Dexterous Hand and Humanoid Robot

Abstract

The present application provides a dexterous hand and a humanoid robot. The dexterous hand includes a palm structure and a gripping finger structure. The gripping finger structure includes a joint assembly, a first driving assembly, a swinging assembly, a fixing frame, and an auxiliary assembly. The fixing frame is connected to the palm structure. The swinging assembly is rotatably connected to the palm structure, and the swinging assembly and the fixing frame are elastically connected. The joint assembly is rotatably connected to the swinging assembly, and the rotation axes of the swinging assembly and the joint assembly are perpendicular. The auxiliary assembly is configured to be elastically telescopic. Along the telescopic direction of the auxiliary assembly, one end of the auxiliary assembly is connected to the joint assembly through a universal structure, and the other end is connected to the first driving assembly through a universal structure. The first driving assembly is connected to the fixing frame, and the first driving assembly is adapted to drive the joint assembly to rotate relative to the swinging assembly by driving the auxiliary assembly to move. Through the above settings, the flexible self-adaptability of the dexterous hand can be increased.

Description

Technical Field

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

[0002] A robot dexterous hand is a precise and complex structure and also a key end effector in modern robot technology. Its design goal is to be as anthropomorphic as possible in terms of form and function. Therefore, the structure of the dexterous hand includes a palm and fingers. A driving structure and a transmission structure are arranged inside the palm. The driving structure drives the fingers to move through the transmission structure to achieve the dexterous hand's grasping of an object.

[0003] However, when the driving structure and the transmission structure of the dexterous hand on the market cooperate currently, it is easy to cause the problem of poor adaptability of the dexterous hand, making the dexterous hand relatively rigid and not very flexible. Summary of the Invention

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

[0005] An embodiment of this application provides a dexterous hand, including a palm structure and a grasping finger structure. The grasping finger structure includes a joint assembly, a first driving assembly, a swinging assembly, a fixing frame, and an auxiliary assembly. The fixing frame is connected to the palm structure; the swinging assembly is rotatably connected to the palm structure, and the swinging assembly and the fixing frame are elastically connected. The joint assembly is rotatably connected to the swinging assembly, and the rotation axes of the swinging assembly and the joint assembly are perpendicular; the auxiliary assembly is arranged to be elastically telescopic. Along the telescopic direction of the auxiliary assembly, one end of the auxiliary assembly is connected to the joint assembly through a universal structure, and the other end is connected to the first driving assembly through a universal structure. The first driving assembly is connected to the fixing frame, and the first driving assembly is adapted to drive the joint assembly to rotate relative to the swinging assembly by driving the auxiliary assembly to move.

[0006] The dexterous hand provided by the present application is provided with a swing assembly. The joint assembly is rotatably connected to the swing assembly, and the swing assembly is rotatably connected to the palm structure. This enables the joint assembly to rotate relative to the swing assembly, realizing the bending of the joint assembly relative to the palm structure, so that the joint assembly can cooperate with the palm structure to hold an object. Also, since the joint assembly can swing relative to the palm structure together with the swing assembly, the joint assembly can have a side-swing movement in addition to the bending movement, increasing the flexibility of the joint assembly. Moreover, the swing assembly is elastically connected to the fixed frame. In this connection mode, when the swing assembly rotates relative to the palm structure under the action of an external force, a restoring force is generated between the swing assembly and the fixed frame. This restoring force causes the swing assembly to have a tendency to rotate in the opposite direction relative to the palm structure and return to its original position. When the external force is removed, this restoring force forces the swing assembly to rotate in the reverse direction and return to its original position, and then the joint assembly returns to its original position. In this way, the flexible adaptive ability of the joint assembly can be improved, making the movement of the joint assembly flexible and self-adaptive to return to its original position.

[0007] In addition, the present application is also provided with an auxiliary assembly. The auxiliary assembly can transmit the driving force of the first driving assembly, enabling the joint assembly to rotate relative to the swing assembly to realize the bending of the joint assembly relative to the palm structure, so as to realize the cooperation between the joint assembly and the palm structure to hold an object. Moreover, the auxiliary assembly of the present application is not only used to transmit the driving force. The auxiliary assembly of the present application is elastically telescopic. When the first driving assembly loses power, the output end of the first driving assembly remains fixed. At this time, when an external force is applied to the joint assembly and forces the joint assembly to rotate relative to the swing assembly, the auxiliary assembly is compressed under the action of the external force. When the auxiliary assembly is compressed, the joint assembly can rotate relative to the swing assembly, realizing the effect that the joint assembly can still bend relative to the palm structure even when the first driving assembly loses power, ensuring the flexibility of the joint assembly. And when the auxiliary assembly is compressed, the auxiliary assembly has an elastic force to restore its original state, forcing the auxiliary assembly to have a tendency to restore its original state. If the external force is removed from the joint assembly, at this time the auxiliary assembly can restore its original state through the elastic force. During the process of the auxiliary assembly restoring its original state, it drives the joint assembly to rotate relative to the swing assembly to return to its original position, and then the adaptive function of the joint assembly can be increased.

[0008] In a possible implementation manner, the auxiliary assembly includes a sleeve and a pin rod. The pin rod is slidably connected to the sleeve. A first elastic member is connected between the sleeve and the pin rod. One end of the sleeve away from the pin rod is connected with a first connection assembly, and one end of the pin rod away from the sleeve is connected with a second connection assembly. Both the first connection assembly and the second connection assembly are universal structures.

[0009] In a possible implementation manner, the first connection component includes a first ball head and a connecting rod. The connecting rod protrudes from the first ball head, and the connecting rod is adapted to be rotatably connected to the joint component. One end of the sleeve away from the pin rod is provided with a first connection hole, and the first ball head is connected to the first connection hole;

[0010] The second connection component includes a second ball head and a connecting shaft. One end of the pin rod away from the sleeve is provided with a second connection hole, the second ball head is connected to the second connection hole, the connecting shaft is connected to the second ball head, and the connecting shaft is adapted to be rotatably connected to the first driving component.

[0011] In a possible implementation manner, the sleeve includes a plugging channel, and the pin rod is plugged into the plugging channel.

[0012] In a possible implementation manner, a limiting groove is further formed on the outer wall of the sleeve. The limiting groove is formed along the direction in which the pin rod slides relative to the sleeve, and a limiting pin is further connected to the pin rod. The limiting pin is plugged into the limiting groove.

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

[0014] In a possible implementation manner, the swing component further includes at least one second elastic member. Two ends of the second elastic member are respectively connected to the second connection portion and the fixed frame, and the second elastic member is adapted to provide an elastic force for the second connection portion to resist the rotation of the swing body.

[0015] In a possible implementation manner, the first driving component includes a first driving member, a first driving lead screw, and a first sliding member. The first driving member is connected to the fixed frame, the first driving lead screw is connected to the output end of the first driving member, the first sliding member has a threaded hole, and the first sliding member is screwed to the first driving lead screw through the threaded 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 a possible implementation manner, the fixed frame includes a frame body. The first driving member is fixed to the frame body, and a plurality of guiding members are arranged on the frame body. The guiding members extend along the extending direction of the first driving lead screw, and the guiding members pass 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 a possible implementation, the thumb structure further includes a fixing component, the fixing component is rotatably connected to the mounting base, the second driving component includes a second driving member, a second driving lead screw and a second sliding member, the second driving member is connected to the fixing component, the second driving lead screw is connected to the output end of the second driving member, the second sliding member is screwed onto the second driving lead screw, the second sliding member is provided with a plurality of connecting rods, the mounting base is provided with a chute, and the rotating member is provided with a rotating through hole, and at least one of the connecting rods is inserted into the chute and the rotating through hole.

[0026] In a possible implementation, the thumb structure further includes a second connecting rod and a third driving component, one end of the second connecting rod is rotatably connected to the second phalanx, the other end of the second connecting rod is rotatably connected to the rotating member, the first phalanx is rotatably connected to the rotating member, the third driving component is rotatably connected to the first phalanx, and a part of the third driving component is in transmission connection with the second connecting rod to drive the first phalanx and the second phalanx to rotate through the second connecting rod.

[0027] In a possible implementation, the third driving component includes a third driving member, a third driving lead screw and a third sliding member, the third driving lead screw is connected to the extending end of the third driving member, the third sliding member is threadedly connected to the third driving lead screw, the end of the second connecting rod is rotatably connected to the third sliding member, and the position where the second connecting rod is connected to the third sliding member is rotatably connected to the second phalanx.

[0028] The embodiment of the present application further provides a humanoid robot, including a robot main body and the above-mentioned dexterous hand. Description of the Drawings

[0029] The drawings here are incorporated into the description and constitute a part of this description, showing the embodiments consistent with the present application, and are used together with the description to explain the principles of the present application.

[0030] Figure 1 It is a schematic structural diagram of a dexterous hand provided by an embodiment of the present invention;

[0031] Figure 2 It is an exploded view of a palm structure provided by an embodiment of the present invention;

[0032] Figure 3 It is a schematic structural diagram of a grasping finger structure provided by an embodiment of the present invention;

[0033] Figure 4 It is an exploded view of the grasping finger structure provided by an embodiment of the present invention;

[0034] Figure 5Exploded view of the auxiliary component provided by the embodiment of the present invention;

[0035] Figure 6 Partial exploded view of the holding finger structure provided by the embodiment of the present invention;

[0036] Figure 7 Exploded view of a dexterous hand provided by the embodiment of the present invention;

[0037] Figure 8 Schematic diagram of the connection structure between the auxiliary structure and the first sliding member provided by the embodiment of the present invention;

[0038] Figure 9 Exploded view of the fixing bracket provided by the embodiment of the present invention;

[0039] Figure 10 Cross-sectional view of a holding finger structure provided by the embodiment of the present invention;

[0040] Figure 11 Cross-sectional view of another holding finger structure provided by the embodiment of the present invention;

[0041] Figure 12 Cross-sectional view of yet another holding finger structure provided by the embodiment of the present invention;

[0042] Figure 13 Exploded view of another dexterous hand provided by the embodiment of the present invention;

[0043] Figure 14 Exploded view of a thumb structure provided by the embodiment of the present invention;

[0044] Figure 15 Exploded view of the installation structure of the second driving component and the mounting seat provided by the embodiment of the present invention;

[0045] Figure 16 Exploded view of another thumb structure provided by the embodiment of the present invention;

[0046] Figure 17 Partial structure schematic diagram of a dexterous hand provided by the embodiment of the present invention.

[0047] Explanation of reference numerals:

[0048] 10. Palm structure; 11. Palm center; 111. Fixing member; 112. Installation port; 12. Back of the hand; 13. Fixing base; 131. Fixing counterbore; 14. Flexible pad; 15. Control component; 151. Control board; 152. Communication interface; 20. Holding finger structure; 21. Joint component; 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 member; 216. Torsion spring; 22. First driving component; 221. First driving member; 222. First driving lead screw; 223. First sliding member; 2231. Threaded hole; 23. Fixing frame; 231. Frame body; 2311. Accommodating groove; 2312. First through hole; 2313. Second through hole; 2314. First mounting hole; 232. Guide member; 233. Adapter; 24. Swing component; 241. Swing bearing; 242. Fixing screw; 243. Swing body; 2431. First connecting portion; 2432. Second connecting portion; 24321. Second mounting hole; 244. Second elastic member; 25. Auxiliary component; 251. First connecting component; 2511. First ball head; 2512. Connecting rod; 252. Sleeve; 2521. First connecting hole; 2522. Insertion channel; 2523. Limiting groove; 253. First elastic member; 254. Pin rod; 2541. Second connecting hole; 255. Limiting pin; 256. Second connecting component; 2561. Second ball head; 25611. Insertion hole; 2562. Connecting shaft; 30. Thumb structure; 31. Mounting seat; 311. First seat body; 3111. Slide groove; 312. Second seat body; 32. Second driving component; 321. Second driving member; 322. Second driving lead screw; 323. Second sliding member; 3231. Connecting convex block; 33. Fixing component; 331. First fixing member; 332. Second fixing member; 3321. Connecting protrusion; 3322. Groove; 333. Fixing bearing; 334. Clamping member; 34. Rotating member; 341. Rotating through hole; 342. First rotating hole; 343. Second rotating hole; 344. Rotating shaft; 35. First finger joint; 36. Second finger joint; 37. Second connecting rod; 38. Third driving component; 381. Third driving member; 382. Third driving lead screw; 383. Third sliding member.

[0049] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and more detailed descriptions will be provided hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept 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 implementation manners

[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 implementable ways, the dexterous hand of the present application includes a palm structure 10 and a gripping finger structure 20. The gripping finger structure 20 is connected to the palm structure 10 and is used for the dexterous hand to grip an object. It can be understood that the gripping finger structure 20 is a finger structure of the dexterous hand designed to mimic a human hand. Specifically, the gripping finger structure 20 of the present application includes an index finger, a middle finger, a ring finger, and a little finger designed to mimic a human 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 and degrees of freedom that can be achieved are the same. Therefore, the gripping 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 gripping finger structure 20 is different from the thumb structure 30 in the following text. Since the thumb structure 30 has only two phalanges and there are significant differences between the thumb structure 30 and the other four fingers, the thumb structure 30 and the other four fingers are described separately in the present application.

[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 bracket 23, and an auxiliary assembly 25. The fixed bracket 23 is connected to the palm structure 10. The joint assembly 21 is a joint set for an anthropomorphic finger. Each joint is connected to each other and can move. The joint assembly 21, the first drive assembly 22, the swing assembly 24, the fixed bracket 23, and the auxiliary assembly 25 are connected in cooperation to form a finger module of an anthropomorphic finger, and the fixed bracket 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 center 11 and a palm back 12. The palm center 11 and the palm back 12 are separately provided and are detachably connected. For example, the palm center 11 and the palm back 12 can be connected together by a snap structure, a buckle structure, or screws. In the present application, the palm center 11 and the palm back 12 are connected by screws. In addition, a flexible pad 14 is provided on the end face of the palm center 11 facing away from the palm back 12. The flexible pad 14 can be made of silica gel or rubber material, and the flexible pad 14 can be connected to the palm center 11 by gluing. By providing the flexible pad 14, not only can the object be prevented from directly contacting the palm center 11, which is beneficial to preventing the palm center 11 from being worn, but also the flexible pad 14 can increase the friction coefficient of the palm center 11, making it difficult for the object to slip when the dexterous hand grabs the object.

[0057] An accommodation space is defined between the palm center 11 and the palm back 12 of the present application. The fixed bracket 23 can be located in this accommodation space, and the fixed bracket 23 can be connected to the palm center 11 by screws 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, the joint assembly 21 of the gripping finger structure 20 is exposed outside the palm structure 10 so that the joint assembly 21 can bend 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 is elastically connected to the fixed frame 23. The joint assembly 21 is rotatably connected to the swing assembly 24. Thus, 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. Therefore, the movement of the joint assembly 21 relative to the palm structure 10 at least includes the rotation following 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 perpendicularly arranged. 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, and it can also be regarded as the grasping 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 to simulate the left and right swing of a human finger. Here, it should be noted that for the left and right swing of the joint assembly 21 simulating the index finger and little finger of a human hand, it means that the joint assembly 21 moves towards or away from the adjacent joint assembly 21 around the rotation axis of the swing assembly 24 relative to the palm structure 10; for the joint assembly 21 simulating the middle finger and ring finger of a human hand, there are two adjacent joint assemblies 21 in the swing direction. For example, the middle finger is adjacent to the index finger and the ring finger, and the ring finger is adjacent to the middle finger and the little finger. Therefore, the left and right swing of the joint assembly 21 simulating the middle finger and ring finger of a human hand means that the joint assembly 21 moves towards one adjacent joint assembly 21 and away from the other adjacent joint assembly 21 around the rotation axis of the swing assembly 24 relative to the palm structure 10.

[0060] The auxiliary assembly 25 is arranged to be elastically telescopic. Along the telescopic direction of the auxiliary assembly 25, one end of the auxiliary assembly 25 is connected to the joint assembly 21 through a universal structure, and the other end is connected to the output end of the first driving assembly 22 through a universal structure. The first driving assembly 22 of this application is connected to the fixed frame 23. Thus, the first driving assembly 22 can drive the auxiliary assembly 25 to move. Since the joint assembly 21 is connected to both the swing assembly 24 and the auxiliary assembly 25 at the same time, when the auxiliary assembly 25 moves, it can drive the joint assembly 21 to rotate relative to the swing assembly 24.

[0061] The dexterous hand of the present application is provided with a swing assembly 24. The joint assembly 21 is rotatably connected to the swing assembly 24, and the swing assembly 24 is rotatably connected to the palm structure 10. This enables the joint assembly 21 to rotate relative to the swing assembly 24, achieving the bending of the joint assembly 21 relative to the palm structure 10. As a result, the joint assembly 21 can cooperate with the palm structure 10 to hold an object. Additionally, since the joint assembly 21 can swing relative to the palm structure 10 together with the swing assembly 24, the joint assembly 21 can have a lateral swing motion in addition to the bending motion, increasing the flexibility of the joint assembly 21. Moreover, the swing assembly 24 is elastically connected to the fixed frame 23. In this connection manner, when the swing assembly 24 rotates relative to the palm structure 10 under the action of an external force, an elastic force opposite to the rotation direction of the swing assembly 24 relative to the palm structure 10 is generated between the swing assembly 24 and the fixed frame 23 as the restoring force of the swing assembly 24. This restoring force causes the swing assembly 24 to have a tendency to rotate in the opposite direction relative to the palm structure 10 to return to its original position. When the external force is removed, this restoring force forces the swing assembly 24 to rotate in the reverse direction to return to its original position, and further causes the joint assembly 21 to return to its original position. In this way, the flexible adaptive ability of the joint assembly 21 can be improved, making the joint assembly 21 move flexibly and adaptively return to its original position.

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

[0063] Furthermore, the auxiliary component 25 of the present application is connected to the joint component 21 and the first driving component 22 respectively through a universal structure. In this way, the end of the auxiliary component 25 can not only rotate relative to the joint component 21 and the first driving component 22, but also swing relative to the joint component 21 and the first driving component 22, avoiding affecting the swing of the joint component 21 relative to the palm structure 10 along with the swing component 24.

[0064] See Figure 4 and Figure 5 As shown, in some realizable ways, the auxiliary component 25 includes a sleeve 252 and a pin rod 254. The pin rod 254 is slidably connected to the sleeve 252, so that the pin rod 254 and the sleeve 252 can move towards or away from each other. In addition, a first elastic member 253 is also connected between the sleeve 252 and the pin rod 254. In the free state, the first elastic member 253 does not generate any deformation, that is, the first elastic member 253 does not exert an elastic force on the pin rod 254 and the sleeve 252. When the pin rod 254 and the sleeve 252 are driven to move relatively, the first elastic member 253 generates an elastic force, making the pin rod 254 and the sleeve 252 tend to return to their original positions.

[0065] One end of the sleeve 252 away from the pin rod 254 is connected with a first connecting component 251, and one end of the pin rod 254 away from the sleeve 252 is connected with a second connecting component 256. Both the first connecting component 251 and the second connecting component 256 are universal structures. The sleeve 252 is connected to the joint component 21 through the first connecting component 251, and the pin rod 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, and the connecting rod 2512 protrudes from the surface of the first ball head 2511. The connecting rod 2512 can be rotatably connected to one end of the joint component 21 close to the swing component 24. One end of the sleeve 252 away from the pin rod 254 is provided with a first connecting hole 2521, and the first ball head 2511 is connected to the first connecting hole 2521. The first ball head 2511 can perform a circumferential movement in the first connecting hole 2521, so as to adapt to the circumferential movement of the joint component 21 relative to the sleeve 252.

[0067] The second connection component 256 includes a second ball head 2561 and a connection shaft 2562. The second ball head 2561 is of a spherical structure. A second connection hole 2541 is formed at one end of the pin rod 254 away from the sleeve 252. The second ball head 2561 is connected to the second connection hole 2541, and the second ball head 2561 can make a circumferential movement within the second connection hole 2541. The connection shaft 2562 is connected to the second ball head 2561. For example, the connection shaft 2562 can protrude from the second ball head 2561, or as in the embodiment of the present application, the second ball head 2561 is provided with a socket hole 25611 that penetrates the second ball head 2561, and the connection shaft 2562 is inserted into the socket hole 25611. The connection shaft 2562 of the present application can be rotatably connected to the output end of the first driving component 22, so that the end of the pin rod 254 can make a circumferential movement relative to the first driving component 22.

[0068] In some embodiments, the sleeve 252 includes a socket channel 2522 that is opened from one end in the length direction of the sleeve 252 along the length direction of the sleeve 252 towards the other end, and the socket channel 2522 does not penetrate the other end of the sleeve 252. One end of the pin rod 254 away from the second connection hole 2541 can be inserted into the socket channel 2522. The shape and size of the end of the pin rod 254 for insertion into the socket channel 2522 are the same as those of the socket channel 2522, so that this end of the pin rod 254 can be inserted and adapted to the socket channel 2522, thus realizing relative sliding between the pin rod 254 and the sleeve 252. However, this is not limited thereto. The sleeve 252 and the pin rod 254 can also be slidably connected through the cooperation of a slide rail and a slider, and the embodiments of the present application will not be described in detail.

[0069] It is worth mentioning that the first elastic member 253 of the present application is a spring. The first elastic member 253 is arranged in the socket channel 2522, and the first elastic member 253 is located between the bottom of the socket 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 socket channel 2522, it can squeeze or stretch the first elastic member 253 and cause the first elastic member 253 to generate an 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 formed on the outer wall of the sleeve 252. The limiting groove 2523 is formed along the extending direction of the insertion channel 2522, and the limiting groove 2523 penetrates through the outer wall of the sleeve 252 and communicates with the insertion channel 2522. A limiting pin 255 is further connected to the end of the pin rod 254 inserted into the insertion channel 2522 (the end of the pin rod 254 away from the second connection hole 2541). The limiting pin 255 protrudes from the end face of the pin rod 254. When the pin rod 254 is inserted into the insertion channel 2522, the limiting pin 255 is inserted into the limiting groove 2523, so that the limiting pin 255 can move along the limiting groove 2523. The length of the limiting groove 2523 limits the moving range of the limiting pin 255, thereby limiting the moving range of the pin rod 254 relative to the sleeve 252. Therefore, through the cooperation of the limiting groove 2523 and the limiting pin 255, it is possible to prevent the pin rod 254 from detaching from the sleeve 252 when the pin rod 254 and the sleeve 252 move relative to each other.

[0071] For the convenience of assembly, the limiting pin 255 and the pin rod 254 are detachably connected. For example, a hole structure with a smooth inner wall can be provided on the peripheral wall of the pin rod 254, and the limiting pin 255 can be directly inserted into the hole structure on the peripheral wall of the pin rod 254, and the limiting pin 255 can be in a tight fit with the hole structure so that the limiting pin 255 is fixed relative to the pin rod 254; or a threaded hole is formed on the peripheral wall of the pin rod 254, and an external thread is provided at the end of the limiting pin 255. The end of the limiting pin 255 is threadedly connected to the threaded hole, so that the end of the limiting pin 255 can be connected to the peripheral wall of the pin rod 254.

[0072] See Figure 4 、 Figures 6 to 8 As shown in, in some realizable ways, the swing assembly 24 includes a swing body 243, and the swing body 243 is used for rotatably connecting to the palm structure 10. In this embodiment, the palm structure 10 further includes a fixed seat 13. One end of the fixed seat 13 can be connected to the palm center 11. A plurality of fixed counterbores 131 are further provided on the fixed seat 13. The fixed counterbores 131 penetrate through the fixed seat 13. The position of the fixed seat 13 corresponding to the swing assembly 24 is provided, and one fixed counterbore 131 is provided on the fixed seat 13 corresponding to each swing assembly 24. The swing assembly 24 further includes a swing bearing 241, and the swing bearing 241 can be inserted into the fixed counterbore 131. In this application, the fixed counterbore 131 is a counterbore, and the size of the larger-diameter end of the fixed counterbore 131 is adapted to the outer ring size of the swing bearing 241, so that the swing bearing 241 can be directly accommodated in the larger-diameter end of the fixed counterbore 131, or the outer ring of the swing bearing 241 can also be fixed to the inner wall of the larger-diameter end of the fixed counterbore 131 by means of bonding or the like.

[0073] A fixing screw 242 is inserted through a swing bearing 241, and after passing through the swing bearing 241, it passes out from the end with a smaller aperture of a fixing counterbore 131. A swing main body 243 can be arranged at the end of the fixing base 13 where the end with a larger aperture of the fixing counterbore 131 is located, and a threaded hole is provided on the end face of the swing main body 243 facing the fixing base 13. When the swing main body 243 is arranged on the fixing base 13, the threaded hole on the swing main body 243 is arranged corresponding to the swing bearing 241 and the fixing counterbore 131. At this time, after passing through the fixing counterbore 131, the fixing screw 242 can be threadedly connected to the threaded hole, so that the swing main body 243 and the fixing screw 242 can be connected together. Under the action of an external force, the swing structure can be driven to rotate relative to the fixing base 13 around the central axis of the swing bearing 241.

[0074] In some embodiments, along the direction perpendicular to the rotation axis of the swing main body 243, a first connecting portion 2431 is provided at one end of the swing main 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 bracket 23, so as to realize the connection between the swing main body 243, the joint assembly 21, and the fixing bracket 23.

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

[0076] For the sake of convenience of description, with reference to Figure 4 , the direction shown by the X-axis is the first direction, the direction shown by the Y-axis is the second direction, and the direction shown by the Z-axis is the third direction. The first direction, the second direction, and the third direction are perpendicular to each other in pairs. Among them, the first direction is parallel to the direction of the rotation axis when the joint assembly 21 rotates relative to the swing assembly 24. In the embodiment of the present application, the rotation axis when the joint assembly 21 rotates relative to the swing assembly 24 can be represented by a dotted line A. The second direction is parallel to the direction of the rotation axis when the swing assembly 24 rotates relative to the palm structure 10. The rotation axis when the swing assembly 24 rotates relative to the palm structure 10 can be represented by a dotted line B. When the swing assembly 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] Combined with Figure 4 , Figure 6 and Figure 9As shown, the second elastic member 244 can be a spring or a structure made of other elastic materials. In this application, the second elastic member 244 is an elastic cord. One end of the fixing frame 23 is arranged away from the second connecting portion 2432. A first mounting hole 2314 and a second mounting hole 24321 are respectively arranged on this end of the fixing frame 23 and the second connecting portion 2432. The first mounting hole 2314 on the fixing frame 23 and the second mounting hole 24321 on the second connecting portion 2432 are arranged correspondingly. The so-called corresponding arrangement means that when the swinging 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 respectively connected to the first mounting hole 2314 and the second mounting hole 24321. The second elastic member 244 in this application is a closed-loop structure, so that the second elastic member 244 can be directly passed through the first mounting hole 2314 and the second mounting hole 24321.

[0078] If there are multiple second elastic members 244, multiple first mounting holes 2314 and second mounting holes 24321 need to be respectively arranged on the fixing frame 23 and the second connecting portion 2432. The first mounting holes 2314 on the fixing frame 23 and the second mounting holes 24321 on the second connecting portion 2432 are arranged in one-to-one correspondence. The corresponding first mounting hole 2314 and second mounting hole 24321 are used to connect one second elastic member 244. In this embodiment of the application, two second elastic members 244 are taken as an example for illustration.

[0079] When two second elastic members 244 are provided, two second mounting holes 24321 are arranged on the second connecting portion 2432, and two first mounting holes 2314 are arranged on the fixing frame 23. The two first mounting holes 2314 and the two second mounting holes 24321 are in one-to-one correspondence. The corresponding first mounting hole 2314 and second mounting hole 24321 are used to connect one second elastic member 244. The two first mounting holes 2314 and the two second mounting holes 24321 are both arranged at intervals along the first direction. In the arrangement direction of the two first mounting holes 2314, the position where the swinging body 243 is used to connect to the palm structure 10 is located at the center between the two first mounting holes 2314. In this way, when the swinging body 243 swings relative to the palm structure 10 in opposite directions, the restoring forces received are equal.

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

[0081] The first sliding member 223 has a threaded hole 2231. The first sliding member 223 is threadedly connected to the first driving lead screw 222 through the threaded 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 lead screw 222 to rotate, the first sliding member 223 can rotate relative to the first driving lead screw 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. Another thing to note is that the moving direction of the first sliding member 223 relative to the fixing frame 23 is parallel to the third direction. Thus, when the first driving lead screw 222 rotates, it will drive the first sliding member 223 to move along the third direction.

[0082] See Figure 4 、 Figure 6 and Figure 9 As shown in, in some embodiments, the fixing frame 23 includes a frame body 231. 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. Both the first through hole 2312 and the second through hole 2313 communicate with the receiving groove 2311. The second through hole 2313 is relatively close to the swinging component 24, and the first through hole 2312 is relatively far from the swinging component 24. The first driving member 221 is fixed to one end of the frame body 231 where the first through hole 2312 is opened, and the first driving member 221 is located on the side of the frame body 231 facing away from the receiving groove 2311. The first driving member 221 can be detachably connected to the frame body 231 through a clamping structure, a buckling structure, or a screw. The first driving lead screw 222 sequentially passes through the first through hole 2312, the receiving groove 2311, and the second through hole 2313, so that the middle section of the first driving lead screw 222 is located in the receiving groove 2311, and the first sliding member 223 connected to the first driving lead screw 222 is also located in the receiving groove 2311. The first sliding member 223 can move along the extension path of the receiving groove 2311.

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

[0084] In the present application, a plurality of guiding members 232 are further provided on the frame body 231. The guiding members 232 extend along the third direction. The extending direction of the guiding members 232 is parallel to the extending direction of the first driving lead screw 222 and parallel to the moving direction of the first sliding member 223. The guiding members 232 are of a smooth rod structure. The two ends of the guiding members 232 are respectively connected to the two ends of the frame body 231 along the third direction. The guiding members 232 are located in the accommodating groove 2311, and the guiding members 232 pass through the first sliding member 223. The plurality of guiding members 232 passing through the first sliding member 223 can limit the self-rotation of the first sliding member 223, so that the first sliding member 223 moves linearly relative to the frame body 231 along the third direction.

[0085] It should be noted that the pin rod 254 of the auxiliary assembly 25 is connected to the first sliding member 223 through the second connecting assembly 256. Specifically, the connecting shaft 2562 of the second connecting assembly 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 assembly 21 relative to the swing assembly 24. In the present application, the position of the first sliding member 223 for connecting to the connecting shaft 2562 is close to the bottom of the accommodating groove 2311. Along the third direction, an end hole is provided at one end of the frame body 231 close to the joint assembly 21. 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] By providing the auxiliary assembly 25 in the present application, the bending adaptability of the joint assembly 21 can be increased, and reference can be made to Figures 10 to 12 the state of the joint assembly 21 shown to illustrate, Figure 10 as shown is the straight state of the joint assembly 21, Figure 11 as shown is a bending state of the joint assembly 21, Figure 12 as shown is another bending state of the joint assembly 21. When the joint assembly 21 is in Figure 10In the straight state, the first driving member 221 can be used to drive the first sliding member 223 to translate relative to the fixed frame 23 from left to right. For example, it can be moved to Figure 11 the position in. During the process of driving the first sliding member 223 to translate, the entire auxiliary assembly 25 can be pulled to move to the right side of the fixed frame 23, and then the joint assembly 21 can be pulled to rotate counterclockwise according to the Figure 10 view shown to Figure 11 the position.

[0087] When the first driving member 221 does not work, that is, when the first sliding member 223 is stationary at the left end of the fixed frame 23, if an external force is applied to the joint assembly 21 in Figure 10 to force the joint assembly 21 to rotate counterclockwise. At this time, the joint assembly 21 can drive the sleeve 252 to move towards the pin rod 254, and then squeeze the first elastic member 253 between the two. The first elastic member 253 contracts to make way, so that the joint assembly 21 can rotate counterclockwise to Figure 12 the position shown. Because the first elastic member 253 is compressed to generate an 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 rod 254 to move away from each other. When the sleeve 252 moves, it drives the joint assembly 21 to rotate clockwise to the original position, that is, it returns to Figure 10 the position shown. In this way, the bending of the joint assembly 21 can be driven by the first driving member 221. When the first driving member 221 does not work, the joint assembly 21 can also be bent under the action of an external force, and the joint assembly 21 returns to its original position after the external force is removed, increasing the bending adaptability of the joint assembly 21.

[0088] In some implementable ways, 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 respectively rotatably connected to the first joint 211 and the third joint 213, 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. The two joint bodies can be fixedly connected together through a clamping structure, a buckling structure, or a screw. When the two joint bodies are connected, a chamber is formed between the two joint bodies, so that chambers are formed inside the first joint 211, the second joint 212, and the third joint 213.

[0090] In this application, the two joint bodies of the first joint 211, the second joint 212, and the third joint 213 are all fixedly connected by screws. For example, round holes are provided at both ends in the length direction of the two joint bodies, and the round holes penetrate the joint bodies. When the two joint bodies are butted, the round holes at both ends are correspondingly arranged. At this time, the screw can be passed through the round hole, the screw is passed through one end of one joint body and the other end of the other joint body, and finally the nut is threadedly connected to the end of the screw to connect the two joint bodies together.

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

[0092] In some embodiments, in order to simplify the structure more, the connection between the first joint 211 and the swing assembly 24, as well as the connection between each joint, can be directly realized by the screws connecting the joint bodies of each joint.

[0093] Specifically, taking the connection between the first joint 211 and the swing assembly 24 as an example for illustration. The screw in this application is a set screw, the middle part of which is a smooth rod structure, and the end part is a screw rod structure with an external thread. When the two joint bodies of the first joint 211 are connected, the first connecting portion 2431 of the swing assembly 24 can be first clamped in the chamber between the two joint bodies. At this time, a round hole is provided at the position of the first joint 211 for connecting with the first connecting portion 2431 of the swing assembly 24, and the round hole penetrates the ends of the two joint bodies of the first joint 211. A perforation is also provided at the position of the first connecting portion 2431 corresponding to the round hole, and the perforation penetrates the first connecting portion 2431. Then the set screw is inserted into the round hole on one of the joint bodies and penetrates toward the round hole of the other joint body. During this process, the set screw sequentially passes through the perforation of the first connecting portion 2431 and the round hole of the other joint body, and then the threaded portion of the set screw is screwed with the nut 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 set screw.

[0094] Similarly, a connection end is provided at one end of the first joint 211 away from its connection to the swing assembly 24, and this connection end is used for rotatably connecting to the second joint 212. The screw for connecting the two joint bodies of the second joint 212 is a set 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. Then, after the set screw sequentially passes through one joint body of the second joint 212, the connection end of the first joint 211, and the other joint body of the second joint 212, the nut is threadedly connected to the end of the set screw to realize the connection of the two joint bodies of the second joint 212 and the rotational connection of the second joint body and the first joint 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 will not be described in detail here.

[0095] It should be noted that when connecting the first joint 211 and the first connection portion 2431 of the swing assembly 24 through a set screw, and when connecting adjacent joints through a set screw, a bushing can also be sleeved outside the set screw. The bushing can play a protective role and is beneficial to the lubrication when the set screw rotates.

[0096] It is worth mentioning that Figure 10Taking the perspective shown as an example, limiting structures are provided at the connection positions of the first joint 211 and the second joint 212, and the connection positions of the second joint 212 and the third joint 213. The limiting structures are 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 towards 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. However, it is only necessary for the joint assembly 21 to straighten, and there is no need to bend counterclockwise. Therefore, by providing limiting structures at the connection positions of the first joint 211 and the second joint 212 and the connection positions of the second joint 212 and the third joint 213, the rotation angles 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 only needs to tend to straighten, avoiding excessive bending of the joint assembly 21 in the direction away from the palm 11. The limiting structures 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 means of mutual abutment.

[0097] In some realizable ways, there is also a linkage effect among the first joint 211, the second joint 212, and the third joint 213 of the present application, that is, when driving the first joint 211 to rotate relative to the swing assembly 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 inside the first joint 211. One end of the first connecting rod 214 is rotatably connected to the swing assembly 24, specifically to the first connecting portion 2431 of the swing assembly 24. 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 inside the second joint 212, and the other end of the first connecting rod 214 is rotatably connected to the second connecting boss 2121 inside the second joint 212.

[0099] When the first joint 211 rotates towards the palm 11 relative to the swinging body 243, the swinging body 243 remains stationary. The position where the first link 214 is connected to the first connecting portion 2431 is fixed relative to the position of the swinging body 243. However, both the second joint 212 and the third joint 213 rotate with the first joint 211. During the rotation of the second joint 212, it will drive the first link 214 to move. At this time, the first link 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 towards the palm 11.

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

[0101] See Figure 10As shown, in some embodiments, a third elastic member 215 is disposed within 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 protrudes in the first joint 211, and a third connection boss 2131 protrudes in the third joint 213. Two ends of the third elastic member 215 are respectively fixedly connected to the first connection boss 2111 and the third connection boss 2131.

[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 in a straightened state, along the second direction, the height of the connection position between the third elastic member 215 and the first joint 211 is higher than or equal to the height of the rotation axis of the second joint 212 and the first joint 211, and the position where the third elastic member 215 is connected to the third joint 213 is lower than the height of the rotation axis of the third joint 213 and the second joint 212. Thus, when the second joint 212 rotates towards the palm 11, the connection position between the third elastic member 215 and the first joint 211 can pull the third joint 213, causing the third joint 213 to rotate relative to the second joint 212, and the third joint 213 rotates towards the palm 11 direction.

[0103] It should be noted that the heights in the above-mentioned second direction are all described Figure 10 from the perspective of

[0104] By providing the first link 214 and the third elastic member 215, when the first joint 211 rotates towards the palm 11, the second joint 212 can be driven to rotate relative to the first joint 211 through the first link 214, 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 and enabling the entire joint assembly 21 to simulate the bending of a human finger.

[0105] In some realizable ways, torsion springs 216 are also connected to the shaft positions of the second joint 212 and the third joint 213. The shafts of the second joint 212 and the third joint 213 pass through the center of torsion of the torsion spring 216. The two ends of the torsion spring 216 respectively abut against the second joint 212 and the third joint 213. The two end portions of the torsion spring 216 can directly abut against the inner walls of the second joint 212 and the third joint 213, or abutting portions can be respectively arranged in the second joint 212 and the third joint 213, and the two ends of the torsion spring 216 can respectively abut against the abutting portion of the second joint 212 and the abutting portion in the third joint 213. The torsion spring 216 is adapted to resist the elastic force of the third elastic member 215. More specifically, the torsion spring 216 can provide a torsional force for the relative rotation of the second joint 212 and the third joint 213, and this torsional force can force the third joint 213 to have a tendency to rotate away from the palm 11 relative to the second joint 212, that is, when the joint assembly 21 is in the straight state as shown in Figure 10 When shown, the torsional force of the torsion spring 216 can make the third joint 213 have a tendency to rotate clockwise relative to the second joint 212. Only at this time, the clockwise rotation of the third joint 213 relative to the second joint 212 is restricted by the limiting structure between the two, and is also restricted by the third elastic member 215 at the same time.

[0106] See Figures 10 to 12 As shown, when the first joint 211 rotates counterclockwise towards the palm 11, it can drive the second joint 212 and the third joint 213 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 rotate against the torsional force of the torsion spring 216, so that the joint assembly 21 changes from the straight state shown in Figure 10 When shown to Figure 11 When shown to the bent state. When the third joint 213 contacts an object or receives a force in the opposite direction of the rotation direction, the third joint 213 can rotate clockwise relative to the second joint 212, so that the joint assembly 21 changes from the bent state shown in Figure 11 When shown to Figure 12 When shown to the bent state. When the external force is removed or the object abutting against the third joint 213 is separated, under the action of the third elastic member 215, the third joint 213 still rotates counterclockwise relative to the second joint 212 to the original rotation position. At this time, the joint assembly 21 changes from the bent state shown in Figure 12 When shown to Figure 11 When shown to the bent state.

[0107] Therefore, by providing the torsion spring 216, the torsion spring 216 can apply a torsional force between the third joint 213 and the second joint 212. This 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 are in a straight state in the free state. When the second joint 212 rotates to pull 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. Thus, it can drive the third joint 213 to rotate relative to the second joint 212, so that the third joint 213 can have a better adaptive function.

[0108] See Figure 13 and Figure 14 As shown, in some implementable ways, the dexterous hand further includes a thumb structure 30. The thumb structure 30 is mounted on the palm structure 10. The thumb structure 30 includes a mounting base 31, a first phalanx 35, and a second phalanx 36. Two ends of the first phalanx 35 are respectively rotatably connected to the mounting base 31 and the second phalanx 36. The mounting base 31, the first phalanx 35, and the second phalanx 36 are integrated into a whole, which is beneficial to the modular setting of the thumb structure 30. And the mounting base 31 can be connected to the palm structure 10, so that the thumb structure 30 can be easily detached and installed on the palm structure 10 alone.

[0109] In one embodiment, the thumb structure 30 includes a second driving component 32 and a rotating member 34. The first phalanx 35 is connected to the rotating member 34. The rotating member 34 is rotatably connected to the mounting base 31, so that the first phalanx 35 can rotate relative to the mounting base 31. It should be noted here that the axis between the rotating member 34 and the mounting base 31 is perpendicular to the axis between the first phalanx 35 and the second phalanx 36. Thus, two-direction rotation of the thumb structure 30 can be realized, that is, the bending rotation between the phalanges, and the flipping movement of the first phalanx 35 and the second phalanx 36 relative to the mounting base 31 along with the rotating member 34. The second driving component 32 of the present application is adapted to drive the rotating member 34 to rotate relative to the mounting base 31, that is, the second driving component 32 is adapted to drive the flipping movement of the first phalanx 35 and the second phalanx 36.

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

[0111] Both the first body 311 and the second body 312 are of a housing structure. When the first body 311 and the second body 312 are connected, an accommodation space is formed between them. Part of the structure of the second driving assembly 32 can be located in this accommodation space, and part of the structure of the rotating member 34 can also be located in this accommodation space.

[0112] The rotating member 34 and the mounting seat 31 can be connected by a set screw. One end of the first body 311 and the second body 312 for connecting to the rotating member 34 is penetrated with a round hole. One end of the rotating member 34 for connecting to the mounting seat 31 is provided with a first rotating hole 342. The end of the rotating member 34 with the first rotating hole 342 is arranged in the accommodation space, so that the first rotating hole 342 of the rotating member 34 is arranged opposite to the round holes on the first body 311 and the second body 312. At this time, the set screw is penetrated into the round holes of the first body 311, the second body 312, and the first rotating hole 342 of the rotating member 34, and then connected to the end of the set screw by a nut. This can not only clamp the first body 311 and the second body 312 to make the connection between the first body 311 and the second body 312 more stable, but also rotatably connect the rotating member 34 to the mounting seat 31.

[0113] It is worth mentioning that a bearing can also be arranged in the first rotating hole 342, and the smooth shaft of the set screw can be penetrated into the bearing. Or a bushing can be arranged in the first rotating hole 342, and the smooth shaft of the set screw can be penetrated into the bushing, which can play a lubricating role and is beneficial to reducing the resistance when the rotating member 34 rotates relative to the mounting seat 31.

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

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

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

[0117] With the above settings, the second driving member 321 can drive the second driving lead screw 322 to rotate. When the second driving lead screw 322 rotates, the second sliding member 323 rotates relative to the second driving lead screw 322, and the second sliding member 323 is connected to the sliding groove 3111 and the rotating through hole 341 through the connecting bump 3231. Thus, the second sliding member 323 will not rotate 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 lead screw 322. Also, because the sliding groove 3111 is an arc groove, the sliding groove 3111 can limit the movement 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 process of the second sliding member 323 moving along the opening path of the sliding groove 3111, the second driving member 321 rotates relative to the mounting seat 31, and the connecting bump 3231 connected to the rotating member 34 also moves along the opening path of the sliding groove 3111. Therefore, it can drive the rotating member 34 to rotate relative to the mounting seat 31.

[0118] In some embodiments, the fixing component 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 snap connection structure, a buckle connection structure or a screw connection. In this application, the first fixing member 331 and the second fixing member 332 are connected together by screws. One end of the first fixing member 331 for connecting with the second fixing member 332 is provided with a recess, and one end of the second fixing member 332 for connecting with the first fixing member 331 is provided with a recess. When the first fixing member 331 and the second fixing member 332 are connected, the recesses therebetween communicate with each other and form an accommodating space. The second driving member 321 can be inserted into the accommodating space near the end connected to the second driving screw rod 322. 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, so that the position of the second driving member 321 relative to the first fixing member 331 and the second fixing member 332 is fixed.

[0119] The fixing component 33 further includes a fixing bearing 333 and a clamping member 334. The second fixing member 332 is provided with a groove 3322 at a position near the connection position of the second driving screw rod 322 and the second driving member 321. The fixing bearing 333 is connected in the groove 3322. By connecting the first fixing member 331 and the second fixing member 332, the fixing bearing 333 can be pressed in the groove 3322. The position where the output ends of the second driving screw rod 322 and the second driving member 321 are connected is a smooth rod structure. The clamping member 334 is sleeved on the smooth rod structure, and then the inner ring of the fixing bearing 333 is sleeved outside the clamping member 334. In this way, 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 the second fixing member 332 is further provided with a connecting protrusion 3321. 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 respectively convexly provided on both sides of the second fixing member 332 facing the first seat body 311 and the second seat body 312. The second fixing member 332 is rotatably connected to the first seat body 311 and the second seat body 312 respectively 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 the bushing is rotatably connected to the first seat body 311 and the second seat body 312.

[0121] See Figure 13 and Figure 16As shown, in some implementable ways, the thumb structure 30 further includes a second link 37 and a third driving component 38. The cooperation of the second link 37 and the third driving component 38 can drive the first finger joint 35 and the second finger joint 36 to rotate. Specifically, at the end of the rotating member 34 away from the first rotating hole 342, there is further provided a second rotating hole 343. One end of the first finger joint 35 can be rotatably connected to the second rotating hole 343 of the rotating member 34 through the cooperation of a screw and a nut. The axis of rotation of the first finger joint 35 and the rotating member 34 is perpendicular to the axis of rotation of the rotating member 34 and the mounting base 31, and the axis of rotation of the first finger joint 35 and the rotating member 34 is parallel to the axis of rotation of the first finger joint 35 and the second finger joint 36.

[0122] One end of the second link 37 is rotatably connected to the second finger joint 36. At the end of the rotating member 34 away from the first rotating hole 342, there is provided a rotating shaft 344. The rotating shaft 344 extends along the direction of the axis of rotation of the rotating member 34 and the first finger joint 35. The other end of the second link 37 is rotatably connected to the rotating shaft 344 on the rotating member 34. The axis of rotation of the second link 37 and the second finger joint 36 and the axis of rotation of the second link 37 and the rotating shaft 344 are both parallel to the axis of rotation between the rotating member 34 and the first finger joint 35, and also parallel to the axis of rotation between the first finger joint 35 and the second finger joint 36.

[0123] The third driving component 38 is rotatably connected to the first finger joint 35. A part of the structure of the third driving component 38 is in transmission connection with the second link 37 to drive the first finger joint 35 and the second finger joint 36 to rotate through the second link 37.

[0124] It is worth mentioning that the way the third driving component 38 is rotatably connected to the first finger joint 35 is similar to the way the second driving component 32 is rotatably connected to the mounting base 31. Both use a structure similar to the fixing component 33 for connection. Outside the third driving component 38 of the present application, there is a structure similar to the fixing component 33, and a structure similar to the connecting protrusion 3321 also protrudes from the outer wall of this structure. The third driving component 38 is rotatably connected to the first finger joint 35 through this structure. For more details, refer to the description of the fixing component 33 and the connection between the fixing component 33 and the second driving component 32 in the above text, and no further elaboration will be made here.

[0125] The third driving assembly 38 includes a third driving member 381, a third driving lead screw 382, and a third sliding member 383. The third driving member 381 is a driving motor. The third driving lead screw 382 is connected to the output end of the third driving member 381. The third driving member 381 is configured to drive the third driving lead screw 382 to rotate. The third sliding member 383 has a threaded hole and is threadedly connected to the third driving lead screw 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 provided at 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. Alternatively, a protruding structure is provided on the peripheral wall of the third sliding member 383 along a direction perpendicular to the axis of rotation of the third driving lead screw 382, and the protruding structure is inserted into the end of the second connecting rod 37 to achieve the rotational connection between the second connecting rod 37 and the third sliding member 383. It should be noted that the connection position between the second connecting rod 37 and the third sliding member 383 is also rotatably connected to the second finger joint 36. Specifically, a convex block can be provided at the position where the second connecting rod 37 is used to connect to the third sliding member 383, and a hole structure is provided at the position where the second finger joint 36 is close to its rotational connection with the first finger joint 35. By inserting the convex block into the hole structure, the rotational connection between the second connecting rod 37 and the second finger joint 36 can be achieved.

[0126] It should be noted that, assuming that the line connecting the connection center of the first finger joint 35 and the second finger joint 36 and the connection center of the first finger joint 35 and the rotating member 34 is L, and the line connecting the connection center of the second connecting rod 37 and the second finger joint 36 and the connection center of the second connecting rod 37 and the rotating member 34 is H, the middle parts of the line L and the line H intersect, forming an angle therebetween, and the angle is an acute angle. That is to say, the connection position between the second connecting rod 37 and the second finger joint 36 and the connection position between the second connecting rod 37 and the rotating member 34 are respectively located on both sides of the line L, and the connection center of the second connecting rod 37 and the second finger joint 36 is located on the side relatively far from the end face of the second finger joint 36 for contacting the article, and the connection center of the second connecting rod 37 and the rotating member 34 is relatively close to the end face of the first finger joint 35 for contacting the article.

[0127] When the third driving component 38 drives the third driving lead screw 382 to rotate in this way, 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 lead screw 382. At this time, 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 performs a rotational movement relative to the rotating member 34. A connecting rod structure is formed among 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 also 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, multiple second connecting rods 37 may be further provided. For example, in this application, two second connecting rods 37 are provided. The two second connecting rods 37 are spaced apart along the axial direction of the rotating shaft rotatably connected 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 ends of the two second connecting rods 37 are rotatably connected to the rotating member 34, and the other ends are rotatably connected to the third sliding member 383. 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] Combined Figure 2 and Figure 17 As shown, in some embodiments, this 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 further includes a control component 15. The control component 15 includes a control board 151 and a communication interface 152 provided on the control board 151. Communication connectors for connecting to the control board 151 are provided on the first driving member 221, the second driving member 321, and the third driving member 381. By connecting to the control board 151 through the communication connectors, the first driving member 221, the second driving member 321, and the third driving member 381 can be signal-connected to the control board 151, and the control board 151 communicates with external communication devices through the communication interface 152.

[0130] The control component 15 of this application is installed on the palm center 11 or the back of the hand 12. For example, in the embodiment of this application, a fixing member 111 protrudes from the palm center 11. A threaded hole is provided on the fixing member 111. Screws can be passed through the control board 151, and the screws can be screwed into the threaded hole on the fixing member 111, thereby fixedly connecting the control board 151 to the palm center 11.

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

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

[0133] Those skilled in the art will readily conceive of other implementations of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common knowledge or conventional technical means in the technical field not disclosed in the present application.

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

Claims

1. A dexterous hand, characterized in that, Comprising: A palm structure; And A gripping finger structure, the gripping finger structure including a joint assembly, a first driving assembly, a swinging assembly, a fixing bracket and an auxiliary assembly, the fixing bracket being connected to the palm structure; The swinging assembly is rotatably connected to the palm structure, the swinging assembly and the fixing bracket are elastically connected, the joint assembly is rotatably connected to the swinging assembly, and the rotation axes of the swinging assembly and the joint assembly are perpendicular; The auxiliary assembly is arranged to be elastically telescopic. Along 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 is connected to the first driving assembly through a universal structure, the first driving assembly is connected to the fixing bracket, and the first driving assembly is adapted to drive the joint assembly to rotate relative to the swinging assembly by driving the auxiliary assembly to move.

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

3. The dexterous hand according to claim 2, characterized in that, The first connection assembly includes a first ball head and a connecting rod, the connecting rod protrudes from the first ball head, the connecting rod is adapted to be rotatably connected to the joint assembly, a first connection hole is provided at one end of the sleeve away from the pin rod, and the first ball head is connected to the first connection hole; The second connection assembly includes a second ball head and a connecting shaft, a second connection hole is provided at one end of the pin rod away from the sleeve, the second ball head is connected to the second connection hole, the connecting shaft is connected to the second ball head, and the connecting shaft is adapted to be rotatably connected to the first driving assembly.

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

5. The dexterous hand according to any one of claims 1-4, characterized in that, Along the direction perpendicular to the rotation axis of the swinging assembly, one end of the swinging assembly is provided with a first connection portion, and the other end is provided with a second connection portion. The first connection portion is rotatably connected to the joint assembly, and the second connection portion is elastically connected to the fixing bracket.

6. The dexterous hand according to any one of claims 1-4, characterized in that, The first driving assembly includes a first driving member, a first driving lead screw and a first sliding member. The first driving member is connected to the fixing bracket, the first driving lead screw is connected to the output end of the first driving member, the first sliding member has a threaded hole, the first sliding member is screwed to the first driving lead screw through the threaded hole, the first sliding member is movably connected to the fixing bracket, and one end of the auxiliary assembly is connected to the first sliding member.

7. The dexterous hand according to any one of claims 1-4, characterized in that, The joint assembly includes a first joint, a second joint, and a third joint arranged in sequence. Two ends of the second joint are respectively rotatably connected to the first joint and the third joint. The first joint is rotatably connected to the swing assembly. A first connecting rod is further arranged inside 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 arranged inside 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, A torsion spring is further connected to the rotation axes of the second joint and the third joint. Two ends of the torsion spring respectively abut against the second joint and the third joint. The torsion spring is adapted to resist the elastic force of the third elastic member.

10. A humanoid robot, characterized in that, It includes a robot body and a dexterous hand as described in any one of claims 1-9.

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