Bionic five-fingered robot hand driven by connecting rod

Abstract

This invention relates to the field of biomimetic robotics, specifically to a linkage-driven biomimetic five-fingered robotic hand, comprising: a five-finger assembly and a palm assembly. The five-finger assembly includes a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly, and a little finger assembly. The palm assembly includes a base, a bending drive assembly, and a connecting drive assembly. The bending drive assembly is disposed on the base, and the connecting drive assembly is disposed on the bending drive assembly. This invention provides a linkage-driven biomimetic five-fingered robotic hand that reconstructs the palm design, forming a biomimetic five-link structure through the bending drive assembly and the connecting drive assembly. This allows for independent bending drive control of the five fingers according to biomimetic characteristics, improving stability. Furthermore, by expanding or contracting the bending drive mechanism, the relative positions of the four fingers can be adjusted, enabling the bending drive mechanism to drive the corresponding fingers to adaptively rotate.

Description

Technical Field

[0001] This invention relates to the field of bionic robot technology, and in particular to a linkage-driven bionic five-fingered robotic hand. Background Technology

[0002] Against the backdrop of the development of the low-altitude economy, robotics and drone technologies are rapidly advancing. The increasing complexity, versatility, and sophistication of mission requirements are driving research in the field of end effector structure and control. From a structural perspective, exploring the performance of various actuators with biomimetic features is an important direction. Humanoid structures, due to their flexibility and adaptability to interactive scenarios, have become a widely studied object in this area, such as applying robotic arms to drone harvesting. Correspondingly, at the control level, for the two typical functions of strong grasping and fine manipulation, compared to the former, continuous advancements in computer technology are leading to ongoing explorations in fine manipulation, constantly improving the versatility and flexibility of actuator functions.

[0003] Most humanoid robotic hands suffer from insufficient biomimetic features in their structural design, and the degree of freedom and drive characteristics vary greatly in complexity, making it difficult to imitate reliable hand operations. Summary of the Invention

[0004] The purpose of this invention is to provide a linkage-driven bionic five-fingered robotic hand to improve the problems existing in the prior art.

[0005] This invention is implemented as follows: a linkage-driven bionic five-finger robotic hand includes: a five-finger assembly and a palm assembly. The five-finger assembly includes a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly, and a little finger assembly. The palm assembly includes a base, a bending drive assembly, and a connecting drive assembly. The bending drive assembly is disposed on the base, and the connecting drive assembly is disposed on the bending drive assembly. The bending drive assembly is used to drive the bending movement of the corresponding fingers in the five-finger assembly. The connecting drive assembly drives the expansion or contraction of the palm assembly by expanding or contracting itself.

[0006] The bending drive assembly includes: a thumb bending drive mechanism, an index finger bending drive mechanism, a middle finger bending drive mechanism, a ring finger bending drive mechanism, and a little finger bending drive mechanism; the connection drive assembly includes: a first palm connection drive assembly, a second palm connection drive assembly, and a third palm connection drive assembly. The two ends of the first palm connection drive assembly are respectively connected to the index finger bending drive mechanism and the middle finger bending drive mechanism. The two ends of the second palm connection drive assembly are respectively connected to the middle finger bending drive mechanism and the ring finger bending drive mechanism. The two ends of the third palm connection drive assembly are respectively connected to the ring finger bending drive mechanism and the little finger bending drive mechanism.

[0007] More preferably, the base includes a base frame and a first power source, the first power source being built into the base frame, and the middle finger bending drive mechanism being connected to the base frame.

[0008] More preferably, the thumb bending drive mechanism includes a thumb rotation drive mechanism and a rotation auxiliary mechanism. The rotation auxiliary mechanism is rotatably connected to the base frame and connected to the first power source. The first power source drives the rotation auxiliary mechanism to rotate, thereby achieving the overall horizontal rotation of the entire thumb assembly and the thumb rotation drive mechanism. The end of the rotation auxiliary mechanism away from the first power source is rotatably connected to the thumb rotation drive mechanism.

[0009] More preferably, the thumb assembly includes a first thumb knuckle, a second thumb knuckle, and a thumb link. One end of the first thumb knuckle is rotatably connected to the thumb rotation drive mechanism, and the other end is rotatably connected to the second thumb knuckle. The thumb link is rotatably connected inside the second thumb knuckle, and the end of the thumb link away from the second thumb knuckle is rotatably connected to the thumb rotation drive mechanism. The thumb rotation drive mechanism has an external power source, which can drive the first thumb knuckle to rotate around the thumb rotation drive mechanism, and drive the thumb link to rotate, thereby causing the second thumb knuckle to bend. The rotation auxiliary mechanism is provided with a power source, which can drive the thumb assembly and the thumb rotation drive mechanism as a whole to bend around the rotation auxiliary mechanism in a vertical plane.

[0010] More preferably, the thumb rotation drive mechanism includes a frame, a second power source, and a connecting frame; the rotation auxiliary mechanism includes a mounting frame and a third power source; the mounting frame is rotatably connected to the base frame; the third power source is rotatably connected to the side of the mounting frame away from the base frame; the frame is rotatably connected to the mounting frame; the first thumb knuckle is rotatably connected to the end of the frame away from the mounting frame; the third power source is disposed inside the frame; the second power source is disposed outside the frame and is rotatably connected to the first thumb knuckle; the connecting frame is connected to the frame; and the connecting frame is rotatably connected to the end of the thumb connecting rod away from the second thumb knuckle.

[0011] More preferably, the index finger bending drive mechanism, the middle finger bending drive mechanism, the ring finger bending drive mechanism, and the little finger bending drive mechanism each include a housing, a rotating element, a light spring, a connecting element, and a fourth power source. The housing of the middle finger bending drive mechanism is fixedly connected to the base frame. The end of the housing away from the base frame is rotatably connected to the five-finger assembly. The rotating element, the light spring, the connecting element, and the fourth power source are all built into the housing. The end of the housing away from the base is rotatably connected to the five-finger assembly. The fourth power source is rotatably connected inside the housing and connected to the connecting element. One end of the light spring is connected to the connecting element, and the other end is connected to the rotating element. The end of the rotating element away from the light spring is rotatably connected to the five-finger assembly. The end of the rotating element away from the light spring is connected to the five-finger assembly. The fourth power source drives the light spring to extend through the connecting element, thereby driving the rotating element to move, and thus driving the rotation of the five-finger assembly.

[0012] More preferably, the index finger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly each include a first phalanx, a second phalanx, a third phalanx, a transmission rod, and a fifth power source. One end of the first phalanx is rotatably connected to the second phalanx, and the fingertip side and the back side of the other end of the first phalanx are rotatably connected to the adjacent rotating element and the outer shell, respectively. The end of the second phalanx away from the first phalanx is rotatably connected to the third phalanx. The third phalanx and the second phalanx are movably overlapped and the transmission rod is provided. The end of the transmission rod away from the third phalanx is rotatably connected to the first phalanx and movably connected to the second phalanx. The back side of the second phalanx near the first phalanx is rotatably connected to the fifth power source. The side of the fifth power source away from the second phalanx is rotatably connected to the adjacent outer shell. The driving of the fifth power source and the transmission of the transmission rod are coordinated to drive the second phalanx and the third phalanx to bend.

[0013] More preferably, the first palm connection drive assembly, the second palm connection drive assembly, and the third palm connection drive assembly each include a connecting pulley, a sixth power source, a first connecting rod, a second connecting rod, and a third connecting rod. One end of the connecting pulley is rotatably connected to the lower end of the sixth power source, and the other end of the connecting pulley overlaps with the lower end of the adjacent outer shell. One end of the first connecting rod is rotatably connected to the upper end of the sixth power source, and the other end overlaps with and is rotatably connected to the second connecting rod and the third connecting rod. The second connecting rod is rotatably connected to the adjacent outer shell, and the third connecting rod is rotatably connected to the adjacent outer shell. The sixth power source can drive the movement of the first connecting rod, thereby causing the second connecting rod and the third connecting rod to unfold or retract in the plane.

[0014] More preferably, the first power source, the second power source, the third power source, the fourth power source, the fifth power source and the sixth power source are all processed by a single drive element, which is an electric actuator motor.

[0015] Compared with existing technologies, the advantages of this invention are as follows: The bionic five-finger robotic hand provided by this invention reconstructs the palm design and forms a bionic five-link structure through bending drive components and connecting drive components. It can independently control the bending drive of the five fingers according to bionic characteristics and improve stability. In addition, by driving the bending drive mechanism to unfold or retract, the relative positions of the four fingers can be adjusted. By driving the thumb bending drive mechanism to unfold or retract, the relative position of the thumb component can be adjusted. Under the elastic force of the underactuated elastic component, the bending drive mechanism drives the corresponding fingers to rotate adaptively. That is, by using the underactuated elastic component, while ensuring the degree of freedom of the fingers, the interaction and passive adjustment between the fingers are increased, thereby enhancing the adaptability of the fingers to the surface of the contact object, as well as the adaptability and stability of the system during finger grasping and operation. Attached Figure Description

[0016] Figure 1 This is the front view of the present invention;

[0017] Figure 2 This is a schematic diagram of the main structure of the present invention;

[0018] Figure 3 This is a partial structural schematic diagram of the present invention;

[0019] Figure 4 This is a schematic diagram of the overall structure of the base of the present invention;

[0020] Figure 5 This is a schematic diagram of the overall structure of the thumb assembly of the present invention;

[0021] Figure 6 This is an exploded view of the thumb assembly of the present invention;

[0022] Figure 7 This is a schematic diagram of the thumb component structure of the present invention;

[0023] Figure 8 This is a cross-sectional structural diagram of the thumb rotation drive mechanism of the present invention;

[0024] Figure 9 This is a schematic diagram of the structure of the outer shell, rotating element, and light spring of the present invention;

[0025] Figure 10 This is a schematic diagram of the structure of components such as the transmission rod, rotating element, and housing of the present invention;

[0026] Figure 11 This is an exploded structural diagram of the transmission rod and housing components of the present invention;

[0027] Figure 12 This is an exploded structural diagram of the connection drive component of the present invention.

[0028] In the diagram: 100 - Five-finger assembly; 110 - Thumb assembly; 111 - First thumb knuckle; 112 - Second thumb knuckle; 113 - Thumb connecting rod; 120 - Index finger assembly; 121 - First knuckle; 122 - Second knuckle; 123 - Third knuckle; 124 - Transmission rod; 125 - Fifth power source; 130 - Middle finger assembly; 140 - Ring finger assembly; 150 - Little finger assembly; 200 - Palm assembly; 210 - Base; 211 - Base frame; 212 - First power source; 220 - Thumb bending drive mechanism; 221 - Thumb rotation drive mechanism; 2211 - Frame; 2212 - Second power source; 2213 - Connecting frame; 222-Rotation auxiliary mechanism; 2221-Mounting bracket; 2222-Third power source; 230-Index finger bending drive mechanism; 231-Housing shell; 232-Rotating element; 233-Light spring; 234-Connecting element; 235-Fourth power source; 240-Middle finger bending drive mechanism; 250-Ring finger bending drive mechanism; 260-Little finger bending drive mechanism; 270-First palm connection drive assembly; 280-Second palm connection drive assembly; 290-Third palm connection drive assembly; 291-Connecting pulley; 292-Sixth power source; 293-First connecting rod; 294-Second connecting rod; 295-Third connecting rod. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art. The terms "comprising" and similar expressions used herein mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, but does not exclude other elements or objects.

[0030] Example: This invention provides a linkage-driven bionic five-fingered robotic hand. Please refer to [linkage description]. Figures 1-3The assembly includes a five-finger component 100 and a palm component 200. The five-finger component 100 includes a thumb component 110, an index finger component 120, a middle finger component 130, a ring finger component 140, and a little finger component 150. The palm component 200 includes a base 210, a bending drive component, and a connecting drive component. The bending drive component is mounted on the base 210, and the connecting drive component is mounted on the bending drive component. The bending drive component drives the bending movement of the corresponding fingers in the five-finger component 100. The connecting drive component drives the opening or closing of the palm component 200 by opening or closing itself. The bending drive component includes a thumb bending drive mechanism 220 and an index finger bending drive mechanism. 230, middle finger bending drive mechanism 240, ring finger bending drive mechanism 250, little finger bending drive mechanism 260; the connecting drive assembly includes: a first palm connecting drive assembly 270, a second palm connecting drive assembly 280, and a third palm connecting drive assembly 290. The two ends of the first palm connecting drive assembly 270 are respectively connected to the index finger bending drive mechanism 230 and the middle finger bending drive mechanism 240. The two ends of the second palm connecting drive assembly 280 are respectively connected to the middle finger bending drive mechanism 240 and the ring finger bending drive mechanism 250. The two ends of the third palm connecting drive assembly 290 are respectively connected to the ring finger bending drive mechanism 250 and the little finger bending drive mechanism 260.

[0031] In one embodiment, please refer to Figures 4-5 The base 210 includes a base frame 211 and a first power source 212. The first power source 212 is built into the base frame 211. The middle finger bending drive mechanism 240 is connected to the base frame 211. The thumb bending drive mechanism 220 includes a thumb rotation drive mechanism 221 and a rotation auxiliary mechanism 222. The rotation auxiliary mechanism 222 is connected to the first power source 212. The first power source 212 drives the rotation auxiliary mechanism 222 to rotate, thereby achieving the bending of the entire thumb assembly 110. The end of the rotation auxiliary mechanism 222 away from the first power source 212 is rotatably connected to the thumb rotation drive mechanism 221.

[0032] In one embodiment, please refer to Figures 6-7The thumb assembly 110 includes a first thumb knuckle 111, a second thumb knuckle 112, and a thumb link 113. One end of the first thumb knuckle 111 is rotatably connected to the thumb rotation drive mechanism 221, and the other end is rotatably connected to the second thumb knuckle 112. The thumb link 113 is rotatably connected inside the second thumb knuckle 112, and the end of the thumb link 113 away from the second thumb knuckle 112 is rotatably connected to the thumb rotation drive mechanism 221. The thumb rotation drive mechanism 221 has an external power source, which can drive the first thumb knuckle 111 to rotate around the thumb rotation drive mechanism 221, and drive the thumb link 113 to rotate, thereby bending the second thumb knuckle 112. The rotation auxiliary mechanism 222 is provided with a power source, which can drive the thumb assembly 110 to bend around the rotation auxiliary mechanism 222 in the vertical plane.

[0033] In one embodiment, please refer to Figures 6-8 The thumb rotation drive mechanism 221 includes a frame 2211, a second power source 2212, and a connecting frame 2213. The rotation auxiliary mechanism 222 includes a mounting frame 2221 and a third power source 2222. The mounting frame 2221 is rotatably connected to the base frame 211. The third power source 2222 is rotatably connected to the side of the mounting frame 2221 away from the base frame 211. The frame 2211 is rotatably connected to the mounting frame 2221. The first thumb knuckle 111 is rotatably connected to the end of the frame 2211 away from the mounting frame 2221. The third power source 2222 is disposed inside the frame 2211. When the third power source 2222 is activated, it will drive the frame 2211 and the third power source 2213. 22 rotate together to realize the rotation of the frame 2211. The second power source 2212 is located outside the frame 2211 and is rotatably connected to the first thumb joint 111. The connecting frame 2213 is connected to the frame 2211 and is rotatably connected to the end of the thumb link 113 away from the second thumb joint 112. The first thumb joint 111 has a groove on the side near the connecting frame 2213. The connection between the thumb link 113 and the connecting frame 2213 is located in the groove. In fact, the first thumb joint 111 rotates around the end point connected to the frame 2211 as the center. The position of the groove is consistent with the rotation path of the first thumb joint 111.

[0034] In one embodiment, please refer to Figures 9-10The index finger bending drive mechanism 230, middle finger bending drive mechanism 240, ring finger bending drive mechanism 250, and little finger bending drive mechanism 260 all include a housing 231, a rotating element 232, a light spring 233, a connecting element 234, and a fourth power source 235. The housing 231 of the middle finger bending drive mechanism 240 is fixedly connected to the base frame 211 to fix the entire robot. The rotating element 232, light spring 233, connecting element 234, and fourth power source 235 are all built into the housing 231. The fourth power source 235 is rotatably connected inside the housing 231. The extension and retraction of the fourth power source 235... The lower end of the light spring 233 is connected to the connecting element 234, and the upper end is connected to the rotating element 232. The fourth power source 235 drives the light spring 233 to extend through the connecting element 234, thereby driving the rotating element 232 to move. The light spring 233 provides a certain buffering effect when the entire palm assembly 200 moves, avoiding damage to the palm assembly 200. The connecting element 234 can fix the position of the light spring 233, avoiding the situation where the spring direction changes due to the direct connection between the light spring 233 and the fourth power source 235, resulting in unexpected force and other interference.

[0035] In one embodiment, please refer to Figures 10-11 The index finger assembly 120, middle finger assembly 130, ring finger assembly 140, and little finger assembly 150 each include a first phalanx 121, a second phalanx 122, a third phalanx 123, a transmission rod 124, and a fifth power source 125. The upper end of the first phalanx 121 is rotatably connected to the second phalanx 122, and the fingertip and back sides of the lower end of the first phalanx 121 are rotatably connected to the adjacent rotating element 232 and the outer shell 231, respectively. The upper end of the second phalanx 122 is rotatably connected to the third phalanx 123, and the transmission rod 124 is rotatably connected to the third phalanx 123. A short groove is provided at the upper end of the second phalanx 122, and the transmission rod 124 moves within the short groove. The lower end of the rod 124 is rotatably connected to the first phalanx 121. The lower end of the second phalanx 122 has an arc-shaped groove. The lower end of the transmission rod 124 moves within the arc-shaped groove. The back of the second phalanx 122 near the first phalanx 121 is rotatably connected to the fifth power source 125. The side of the fifth power source 125 away from the second phalanx 122 is rotatably connected to the adjacent outer shell 231 and is on the same straight line as the connection between the first phalanx 121 and the outer shell 231. The drive of the fifth power source 125 and the transmission of the transmission rod 124 work together to drive the first phalanx 121, the second phalanx 122 and the third phalanx 123 to bend, thereby achieving the bending of the entire finger.

[0036] In one embodiment, please refer to Figure 12The first hand-connecting drive assembly 270, the second hand-connecting drive assembly 280, and the third hand-connecting drive assembly 290 each include a connecting pulley 291, a sixth power source 292, a first connecting rod 293, a second connecting rod 294, and a third connecting rod 295. The rear end of the connecting pulley 291 is rotatably connected to the lower end of the sixth power source 292, and the front end of the connecting pulley 291 is overlapped and rotatably connected to the lower end of the adjacent housing 231. The lower end of the first connecting rod 293 is connected to the sixth power source 292. The upper end is rotatably connected, overlapping and rotatably connected with the second connecting rod 294 and the third connecting rod 295. The left end of the second connecting rod 294 is rotatably connected with the adjacent outer shell 231, and the right end of the third connecting rod 295 is rotatably connected with the adjacent outer shell 231. The sixth power source 292 can drive the movement of the first connecting rod 293, thereby causing the second connecting rod 294 and the third connecting rod 295 to unfold or retract in the plane, so that the palm can open as much as possible during the grasping process, achieving a better grasping action.

[0037] In one embodiment, the first power source 212, the second power source 2212, the third power source 2222, the fourth power source 235, the fifth power source 125 and the sixth power source 292 are all processed by a single drive element, which is an electric actuator motor, thus achieving motor unification and making the robot arm easier to operate and drive.

[0038] While embodiments of the present invention have been described in detail above, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations fall within the scope and spirit of the invention as defined in the claims. Furthermore, the invention described herein may have other embodiments and can be implemented or carried out in various ways.

Claims

1. A linkage-driven bionic five-fingered robotic hand, characterized in that, include: The five-finger assembly (100) and the palm assembly (200) are provided. The five-finger assembly (100) includes a thumb assembly (110), an index finger assembly (120), a middle finger assembly (130), a ring finger assembly (140), and a little finger assembly (150). The palm assembly (200) includes a base (210), a bending drive assembly, and a connecting drive assembly. The base (210) is provided with a horizontally bending drive assembly. The bending drive assembly is provided on the base (210). The connecting drive assembly is provided between the bending drive assemblies. The bending drive assembly is used to drive the bending activity of the corresponding fingers in the five-finger assembly (100). The connecting drive assembly drives the opening or closing behavior of the palm assembly (200) by opening or closing itself. The bending drive assembly includes: a thumb bending drive mechanism (220), an index finger bending drive mechanism (230), a middle finger bending drive mechanism (240), a ring finger bending drive mechanism (250), and a little finger bending drive mechanism (260); the connection drive assembly includes: a first palm connection drive assembly (270), a second palm connection drive assembly (280), and a third palm connection drive assembly (290). The first palm connection drive assembly (270) is connected at both ends to the index finger bending drive mechanism (230) and the middle finger bending drive mechanism (240), respectively. The second palm connection drive assembly (280) is connected at both ends to the middle finger bending drive mechanism (240) and the ring finger bending drive mechanism, respectively. The third hand connection drive assembly (290) is connected to the ring finger bending drive mechanism (250) and the little finger bending drive mechanism (260) at both ends respectively; the base (210) includes a base frame (211) and a first power source (212), the first power source (212) is built into the base frame (211), and the middle finger bending drive mechanism (240) is connected to the base frame (211); the thumb bending drive mechanism (220) includes a thumb rotation drive mechanism (221) and a rotation auxiliary mechanism (222), the rotation auxiliary mechanism (222) is rotatably connected to the base frame (211) and connected to the first power source (212), and through the first The power source (212) drives the rotation auxiliary mechanism (222) to rotate, thereby realizing the horizontal rotation of the thumb bending drive mechanism (220). The end of the rotation auxiliary mechanism (222) away from the first power source (212) is rotatably connected to the thumb rotation drive mechanism (221). The thumb assembly (110) includes a first thumb knuckle (111), a second thumb knuckle (112), and a thumb link (113). One end of the first thumb knuckle (111) is rotatably connected to the thumb rotation drive mechanism (221), and the other end is rotatably connected to the second thumb knuckle (112). The thumb link (113) is rotatably connected inside the second thumb knuckle (112). One end of the thumb link (113) is rotatably connected to the second thumb knuckle (112), and the other end away from the second thumb knuckle (112) is rotatably connected to the thumb rotation drive mechanism (221). The thumb rotation drive mechanism (221) has an external power source, which can drive the first thumb knuckle (111) to rotate around the thumb rotation drive mechanism (221), and by driving the thumb link (113) to rotate, the second thumb knuckle (112) is bent. The rotation auxiliary mechanism (222) is provided with a power source, which can drive the thumb assembly (110) and the thumb rotation drive mechanism (221) as a whole to bend around the rotation auxiliary mechanism (222) in the vertical plane. The thumb rotation drive mechanism (221) includes a frame (2211), a second power source (2212), and a connecting frame (2213). The rotation auxiliary mechanism (222) includes a mounting frame (2221) and a third power source (2222). The mounting frame (2221) is rotatably connected to the base frame (211). The third power source (2222) is rotatably connected to the side of the mounting frame (2221) away from the base frame (211). The frame (2211) is rotatably connected to the mounting frame (2221). The first thumb knuckle (111) The third power source (2222) is located inside the frame (2211), the second power source (2212) is located outside the frame (2211), and the second power source (2212) is rotatably connected to the first thumb joint (111). The connecting frame (2213) is connected to the frame (2211), and the connecting frame (2213) is rotatably connected to the end of the thumb link (113) away from the second thumb joint (112). The index finger bending drive mechanism (230), the middle finger bending drive mechanism (240), the ring finger bending drive mechanism (250), and the little finger bending drive mechanism (260) each include a housing (231), a rotating element (232), a light spring (233), a connecting element (234), and a fourth power source (235). The housing (231) of the middle finger bending drive mechanism (240) is fixedly connected to the base frame (211), and the end of the housing (231) away from the base frame (211) is rotatably connected to the five-finger assembly (100). The rotating element (232), the light spring (233), the connecting element (234), and the fourth power source (235) are all included. All power sources (235) are built into the outer shell (231). The fourth power source (235) is rotatably connected inside the outer shell (231). The fourth power source (235) is connected to the connecting element (234). One end of the light spring (233) is connected to the connecting element (234), and the other end is connected to the rotating element (232). The end of the rotating element (232) away from the light spring (233) is rotatably connected to the five-finger assembly (100). The fourth power source (235) drives the light spring (233) to extend through the connecting element (234), thereby driving the rotating element (232) to move, and thus driving the five-finger assembly (100) to rotate. The first palm connection drive assembly (270), the second palm connection drive assembly (280), and the third palm connection drive assembly (290) each include a connecting pulley (291), a sixth power source (292), a first connecting rod (293), a second connecting rod (294), and a third connecting rod (295). One end of the connecting pulley (291) is rotatably connected to the lower end of the sixth power source (292), and the other end of the connecting pulley (291) overlaps with the lower end of the adjacent outer shell (231). The first connecting rod (293) One end of the first connecting rod (293) is rotatably connected to the upper end of the sixth power source (292), and the other end is overlapped and rotatably connected to the second connecting rod (294) and the third connecting rod (295). The second connecting rod (294) is rotatably connected to the adjacent outer shell (231), and the third connecting rod (295) is rotatably connected to the adjacent outer shell (231). The sixth power source (292) can drive the movement of the first connecting rod (293), thereby causing the second connecting rod (294) and the third connecting rod (295) to unfold or retract in the plane.

2. The linkage-driven bionic five-fingered robotic hand according to claim 1, characterized in that, The index finger assembly (120), the middle finger assembly (130), the ring finger assembly (140), and the little finger assembly (150) each include a first phalanx (121), a second phalanx (122), a third phalanx (123), a transmission rod (124), and a fifth power source (125). One end of the first phalanx (121) is rotatably connected to the second phalanx (122), and the fingertip side and the back side of the other end of the first phalanx (121) are rotatably connected to the adjacent rotating element (232) and the outer shell (231), respectively. The end of the second phalanx (122) away from the first phalanx (121) is rotatably connected to the third phalanx (123), and the third phalanx (123) is connected to the... The second phalanx (122) is movably coupled to and provided with the transmission rod (124). The end of the transmission rod (124) away from the third phalanx (123) is rotatably connected to the first phalanx (121) and movably connected to the second phalanx (122). The back of the second phalanx (122) near the first phalanx (121) is rotatably connected to the fifth power source (125). The side of the fifth power source (125) away from the second phalanx (122) is rotatably connected to the adjacent outer shell (231). The driving of the fifth power source (125) and the transmission of the transmission rod (124) are coordinated to drive the second phalanx (122) and the third phalanx (123) to bend.

3. The linkage-driven bionic five-fingered robotic hand according to claim 2, characterized in that, The first power source (212), the second power source (2212), the third power source (2222), the fourth power source (235), the fifth power source (125) and the sixth power source (292) all adopt a single drive element and are all electric actuator motors.

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