A humanoid five-fingered dexterous hand based on spatial linkages and planetary gear trains

Abstract

The present application relates to the technical field of robots, and especially relates to a human-like five-finger dexterous hand based on a space linkage and a planetary gear train, which comprises a palm, one thumb and four fingers, four groups of space linkage mechanisms are arranged on the palm and are correspondingly connected with the four fingers in a driving mode, so that the degrees of freedom of finger bending and side swing are realized; a horizontally arranged micro electric cylinder is installed at the bottom of the palm, the micro electric cylinder drives the thumb through a gear and rack assembly to realize the degree of freedom of palm swing. The human-like five-finger dexterous hand introduces the space linkage mechanism and the planetary gear train mechanism, and has the advantages of high degrees of freedom, small size, reasonable structure design, high coupling precision and stable coupling force.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a humanoid five-fingered dexterous hand based on space linkage and planetary gear train. BACKGROUND

[0002] In the process of interaction with the outside world, the robot needs a dexterous actuator to achieve the operation target. In the current robot grasping and embodied intelligent robot research, the humanoid five-fingered dexterous hand is an indispensable execution component, which undertakes the interaction between the robot and the outside world.

[0003] As an important part of the human body, the human hand undertakes most of the tasks of human interaction with the outside world. The robot five-fingered hand that simulates the structure and function of the human hand has become an important choice for robot dexterous operation. Some current robot five-fingered hands have low degrees of freedom, with only the bending direction freedom on the four fingers and the bending and side swing freedom on the thumb. Only the side swing of the thumb is used to realize operations other than gripping, which is low in dexterity and cannot meet complex operation requirements. For robot five-fingered hands with high degrees of freedom, the four fingers have two degrees of freedom of bending and side swing integrated on the base joint. Two degrees of freedom are driven separately or by differential gear drive, which can realize complex operations similar to human hands, but will result in complex overall structure, large size and small driving force.

[0004] The finger distal phalanx of the robot five-fingered hand is mostly coupled underactuated. The most commonly used is linkage coupling underactuation, but the coupling ratio and pressure angle will change with the change of the linkage angle. There is also an "8" shaped steel wire coupling underactuation, but the steel wire assembly is complex and has low precision. SUMMARY

[0005] In order to solve the above technical problems in the prior art, the present application proposes a humanoid five-fingered dexterous hand based on space linkage and planetary gear train, and the specific technical scheme is as follows:

[0006] A humanoid five-fingered dexterous hand based on space linkage and planetary gear train, comprising a palm, one thumb and four fingers, characterized in that four groups of space linkage mechanisms are configured on the palm and are drivenly connected to the four fingers, realizing the degrees of freedom of finger bending and side swing; a horizontally placed micro electric cylinder is installed at the bottom of the palm, and the micro electric cylinder drives the thumb to realize the degree of freedom of palm swing through a gear and rack assembly.

[0007] Further, the spatial linkage mechanism comprises: a bending electric cylinder, a spherical joint bearing, a pull rod, a side swing motor, a side swing frame, the bottom of the bending electric cylinder is hinged to the palm through a stepped pin and a bearing, the telescopic rod of the bending electric cylinder is fixed to the outer ring of the spherical joint bearing, the inner ring of the spherical joint bearing is fixed to one end of the pull rod, and the other end of the pull rod is hinged to the finger through a cylindrical pin; the rear side of the side swing frame is provided with a convex shaft with a threaded hole 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, the output thereof is connected with a gear set reduction mechanism, and the half gear tail is engaged with the gear set reduction mechanism through the gear set reduction mechanism, so that the side swing frame swings left and right through the driving of the side swing motor.

[0008] Further, the gear set reduction mechanism comprises: 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 is fixed through a top pin, the worm is fixedly sleeved on the outside of the sleeve, the worm wheel, the gasket and the side swing cylindrical gear are sequentially glued into an integrated body and then are connected to the worm wheel shaft, wherein the worm wheel is engaged with the worm for transmission, and the side swing ladder gear is installed between the side swing cylindrical gear and the half gear tail and is engaged with both of them.

[0009] Further, the structure of each finger comprises: a support plate, a knuckle bending motor, a wheel system fixing plate, a first harmonic reducer, a last segment gear shaft, a fingertip, a connecting plate, and a gear assembly; the bottom of the support plate is provided with a hinged part, a pin shaft positioning buckle is arranged in the hinged part, the hinged part is inserted into the middle of the side swing frame and is rotationally connected with the same through a pin shaft, and the other end of the pull rod is inserted into the hinged part and is rotationally connected with the same through a cylindrical pin; the fingertip is located above the top end of the support plate and is arranged between the connecting plate and the wheel system fixing plate through the last segment gear shaft.

[0010] Further, the knuckle bending motor and the first harmonic reducer are respectively installed on the left side of the middle part and the upper part of the support plate, the left and right ends of the first harmonic reducer control the connecting plate and the wheel system fixing plate located on the two sides of the support plate to rotate, so as to drive the fingertip to move forward and backward, and the output end of the knuckle bending motor is driven through the gear transmission of the gear assembly and the last segment gear shaft to bend the fingertip.

[0011] Further, the right end of the last segment gear shaft is connected with the upper shaft hole of the wheel system fixing plate through a bearing and a nut, the fingertip is sleeved on the last segment gear shaft and is locked through a screw nut, and the left end of the last segment gear shaft is connected with the upper shaft hole of the connecting plate through a bearing.

[0012] Further, the gear assembly comprises: a fixed gear disc, 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.

[0013] The fixed gear plate is fixedly bonded on the upper portion 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 axle 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.

[0014] Further, the bending cylinders are arranged in a staggered layout mode of inner and outer layers on the palm.

[0015] Further, the thumb comprises a thumb half gear, a thumb metacarpal bone, a thumb phalanx, a thumb last knuckle, the thumb half gear is horizontally arranged and installed on the lower end of the thumb metacarpal bone and is engaged with the gear rack assembly, the thumb metacarpal bone 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 bone and the thumb phalanx are driven to bend the thumb phalanx and the thumb last knuckle respectively after being rotated.

[0016] 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 telescoped, the rack is driven to telescope, and the rack drives the thumb half gear to rotate, so that the thumb metacarpal bone forms the freedom of palm.

[0017] 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, and has the advantages of high freedom, small size, reasonable structure design, high coupling precision and stable coupling force. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of the artificial five-finger dexterous hand of the embodiment of the application;

[0019] Figure 2 is a schematic diagram of the connection of a spatial linkage mechanism and a finger of the embodiment of the application;

[0020] Figure 3 is a schematic diagram of the side swing frame structure of the embodiment of the application;

[0021] Figure 4 is a schematic diagram of a gear set deceleration mechanism mounting structure of an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of a side swing cage gear mounting position structure of an embodiment of the present application;

[0023] Figure 6 is a schematic diagram of a finger structure of an embodiment of the present application;

[0024] Figure 7 is a schematic diagram of a palm structure of an embodiment of the present application;

[0025] Figure 8 is a schematic diagram of a base structure of an embodiment of the present application;

[0026] Figure 9 is a schematic diagram of a side swing motor position in a palm of an embodiment of the present application;

[0027] Figure 10 is a schematic diagram of a thumb structure of an embodiment of the present application;

[0028] 1 - palm, 2 - finger, 3 - thumb, 4 - bending cylinder, 5 - spherical 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 cage gear, 15 - micro cylinder;

[0029] 101 - base, 102 - base cover, 103 - side swing back plate;

[0030] 201 - support plate, 202 - knuckle bending motor, 203 - wheel train fixing plate, 204 - first harmonic reducer, 205 - last knuckle gear shaft, 206 - finger tip, 207 - connecting plate, 208 - hinged part, 209 - pin shaft positioning buckle, 210 - fixed gear disc, 211 - motor gear fixing plate, 212 - motor shaft gear, 213 - motor end idler, 214 - harmonic end idler set, 215 - harmonic shaft gear, 216 - wheel shaft, 217 - clasp spring, 218 - cylindrical pin;

[0031] 301 - thumb half gear, 302 - thumb metacarpal, 303 - thumb phalanx, 304 - last knuckle of thumb, 305 - disc motor, 306 - harmonic reducer, 307 - rack, 308 - sliding block, 309 - guide rail. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and technical effect of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments of the present application.

[0033] As Figure 1 andFigure 2 As shown, the embodiment of a human-like five-fingered 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, which drives the big thumb 3 through a gear and rack assembly to realize the freedom degree of palm swing.

[0034] 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, and 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 side swing frame 7 is provided with a convex shaft with a threaded hole at the rear side and is installed on the palm 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, and its output is connected with a gear set reduction mechanism, and the half gear tail is engaged through the gear set reduction mechanism.

[0035] 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, and 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.

[0036] 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, thereby realizing the side swing degree of freedom of the fingers.

[0037] As Figure 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 segment gear shaft 205, a fingertip 206, a connecting plate 207 and a gear assembly.

[0038] 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 it through the pin shaft, and the other end of the pull rod 6 is inserted into the hinge part 208 and is connected with it through the cylindrical pin 218.

[0039] The middle and upper left side of the bracket plate 201 are respectively provided with the knuckle bending motor 202 and the first harmonic reducer 204, 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 segment gear shaft 205 is connected with the upper shaft hole of the wheel train fixing plate 203 through bearings and nuts, the fingertip 206 is threaded on the last segment gear shaft 205 and is locked through nuts and screws, and the left end of the last segment gear shaft 205 is connected with the upper shaft hole of the connecting plate 207 through a bearing.

[0040] 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 segment 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.

[0041] When 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 both ends of the first harmonic reducer 204 rotate, the harmonic end idler group 214 is driven to rotate, and the fingertip 206 rotates with the last segment gear shaft 205.

[0042] Based on the pin shaft, the harmonic shaft of the first harmonic reducer 204, and the terminal gear shaft 205, the fingers can be sequentially divided into the proximal phalanx, the middle phalanx, and the distal phalanx. The proximal phalanx can rotate around the pin shaft, the middle phalanx can rotate around the harmonic shaft, and the distal phalanx can rotate around the terminal gear shaft 205, thereby realizing the bending freedom of the fingers.

[0043] Based on the above structural composition, the fingers of the present application control bending by using planetary gear coupling underdrive, and the core component is the planetary carrier composed of the harmonic shaft gear 215, the harmonic end idler set 214, the terminal gear shaft 205, and the fixed gear plate 210. The fixed gear plate 210, which is the sun gear in the planetary gear system, is fixed and does not move. When the middle phalanx rotates, the connecting plate 207 on the left side of the output end of the first harmonic reducer 204 rotates, driving the planetary carrier to rotate around the harmonic shaft. Because two idlers are added in the middle, the rotation direction of the terminal gear shaft 205 tooth part is consistent with that of the planetary carrier. The fingertip 206 is fixedly connected with the terminal gear shaft 205, so the rotation of the terminal gear shaft 205 drives the rotation of the fingertip 206. The rotation rate ratio of the fingertip 206 to the middle phalanx can be calculated by the transmission ratio of the planetary gear system. Because the gear has the advantages of constant transmission ratio and constant pressure angle, the use of planetary gear coupling mode makes the rotation speed coupling ratio of the distal phalanx fingertip to the middle phalanx constant, and the output force and direction of the terminal finger constant, which is more conducive to the precision and control stability of the finger.

[0044] As shown in Figures 7 to 9 The palm 1 includes a base 101, a base cover 102 installed above the base 101, and a side swing back plate 103 installed on the base cover 102. The bending cylinders 4 and the side swing motor 8 are both installed on the base 101, and the gear set reduction mechanism and the side swing frame 7 are installed on the side swing back plate 103.

[0045] In this embodiment, the bending cylinders 4 controlling the bending of the four fingers are L-shaped. If they are arranged in the same row, it will cause the size of the overall five-finger hand to be too large. In order to reduce the size of the overall five-finger hand, the bending cylinders 4 are arranged in an inner-outer staggered layout, which maximizes the use of the internal space of the five-finger hand. The micro-cylinders controlling the index finger and the ring finger are arranged in the inner layer, with the L-shaped part facing the right side; the micro-cylinders controlling the middle finger and the little finger are arranged in the outer layer, with the L-shaped part facing the left side. This setting avoids the collision and interference of the cylinders when the four fingers move simultaneously, and reduces the size of the overall five-finger hand.

[0046] As shown in 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.

[0047] 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. Meanwhile, 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.

[0048] 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.

[0049] 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 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 cylinder 4 to swing at the same time. If the bending cylinder 4 is locked, and only the side swing is driven by the side swing motor 8, the bending angle of the proximal phalanx will change at the same time of swinging, and there is coupling between the side swing motion and the bending motion. 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 cylinder 4 is linked to offset the additional bending motion caused by coupling. When bending and side swing simultaneously, the target positions of the bending cylinder and the side swing can be calculated according to the required motion relationship, and the two drivers are linked.

[0050] 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 of the present application in detail, those skilled in the art can modify the technical solutions described in the foregoing examples, or make equivalent replacements for some of the technical features. Any modification, equivalent replacement, etc. within the spirit and principle 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 spatial linkages and planetary gear systems, comprising: A hand (1), a thumb (3) and four fingers (2), characterized in that four sets of spatial linkage mechanisms are configured on the hand (1) and are correspondingly driven and connected to the four fingers (2) to realize the degree of freedom of finger bending and lateral swing; a horizontally placed micro electric cylinder (15) is installed at the bottom of the hand (1), and the micro electric cylinder (15) drives the thumb (3) through a gear and rack assembly to realize the degree of freedom of palm swing; 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). The other end of the pull rod (6) is hinged to the finger (2). The structure of each finger (2) includes: a support plate (201), a wheel system fixing plate (203), a last gear shaft (205), a fingertip (206), and a connecting plate (207); the bottom of the support plate (201) is inserted into the side swing frame (7) and rotatably connected to it through a pin, and is hinged to the other end of the pull rod (6); the fingertip (206) is located above the top of the support plate (201) and is mounted between the connecting plate (207) and the wheel system fixing plate (203) through the last gear shaft (205); The structure of the finger (2) further includes: a knuckle bending motor (202), a first harmonic reducer (204), and a gear assembly. The knuckle bending motor (202) and the first harmonic reducer (204) are fixedly installed on one side of the support plate (201). The first harmonic reducer (204) controls the connection plate (207) and the gear system fixing plate (203) located on both sides of the support plate (201), respectively. The output end of the knuckle bending motor (202) is driven by the gear of the gear assembly and bends the fingertip (206) through the last gear shaft (205). 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). The left end of the last gear shaft (205) is connected to the upper shaft hole of the connecting plate (207) through a bearing. The gear assembly includes: a fixed gear disk (210), a motor gear fixing plate (211), a motor shaft gear (212), a motor end idler gear (213), a harmonic end idler gear set (214), and a harmonic shaft gear (215); the fixed gear disk (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), with a through hole reserved for the harmonic shaft of the reducer to pass through; the motor gear fixing plate (211) is installed on the opposite side of the finger bending motor (202); the motor gear fixing plate (211) is provided with a wheel axle (216) and a through hole is reserved in the area below the wheel axle (216), for the finger... The output shaft of the bending motor (202) passes through the bracket plate (201) and the reserved through hole and is press-fitted into the motor shaft gear (212); the motor end idler wheel (213) is mounted on the wheel axle (216) by bearing and meshes with the motor shaft gear (212) below; the harmonic end idler wheel group (214) is fixedly mounted on the gear train fixing plate (203) by snap ring (217), and its lower part meshes with the fixed gear disk (210) and its upper part meshes with the teeth of the last gear shaft (205); 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 wheel (213) below.

2. The humanoid five-fingered dexterous hand as described in claim 1, characterized in that, The side swing frame (7) has a convex shaft with a threaded hole on the rear side and is mounted on the palm (1) through a bearing. The side swing frame (7) also has a half gear tail. The side swing motor (8) is installed in the palm (1) and its output is connected to the gear set reduction mechanism and meshes with the half gear tail through the gear set reduction mechanism.

3. The anthropomorphic five-fingered dexterous hand as described in claim 2, characterized in that, The gear reduction mechanism includes: sleeve (9), worm (10), worm wheel (11), washer, side-swing cylindrical gear (12), worm wheel shaft (13), and side-swing ladder gear (14). The sleeve (9) is installed on the output shaft of the side-swing motor (8) and fixed by a set screw. The worm (10) is fixedly sleeved on the outside of the sleeve (9). The worm wheel (11), washer and side-swing cylindrical gear (12) are glued together and then connected to the worm wheel shaft (13). The worm wheel (11) meshes with the worm (10) for transmission. The side-swing ladder gear (14) is installed between the side-swing cylindrical gear (12) and the tail of the half gear and meshes with both of them at the same time.

4. The humanoid five-fingered dexterous hand as described in claim 1, characterized in that, The bending electric cylinder (4) is installed on the palm (1) in a layout with alternating inner and outer layers.

5. The humanoid five-fingered dexterous hand as described in claim 1, characterized in that, The thumb (3) includes: a thumb half gear (301), a thumb metacarpal (302), a thumb phalanx (303), and a thumb distal phalanx (304). The thumb half gear (301) is horizontally installed at the lower end of the thumb metacarpal (302) and meshes with the gear and rack assembly. Both the thumb metacarpal (302) and the thumb phalanx (303) are equipped with a disc motor (305) and a harmonic reducer (306). The output of the disc motor (305) is transmitted to the input shaft of the harmonic reducer (306) through gear meshing. The input shaft of the harmonic reducer (306) is fixedly connected to a wave generator through a set screw. After the wave generators on the thumb metacarpal (302) and the thumb phalanx (303) rotate, they respectively drive the thumb phalanx (303) and the thumb distal phalanx (304) to bend.

6. The humanoid five-fingered dexterous hand as described in claim 5, characterized in that, The gear and rack assembly includes 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) slides through the slider (308) and the guide rail (309). At the same time, the rack (307) meshes with the thumb half gear (301). When the telescopic rod of the micro electric cylinder (15) extends or retracts, it drives the rack (307) to extend or retract, and the rack (307) then drives the thumb half gear (301) to rotate.

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