the rotating shaft 344 on the rotating member 34, and the rotating shafts of the second connecting rod 37 and the second finger joint 36, and the second connecting rod 37 and the rotating shaft 344 are parallel to the rotating shaft between the rotating member 34 and the first finger joint 35, and are also parallel to the rotating shaft between the first finger joint 35 and the second finger joint 36.

[0123] The third driving assembly 38 is rotatably connected to the first finger joint 35 , and a part of the structure of the third driving assembly 38 is transmission-connected to the second connecting rod 37 , so as to drive the first finger joint 35 and the second finger joint 36 to rotate through the second connecting rod 37 .

[0124] It is worth mentioning that the way in which the third drive component 38 and the first finger joint 35 are rotationally connected is similar to the way in which the second drive component 32 and the mounting seat 31 are rotationally connected. Both are connected by using a structure similar to the fixing component 33. The third drive component 38 of the present application is externally provided with a structure similar to the fixing component 33, and the outer wall of the structure is also convexly provided with a structure similar to the connecting protrusion 3321. The third drive component 38 is rotationally connected to the first finger joint 35 through the structure. For more details, please refer to the description of the fixing component 33 and the connection between the fixing component 33 and the second drive component 32 above, which will not be repeated here.

[0125] The third driving assembly 38 includes a third driving member 381, a third driving screw rod 382 and a third sliding member 383. The third driving member 381 is a driving motor. The third driving screw rod 382 is connected to the output end of the third driving member 381. The third driving member 381 is used to drive the third driving screw rod 382 to rotate. The third sliding member 383 has a threaded hole. The third sliding member 383 is threadedly connected to the third driving screw rod 382 through the threaded hole. The end of the second connecting rod 37 is rotatably connected to the third sliding member 383. When the second connecting rod 37 and the third sliding member 383 are connected, a protruding structure can be convexly provided on the end of the second connecting rod 37, and then the protruding structure is inserted into the outer wall of the third sliding member 383, or the peripheral wall of the third sliding member 383 is convexly provided with a protruding structure in a direction perpendicular to the rotation axis of the third driving screw rod 382, ​​and the protruding structure is inserted into the end of the second connecting rod 37, so as to realize the rotation connection between the second connecting rod 37 and the third sliding member 383. It should be noted that the position where the second connecting rod 37 and the third sliding member 383 are connected is also rotatably connected to the second finger joint 36. Specifically, a protrusion can be set at the position where the second connecting rod 37 is used to connect with the third sliding member 383, and the second finger joint 36 is provided with a hole structure near the position where it is rotatably connected to the first finger joint 35. By inserting the protrusion into the hole structure, the second connecting rod 37 and the second finger joint 36 can be rotatably connected.

[0126] It should be noted that, assuming that the line between the connection center of the first knuckle 35 and the second knuckle 36 and the connection center of the first knuckle 35 and the rotating member 34 is L, and the line between the connection center of the second link 37 and the second knuckle 36 and the connection center of the second link 37 and the rotating member 34 is H, the middle part between the connection line L and the connection line H intersects, so that there is an angle between the two, and the angle is an acute angle. In other words, the connection position of the second link 37 and the second knuckle 36 and the connection position of the second link 37 and the rotating member 34 are respectively located on both sides of the connection line L, and the connection center of the second link 37 and the second knuckle 36 is located on a side relatively far away from the end face of the second knuckle 36 for contacting with an object, and the connection center of the second link 37 and the rotating member 34 is relatively close to the side of the end face of the first knuckle 35 for contacting with an object.

[0127] When the third driving assembly 38 drives the third driving screw rod 382 to rotate, since the third sliding member 383 is rotatably connected to the second finger joint 36 through the second connecting rod 37, the third sliding member 383 moves along the length direction of the third driving screw rod 382, ​​and the third sliding member 383 pushes the second finger joint 36 to rotate relative to the first finger joint 35. At the same time, the third driving member 381 rotates relative to the first finger joint 35, and the second connecting rod 37 also rotates relative to the rotating member 34. A connecting rod structure is formed between the rotating member 34, the second connecting rod 37, the second finger joint 36, the third driving member 381 and the first finger joint 35. The rotation of the second connecting rod 37 enables the first finger joint 35 to rotate relative to the rotating member 34, thereby realizing that the first finger joint 35 and the second finger joint 36 can rotate simultaneously.

[0128] In some embodiments, the second connecting rod 37 may be provided with multiple rods, for example, in the present application, the second connecting rod 37 is provided with two rods, the two second connecting rods 37 are arranged at intervals along the direction of the rotation axis of the rotational connection between the rotating member 34 and the first finger joint 35, the third driving member 381 is located between the two second connecting rods 37, one end of the two second connecting rods 37 is rotationally connected to the rotating member 34, and the other end is rotationally connected to the third sliding member 383, and the two second connecting rods 37 are arranged in parallel. By providing two second connecting rods 37, a uniform driving force can be applied to the second finger joint 36.

[0129] Combination Figure 2 and Fig.17 As shown, in some embodiments, the present application has a first driving member 221, a second driving member 321 and a third driving member 381. In order to control the operation of the three driving members, the palm structure 10 also includes a control component 15. The control component 15 includes a control board 151 and a communication interface 152 arranged on the control board 151. The first driving member 221, the second driving member 321 and the third driving member 381 are all provided with a communication connector for connecting to the control board 151. By connecting to the control board 151 through the communication connector, the first driving member 221, the second driving member 321 and the third driving member 381 signals can be connected to the control board 151, and the control board 151 then communicates with the external communication device through the communication interface 152.

[0130] The control component 15 of the present application is installed on the palm 11 or the back of the palm 12. For example, in the embodiment of the present application, a fixing piece 111 is protruded on the palm 11, and a threaded hole is provided on the fixing piece 111. Screws can be passed through the control board 151, and the screws can be screwed into the threaded holes on the fixing piece 111, thereby fixing the control board 151 to the palm 11.

[0131] When the control board 151 is connected to the palm 11, it is located in the accommodation space between the palm 11 and the back of the palm 12. The palm 11 and the back of the palm 12 are also provided with an installation port 112 at the end away from the joint assembly 21. The communication interface 152 on the control board 151 can be plugged into the installation port 112 to extend out of the palm structure 10 for easy connection with the outside world.

[0132] On the other hand, an embodiment of the present application also provides a humanoid robot, including a robot body and the above-mentioned dexterous hand.

[0133] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application.

[0134] It should be understood that the present application is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A dexterous hand, characterized in that: include: Palm structure; as well as A gripping finger structure, the gripping finger structure comprising a joint assembly, a first drive assembly, a swing assembly, a fixing frame and an auxiliary assembly, wherein the fixing frame is connected to the palm structure; The swing assembly is rotatably connected to the palm structure, the swing assembly is elastically connected to the fixing frame, the joint assembly is rotatably connected to the swing assembly, and the rotation axis of the swing assembly is perpendicular to the rotation axis of the joint assembly; The auxiliary component is configured to be elastically retractable. Along the retracting direction of the auxiliary component, one end of the auxiliary component is connected to the joint component via a universal structure, and the other end is connected to the first driving component via a universal structure. The first driving component is connected to the fixed frame. The first driving component is suitable for driving the joint component to rotate relative to the swinging component by driving the auxiliary component to move.

2. The dexterous hand according to claim 1, characterized in that: The auxiliary component includes a sleeve and a pin rod, the pin rod and the sleeve are slidably connected, a first elastic member is connected between the sleeve and the pin rod, an end of the sleeve away from the pin rod is connected to a first connecting part, and an end of the pin rod away from the sleeve is connected to a second connecting part, and the first connecting part and the second connecting part are both universal structures.

3. The dexterous hand according to claim 2, characterized in that: The first connecting portion includes a first ball head and a connecting rod, the connecting rod is convexly arranged on the first ball head, the connecting rod is suitable for being rotatably connected to the joint assembly, the end of the sleeve away from the pin rod is provided with a first connecting hole, and the first ball head is connected to the first connecting hole; The second connecting part includes a second ball head and a connecting shaft. A second connecting hole is opened at one end of the pin rod away from the sleeve. The second ball head is connected to the second connecting hole. The connecting shaft is connected to the second ball head. The connecting shaft is suitable for being rotatably connected to the first driving assembly.

4. The dexterous hand according to claim 3, characterized in that: The outer wall of the sleeve is also provided with a limiting groove, and the limiting groove is provided along the direction in which the pin rod slides relative to the sleeve. The pin rod is also connected with a limiting pin, and the limiting pin is inserted into the limiting groove.

5. The dexterous hand according to any one of claims 1 to 4, characterized in that: Along a direction perpendicular to the rotation axis of the swing component, a first connecting portion is provided at one end of the swing component, and a second connecting portion is provided at the other end. The first connecting portion is rotatably connected to the joint component, and the second connecting portion is elastically connected to the fixing frame.

6. The dexterous hand according to any one of claims 1 to 4, characterized in that: The first driving component includes a first driving member, a first driving screw and a first sliding member, the first driving member is connected to the fixed frame, the first driving screw is connected to the output end of the first driving member, the first sliding member has a screw hole, the first sliding member is screwed to the first driving screw through the screw hole, the first sliding member is movably connected to the fixed frame, and one end of the auxiliary component is connected to the first sliding member.

7. The dexterous hand according to any one of claims 1 to 4, characterized in that: The joint assembly includes a first joint, a second joint and a third joint which are arranged in sequence, the two ends of the second joint are rotatably connected to the first joint and the second joint respectively, the first joint is rotatably connected to the swing assembly, a first connecting rod is also arranged in the first joint, one end of the first connecting rod is rotatably connected to the swing assembly, and the other end of the first connecting rod is rotatably connected to the second joint.

8. The dexterous hand according to claim 7, characterized in that: A third elastic member is disposed in the second joint, one end of the third elastic member is connected to the first joint, and the other end of the third elastic member is connected to the third joint.

9. The dexterous hand according to claim 8, characterized in that: The rotating shafts of the second joint and the third joint are further connected with torsion springs, two ends of which are respectively in contact with the second joint and the third joint, and the torsion springs are suitable for resisting the elastic force of the third elastic member.

10. A humanoid robot, characterized in that: The robot comprises a robot body and a dexterous hand as described in any one of claims 1 to 9.

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