Human-simulated five-finger dexterous hand based on space connecting rod and planetary gear train

Abstract

The invention relates to the technical field of robots, in particular to a humanoid five-finger dexterous hand based on space connecting rods and planetary gear trains, which comprises a palm, a thumb and four fingers, four groups of space connecting rod mechanisms are arranged on the palm and are correspondingly in driving connection with the four fingers, and the freedom degree of bending and side swaying of the fingers is realized; a transversely-arranged miniature electric cylinder is installed at the bottom of the palm, and the miniature electric cylinder drives the thumb to achieve the freedom degree of palm swing through a gear and rack assembly. According to the humanoid five-finger dexterous hand, a space connecting rod mechanism and a planetary gear train mechanism are introduced, and the humanoid five-finger dexterous hand has the advantages of being high in degree of freedom, small in size, reasonable in structural design, high in coupling precision and stable in coupling force.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a humanoid five-fingered dexterous hand based on a spatial connecting rod and a planetary gear system. Background Art

[0002] In the process of robot interaction with the outside world, dexterous actuators are needed to achieve operational goals. In the currently highly-anticipated research on robot grasping and embodied intelligent robots, the humanoid five-fingered dexterous hand is an indispensable actuator, which plays the role of robot interaction with the outside world.

[0003] The human hand, as an essential component of the human body, undertakes most tasks related to human interaction with the outside world. Robotic five-fingered hands that mimic the structure and function of the human hand have become an important option for dexterous robotic manipulation. Some current robotic five-fingered hands have limited degrees of freedom, with four fingers possessing only bending freedom, while the thumb possesses bending and lateral freedom. These hands rely solely on the lateral freedom of the thumb for manipulation beyond grasping, resulting in low dexterity and an inability to meet complex manipulation requirements. Robotic five-fingered hands with higher degrees of freedom, however, integrate bending and lateral freedom at the base joints of the four fingers. Using the principle of separate drive or differential gear drive for these two degrees of freedom, these hands can achieve complex manipulations similar to those of the human hand. However, this results in a complex overall structure, large size, and low driving force.

[0004] The fingertips of the robot's five-fingered hand mostly use a coupled under-actuated method. Currently, the most commonly used method is the connecting rod coupled under-actuated method, but the coupling ratio and pressure angle will change with the change of the connecting rod angle. There is also an "8"-shaped wire rope coupled under-actuated method, but the wire rope assembly is complex and the precision is low. Summary of the Invention

[0005] In order to solve the above technical problems existing in the prior art, the present invention proposes a humanoid five-fingered dexterous hand based on a spatial link and a planetary gear system. The specific technical solution is as follows: A humanoid five-finger dexterous hand based on spatial linkages and a planetary gear system comprises a palm, a thumb, and four fingers. The hand is characterized in that four sets of spatial linkage mechanisms are arranged on the palm and are correspondingly connected to the four fingers to achieve the freedom of finger bending and lateral swinging; a horizontal micro-electric cylinder is installed at the bottom of the palm, and the micro-electric cylinder drives the thumb through a gear rack assembly to achieve the freedom of palm-to-palm swinging.

[0006] Furthermore, the spatial linkage mechanism includes: a bending electric cylinder, a ball joint bearing, a pull rod, a side swing motor, and a side swing frame. The bottom of the bending electric cylinder is hinged to the bearing in the palm through a step pin, the end of the telescopic rod of the bending electric cylinder is fixedly connected to the outer ring of the ball joint bearing, the inner ring of the ball joint bearing is fixedly connected to one end of the pull rod, and the other end of the pull rod is hinged to the finger through a cylindrical pin; a convex shaft with a threaded hole is provided on the rear side of the side swing frame and is installed on the palm through a bearing, and the side swing frame is also provided with a half-gear tail; the side swing motor is installed in the palm, and its output is connected to a gear set reduction mechanism, and is meshed with the half-gear tail through the gear set reduction mechanism, and is driven by the side swing motor to swing the side swing frame left and right.

[0007] Furthermore, the gear set reduction mechanism includes: a sleeve, a worm, a worm wheel, a gasket, a side-swing cylindrical gear, a worm wheel shaft, and a side-swing ladder gear. The sleeve is installed on the output shaft of the side-swing motor and fixed by a top screw. The worm is fixedly sleeved on the outside of the sleeve. The worm wheel, gasket and side-swing cylindrical gear are glued together in sequence and then connected to the worm wheel shaft, wherein the worm wheel and the worm are engaged in transmission, and the side-swing ladder gear is installed between the side-swing cylindrical gear and the tail of the half gear and is engaged with both at the same time.

[0008] Furthermore, the structure of each finger includes: a bracket plate, a finger bending motor, a gear train fixing plate, a first harmonic reducer, an end gear shaft, a fingertip, a connecting plate, and a gear assembly; a hinge portion is provided at the bottom of the bracket plate, a pin shaft positioning buckle is placed in the hinge portion, the hinge portion is inserted into the middle of the side swing frame and is rotatably connected to it through the pin shaft, and the other end of the pull rod is inserted into the hinge portion and is rotatably connected to it through a cylindrical pin; the fingertip is located above the top of the bracket plate and is mounted between the connecting plate and the gear train fixing plate through the end gear shaft.

[0009] Furthermore, the knuckle bending motor and the first harmonic reducer are respectively installed on the left side of the middle and upper part of the bracket plate. The left and right ends of the first harmonic reducer respectively control the connecting plate and the gear train fixing plate located on both sides of the bracket plate, so that the connecting plate and the gear train fixing plate rotate, thereby driving the fingertips to move back and forth; the output end of the knuckle bending motor is transmitted through the gear of the gear assembly, and bends the fingertips through the last gear shaft.

[0010] Furthermore, the right end of the last gear shaft is connected to the upper shaft hole of the gear train fixing plate through a bearing and a nut, the fingertip is sleeved on the last gear shaft and locked by a screw and nut, and the left end of the last gear shaft is connected to the upper shaft hole of the connecting plate through a bearing.

[0011] Further, the gear assembly includes: a fixed gear plate, a motor gear fixing plate, a motor shaft gear, a motor end idler gear, a harmonic end idler gear set, and a harmonic shaft gear; The fixed gear plate is fixedly bonded on the upper part of the support plate and is provided with a through hole for the harmonic shaft of the reducer to pass through on the opposite side of the first harmonic reducer position; the motor gear fixed plate is installed on the opposite side of the knuckle bending motor position; the motor gear fixed plate is provided with an axle and is provided with a through hole in the area below the axle, the output shaft of the knuckle bending motor is pressed into the motor shaft gear in an interference fit after passing through the support plate and the reserved through hole; the motor end idler is installed on the axle through a bearing and is engaged with the motor shaft gear below; the harmonic end idler group is fixedly installed on the wheel train fixed plate through a snap spring and is engaged with the fixed gear plate below and the tooth part of the last knuckle gear shaft above; the harmonic shaft gear is pressed into the harmonic shaft of the first harmonic reducer in an interference fit and is engaged with the motor end idler below.

[0012] Further, the bending cylinders are arranged in a staggered layout mode of inner and outer layers on the palm.

[0013] Further, the thumb comprises a thumb half gear, a thumb metacarpal, a thumb phalanx, a thumb last knuckle, the thumb half gear is horizontally arranged and installed at the lower end of the thumb metacarpal and is engaged with the gear rack assembly, the thumb metacarpal and the thumb phalanx are both provided with a disc motor and a harmonic reducer, the output of the disc motor is transmitted to the input shaft of the harmonic reducer through gear engagement, the input shaft of the harmonic reducer is fixedly connected with the wave generator through a jackscrew, the wave generators on the thumb metacarpal and the thumb phalanx are driven to bend the thumb phalanx and the thumb last knuckle respectively after being rotated.

[0014] Further, the gear rack assembly comprises a rack, a sliding block and a guide rail, the telescopic rod of the micro cylinder is connected with the rack, the rack slides along the guide rail through the sliding block, and the rack is engaged with the thumb half gear, when the telescopic rod of the micro cylinder is retracted, the rack is retracted, and the rack drives the thumb half gear to rotate, so that the thumb metacarpal has the freedom of palm.

[0015] Beneficial effects: the artificial five-finger dexterous hand of the embodiment of the application introduces a spatial linkage mechanism and a planetary gear train mechanism, has the advantages of high degree of freedom, small size, reasonable structure design, high coupling precision and stable coupling force. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of the artificial five-finger dexterous hand of the embodiment of the application; Figure 2 is a schematic diagram of the connection of a spatial linkage mechanism and a finger of the embodiment of the application; Figure 3 is a schematic diagram of the side swing frame structure of the embodiment of the application; Figure 4 is a schematic diagram of the gear set reduction mechanism installation structure of the embodiment of the application; Figure 5 is the position structure schematic diagram of side swing ladder gear installation of the embodiment of the present application; Figure 6 is the finger structure schematic diagram of the embodiment of the present application; Figure 7 is the palm structure schematic diagram of the embodiment of the present application; Figure 8 is the base structure schematic diagram of the embodiment of the present application; Figure 9 is the position schematic diagram of side swing motor in palm of the embodiment of the present application; Figure 10 is the thumb structure schematic diagram of the embodiment of the present application; 1-palm, 2-finger, 3-thumb, 4-bending electric cylinder, 5-ball joint bearing, 6-pull rod, 7-side swing frame, 8-side swing motor, 9-sleeve, 10-worm, 11-worm wheel, 12-side swing cylindrical gear, 13-worm wheel shaft, 14-side swing ladder gear, 15-micro electric cylinder; 101-base, 102-base cover, 103-side swing back plate; 201-support plate, 202-finger joint bending motor, 203-wheel train fixed plate, 204-first harmonic reducer, 205-last gear shaft, 206-finger tip, 207-connection plate, 208-hinge part, 209-pin shaft positioning buckle, 210-fixed gear disc, 211-motor gear fixed plate, 212-motor shaft gear, 213-motor end idler, 214-harmonic end idler group, 215-harmonic shaft gear, 216-wheel shaft, 217-clamp spring, 218-cylindrical pin; 301-thumb half gear, 302-thumb metacarpal, 303-thumb phalanx, 304-thumb last phalanx, 305-disc motor, 306-harmonic reducer, 307-rack, 308-sliding block, 309-guide rail. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and technical effect of the present application more clear, the present application is further described in detail below in combination with the drawings and examples of the present application.

[0018] As Figure 1 and Figure 2As shown, the embodiment of a human-like five-finger dexterous hand based on spatial linkage and planetary gear train adopts a compact structure design, the overall size is about 101mm in width, 43mm in thickness and 228mm in length, including: a palm 1, a big thumb 3 and four fingers 2 are connected and installed on the palm 1, the whole has 19 degrees of freedom, of which 15 degrees of freedom are active degrees of freedom driven by motors and other drivers, and 4 degrees of freedom are passive degrees of freedom adopting coupled under-actuation. Among them, the palm 1 is connected with the fingers 2 through a spherical joint spatial linkage mechanism, and a planetary gear train coupled under-actuation is configured in the fingers 2 to realize the bending and side swing of the fingers 2. A horizontally placed micro electric cylinder 15 is installed at the bottom of the palm 1, the micro electric cylinder 15 drives the big thumb 3 through a gear and rack assembly to realize the degree of freedom of palm swing.

[0019] Specifically, the spherical joint spatial linkage mechanism is connected with the fingers 2 as a base joint, which is a bending and side swing double-degree-of-freedom joint, including: a bending cylinder 4, a spherical joint bearing 5, a pull rod 6, a side swing motor 8, a side swing frame 7, the bottom of the bending cylinder 4 is hinged in the palm 1 through a stepped pin, the bending cylinder 4 can rotate around the stepped pin, the end of the telescopic rod of the bending cylinder 4 is fixedly connected with the outer ring of the spherical joint bearing 5, the inner ring of the spherical joint bearing 5 is fixedly connected with one end of the pull rod 6, the other end of the pull rod 6 is hinged with the fingers 2 through a cylindrical pin 218; as shown Figure 3 As shown, the rear side of the side swing frame 7 is provided with a convex shaft with a threaded hole and is installed on the palm through a bearing, the side swing frame 7 is also provided with a half gear tail; the side swing motor 8 is installed in the palm, its output is connected with a gear set reduction mechanism, and the half gear tail is engaged through the gear set reduction mechanism.

[0020] As shown Figure 4 And Figure 5 As shown, the gear set reduction mechanism includes: a sleeve 9, a worm 10, a worm wheel 11, a gasket, a side swing cylindrical gear 12, a worm wheel shaft 13, a side swing ladder gear 14, the sleeve 9 is installed on the output shaft of the side swing motor 8 and is fixed by a top pin, the worm 10 is fixedly sleeved outside the sleeve 9, the worm wheel 11, the gasket and the side swing cylindrical gear 12 are sequentially glued into an integral whole and then connected to the worm wheel shaft 13, wherein the worm wheel 11 is engaged with the worm 10 for transmission, and the side swing ladder gear 14 is installed between the side swing cylindrical gear 12 and the half gear tail and is engaged with both of them at the same time.

[0021] The fingers 2 are hinged on the side swing frame 7, and the pin shafts used for hinging are perpendicular to each other in space. When the bending cylinder 4 controls the pull rod 6 to stretch and pull the fingers 2 to rotate around the pin shaft, the bending degree of freedom is realized. When the output of the side swing motor 8 is transmitted to the half gear tail through the gear, the side swing frame 7 rotates, thereby driving the fingers 2 to swing, and at the same time, the bending cylinder 4 rotates around the stepped pin, realizing the side swing degree of freedom of the fingers.

[0022] AsFigure 6 The structure of each finger 2 comprises a bracket plate 201, a knuckle bending motor 202, a wheel train fixing plate 203, a first harmonic reducer 204, a last knuckle gear shaft 205, a finger tip 206, a connecting plate 207 and a gear assembly.

[0023] The bottom end of the bracket plate 201 is provided with a hinge part 208, a pin shaft positioning buckle 209 is placed in the hinge part 208, the hinge part 208 is inserted into the middle of the side swing frame 7 and is connected with the side swing frame 7 through the pin shaft, and the other end of the pull rod 6 is inserted into the hinge part 208 and is connected with the hinge part 208 through the cylindrical pin 218.

[0024] The knuckle bending motor 202 and the first harmonic reducer 204 are respectively installed on the left side of the middle and upper part of the bracket plate 201, the left and right ends of the first harmonic reducer 204 are respectively connected with the lower shaft hole of the connecting plate 207 and the lower shaft hole of the wheel train fixing plate 203 through bearings, the right end of the last knuckle gear shaft 205 is connected with the upper shaft hole of the wheel train fixing plate 203 through bearings and nuts, the finger tip 206 is threaded on the last knuckle gear shaft 205 and is locked through nuts and screws, and the left end of the last knuckle gear shaft 205 is connected with the upper shaft hole of the connecting plate 207 through a bearing.

[0025] The gear assembly comprises a fixed gear disc 210, a motor gear fixing plate 211, a motor shaft gear 212, a motor end idler 213, a harmonic end idler group 214 and a harmonic shaft gear 215. The fixed gear disc 210 is fixedly bonded on the upper part of the bracket plate 201 and is in position correspondence with the first harmonic reducer 204 and is provided with a through hole for the harmonic shaft of the reducer to pass through; the motor gear fixing plate 211 is provided with a wheel shaft 216 and is provided with a through hole below the wheel shaft 216, the motor gear fixing plate 211 is installed on the right side of the bracket plate 201 and is in position correspondence with the knuckle bending motor 202, the output shaft of the knuckle bending motor 202 is threaded into the through hole after passing through the bracket plate 201 and is press-fitted into the motor shaft gear 212; the motor end idler 213 is installed on the wheel shaft 216 through a bearing and is engaged with the motor shaft gear 212 below; the harmonic end idler group 214 is fixedly installed on the left side of the wheel train fixing plate 203 through a snap spring 217 and is engaged with the fixed gear disc 210 below and the tooth part of the last knuckle gear shaft 205 above; the harmonic shaft gear 215 is press-fitted into the harmonic shaft of the first harmonic reducer 204 and is engaged with the motor end idler 213 below.

[0026] After the output shaft of the knuckle bending motor 202 rotates, the motor shaft gear 201, the motor end idler 213 and the harmonic shaft gear 215 are sequentially driven to control the first harmonic reducer 204, so that the wheel train fixing plate 203 and the connecting plate 207 connected with the two ends of the first harmonic reducer 204 rotate, the harmonic end idler group 214 is driven to rotate, and the finger tip 206 rotates with the last knuckle gear shaft 205.

[0027] Based on the pin shaft, the harmonic axis of the first harmonic reducer 204, and the final gear shaft 205, the fingers can be divided into proximal phalanges, middle phalanges, and distal phalanges in sequence. The proximal phalanges can rotate around the pin shaft, the middle phalanges can rotate around the harmonic axis, and the distal phalanges can rotate around the final gear shaft 205, thereby realizing the bending freedom of the fingers.

[0028] Based on the above structural composition, the finger of the present invention uses a planetary gear system coupled with under-drive to control bending. The core component is the planetary carrier composed of the harmonic shaft gear 215, the harmonic end idler gear set 214, the end gear shaft 205 and the fixed gear plate 210. The fixed gear plate 210 is also the sun gear in the planetary gear system and is fixed. When the middle finger joint rotates, that is, when the connecting plate 207 on the left side of the output end of the first harmonic reducer 204 rotates, the planetary carrier is driven to rotate around the harmonic axis. Since two idler gears are added in the middle, the rotation direction of the teeth of the end gear shaft 205 is consistent with that of the planetary carrier. The fingertip 206 is fixedly connected to the end gear shaft 205, so the rotation of the end gear shaft 205 drives the fingertip 206 to rotate. The ratio of the rotation rate of the fingertip 206 to the rotation rate of the middle finger joint can be calculated from the transmission ratio of the planetary gear system. Since gears have the advantages of constant transmission ratio and constant pressure angle, a planetary gear system coupling method is adopted. The speed coupling ratio of the distal fingertip and the middle fingertip is constant, and the output force and direction of the distal finger are constant, which is more conducive to the accuracy and control stability of the finger.

[0029] like Figures 7 to 9 As shown, the palm 1 includes a base 101, a base cover 102 mounted above the base 101, and a side swing back plate 103 mounted on the base cover 102. The bending cylinder 4 and side swing motor 8 are both mounted on the base 101, and the gear reduction mechanism and side swing frame 7 are mounted on the side swing back plate 103.

[0030] In this embodiment, the bending cylinders 4 controlling the bending of four fingers are L-shaped. If arranged in a single row, this would result in a larger overall five-finger hand. To reduce the overall size of the five-finger hand, the bending cylinders 4 are arranged in an inner and outer staggered layout, maximizing the internal space of the five-finger hand. The micro-cylinders for the index and ring fingers are arranged in the inner layer, with the L-shaped shape facing right; the micro-cylinders controlling the middle and pinky fingers are arranged in the outer layer, with the L-shaped shape facing left. This arrangement prevents collision and interference between the cylinders when all four fingers move simultaneously, while also reducing the overall size of the five-finger hand.

[0031] like Figure 10As shown, the thumb 3 has three degrees of freedom, two of which are the bending degrees of freedom of the two knuckles of the thumb 3, and the other is the opposition degree of freedom perpendicular to the bending direction. The structure of the thumb 3 comprises a thumb half gear 301, a thumb metacarpal bone 302, a thumb phalanx 303, and a thumb distal phalanx 304. The gear and rack assembly comprises a rack 307, a sliding block 308, and a guide rail 309.

[0032] The opposition degree of freedom of the thumb 3 is driven by the micro electric cylinder 15 through the gear and rack assembly. The micro electric cylinder 15 is horizontally arranged at the bottom of the palm 1. The end of the telescopic rod of the micro electric cylinder 15 is connected with the rack 307 through screw locking. The rack 304 is guided and slid by the sliding block 308 and the guide rail 309. The guide rail 309 is fixed at the bottom of the palm base 101 through a screw. At the same time, the rack 307 is engaged with the thumb half gear 301. When the telescopic rod of the micro electric cylinder 15 is extended or retracted, the rack 307 is driven to extend or retract, and the thumb half gear 301 is rotated to form the opposition degree of freedom.

[0033] The bending degrees of freedom of the thumb 3 in the embodiment are realized by driving the gear transmission through two groups of disc motors 305 and then reducing the speed through the harmonic reducer 306. The disc motor 305 and the harmonic reducer 306 connected through gear transmission are arranged on the thumb metacarpal bone 302 and the thumb phalanx 303. The output shaft of the disc motor 305 is connected with the pinion through interference. The pinion transmits the rotation to the input shaft of the harmonic reducer 306 through the engagement of three gears. The input shaft of the harmonic reducer 306 is fixed with the wave generator through a jack. When the wave generator rotates, the bending of the thumb 3 is controlled after the speed reduction through the harmonic reducer 306.

[0034] In the present application, there are three motion modes of the fingers: only bending, only side swing, and bending and side swing simultaneously. When only bending, the bending electric cylinder 4 drives through the spherical joint space linkage mechanism, and there is no coupling. At this time, the side swing motor 8 can stay at any angle, but it is in a locked state. The spherical joint space linkage mechanism is composed of one driving linear joint, two hinge joints and one spherical joint. The degree of freedom of the space mechanism is 1. When only side swing, the back side swing motor 8 drives the side swing frame 7 to swing through the gear set reduction mechanism, and drives the bending electric cylinder 4 to swing. If the bending electric cylinder 4 is locked, only the side swing is driven by the side swing motor 8, and the bending angle of the proximal phalanx will change at the same time of swinging. The side swing motion and the bending motion are coupled. Therefore, in order to make the finger swing alone, kinematic analysis of the mechanism is needed. When the side swing motor 8 moves, the bending electric cylinder 4 is linked to offset the additional bending motion caused by coupling. When bending and side swing are needed to be performed simultaneously, the target positions of the bending electric cylinder and the side swing can be calculated according to the required motion relationship by mathematical relationship, and the two drivers are linked.

[0035] The above merely describes preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the foregoing describes the implementation process of the present application in detail, those skilled in the art can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features. Any modification, equivalent replacement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A humanoid five-fingered dexterous hand based on a spatial linkage and a planetary gear train, comprising: A palm (1), a thumb (3) and four fingers (2), characterized in that four sets of spatial link mechanisms are arranged on the palm (1) and are correspondingly connected to the four fingers (2) for driving, so as to realize the freedom of finger bending and side swing; a transverse micro-electric cylinder (15) is installed at the bottom of the palm (1), and the micro-electric cylinder (15) drives the thumb (3) through a gear rack assembly to realize the freedom of palm swing.

2. The humanoid five-finger dexterous hand according to claim 1, characterized in that: The spatial linkage mechanism includes: a bending electric cylinder (4), a ball joint bearing (5), a pull rod (6), a side swing motor (8), and a side swing frame (7). The bending electric cylinder (4) is installed on the palm (1), the end of the telescopic rod of the bending electric cylinder (4) is fixedly connected to the outer ring of the ball joint bearing (5), the inner ring of the ball joint bearing (5) is fixedly connected to one end of the pull rod (6), and the other end of the pull rod (6) is hinged to the finger (2); the rear side of the side swing frame (7) is provided with a convex shaft with a threaded hole and is installed on the palm (1) through a bearing, and the side swing frame (7) is also provided with a half gear tail; the side swing motor (8) is installed in the palm (1), and its output is connected to a gear group reduction mechanism and is meshed with the half gear tail through the gear group reduction mechanism.

3. The humanoid five-finger dexterous hand according to claim 2, characterized in that: The bending electric cylinder (4) is installed on the palm (1) in a layout manner in which the inner and outer layers are arranged alternately.

4. The humanoid five-finger dexterous hand according to claim 2, wherein: The gear train reduction mechanism comprises: a sleeve (9), a worm (10), a worm wheel (11), a gasket, a side-swing cylindrical gear (12), a worm wheel shaft (13), and a side-swing ladder gear (14). The sleeve (9) is mounted on the output shaft of the side-swing motor (8) and fixed by a top screw. The worm (10) is fixedly sleeved on the outside of the sleeve (9). The worm wheel (11), the gasket and the side-swing cylindrical gear (12) are sequentially glued together and then connected to the worm wheel shaft (13). The worm wheel (11) and the worm (10) are meshed for transmission. The side-swing ladder gear (14) is mounted between the side-swing cylindrical gear (12) and the tail of the half gear and meshes with both at the same time.

5. The humanoid five-finger dexterous hand according to claim 2, characterized in that: The structure of each finger (2) includes: a bracket plate (201), a gear train fixing plate (203), a final gear shaft (205), a fingertip (206), and a connecting plate (207); the bottom of the bracket plate (201) is inserted into the side swing frame (7) and is rotatably connected to the side swing frame (7) through a pin shaft, and is hinged to the other end of the pull rod (6); the fingertip (206) is located above the top of the bracket plate (201) and is mounted between the connecting plate (207) and the gear train fixing plate (203) through the final gear shaft (205).

6. The humanoid five-finger dexterous hand according to claim 5, characterized in that: The structure of the finger (2) further comprises: a knuckle bending motor (202), a first harmonic reducer (204), and a gear assembly, wherein the knuckle bending motor (202) and the first harmonic reducer (204) are fixedly mounted on one side of the bracket plate (201), wherein the first harmonic reducer (204) respectively controls the connection plate (207) and the gear train fixing plate (203) located on both sides of the bracket plate (201); the output end of the knuckle bending motor (202) is driven by the gears of the gear assembly, and the fingertip (206) is bent via the last gear shaft (205).

7. The humanoid five-finger dexterous hand according to claim 5, characterized in that: The right end of the last gear shaft (205) is connected to the upper shaft hole of the gear train fixing plate (203) through a bearing and a nut, the fingertip (206) is sleeved on the last gear shaft (205), and the left end of the last gear shaft (205) is connected to the upper shaft hole of the connecting plate (207) through a bearing.

8. The humanoid five-finger dexterous hand according to claim 5, characterized in that: The gear assembly comprises: a fixed gear plate (210), a motor gear fixing plate (211), a motor shaft gear (212), a motor end idler (213), a harmonic end idler group (214), and a harmonic shaft gear (215); the fixed gear plate (210) is fixedly bonded to the upper part of the bracket plate (201) and is located on the opposite side of the first harmonic reducer (204) and is provided with a through hole for the harmonic shaft of the reducer to pass through; the motor gear fixing plate (211) is installed on the opposite side of the knuckle bending motor (202); the motor gear fixing plate (211) is provided with a wheel shaft (216) and a through hole is provided in the area below the wheel shaft (216). The output shaft of the segment bending motor (202) passes through the bracket plate (201) and the reserved through hole and is then press-fitted into the motor shaft gear (212); the motor end idler (213) is mounted on the wheel shaft (216) through a bearing and meshes with the motor shaft gear (212) below; the harmonic end idler group (214) is fixedly mounted on the gear train fixed plate (203) through a retaining ring (217), and meshes with the fixed gear plate (210) below and meshes with the teeth of the last segment gear shaft (205) above; the harmonic shaft gear (215) is press-fitted into the harmonic shaft of the first harmonic reducer (204) and meshes with the motor end idler (213) below.

9. The humanoid five-finger dexterous hand according to claim 1, characterized in that: The thumb (3) comprises: a thumb half gear (301), a thumb metacarpal bone (302), a thumb phalanx (303), and a thumb distal phalanx (304). The thumb half gear (301) is horizontally arranged and mounted on the lower end of the thumb metacarpal bone (302) and meshed with the gear rack assembly. The thumb metacarpal bone (302) and the thumb phalanx (303) are both provided with a disk motor (305) and a harmonic reducer (306). The output of the disk motor (305) transmits rotation to the input shaft of the harmonic reducer (306) through gear meshing transmission. The input shaft of the harmonic reducer (306) is fixedly connected with a wave generator through a top screw. After the wave generators on the thumb metacarpal bone (302) and the thumb phalanx (303) rotate, they drive the thumb phalanx (303) and the thumb distal phalanx (304) to bend respectively.

10. The humanoid five-finger dexterous hand according to claim 9, characterized in that: The rack and gear assembly comprises: a rack (307), a slider (308), and a guide rail (309). The end of the telescopic rod of the micro-electric cylinder (15) is connected to the rack (307). The rack (307) is guided and slid by the slider (308) and the guide rail (309). At the same time, the rack (307) is engaged with the thumb half gear (301). When the telescopic rod of the micro-electric cylinder (15) is extended or retracted, the rack (307) is driven to extend or retract, and the rack (307) then drives the thumb half gear (301) to rotate.

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