Robot dexterous hand structure based on intelligent control

Abstract

The invention discloses a robot dexterous hand structure based on intelligent control, and relates to the technical field of robots. Comprising a mounting base, a manipulator assembly is arranged at the front end of the mounting base, and a dust removal assembly is arranged in the mounting base; the manipulator assembly comprises a palm center base, four first servo electric cylinders and a second servo electric cylinder are fixedly arranged in the palm center base, and four finger assemblies and a thumb assembly are rotationally arranged on the surface of the palm center base. High load and efficient transmission are achieved, the optimized mechanical connecting rod design is adopted, compared with a tendon rope and gear transmission scheme, the higher load resistance capacity (the dynamic grip strength can reach 10 N) and the higher transmission efficiency are achieved, and meanwhile the problems of elastic deformation of the tendon rope scheme and the complex structure of the gear scheme are solved; according to the design of 12 degrees of freedom, accurate driving is achieved through a servo electric cylinder, a spring reset mechanism is matched, and the fingertip repeated positioning accuracy of 0.2 mm is achieved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robots, in particular to a robot dexterous hand structure based on intelligent control. BACKGROUND

[0002] With the rapid development of humanoid robot market, higher requirements are put forward for the multifunctionality and flexibility of robots. As the end effector of robots, the dexterous hand has great potential in various application scenarios due to its multiple degrees of freedom, force feedback control and high precision. Traditional end effectors often cannot meet the needs of these complex tasks, while the dexterous hand can better simulate human hand functions and improve the operation ability and adaptability of robots.

[0003] In the selection of transmission mode of the dexterous hand, the current mainstream schemes include tendon-driven, linkage-driven and gear-driven. However, each scheme has its inherent shortcomings: 1. Precision attenuation of tendon-driven scheme: due to the elastic deformation of the tendon, the precision will decrease after a long time of use. Weak load capacity: the load capacity of the tendon is limited, which is difficult to cope with high load tasks. Easy to wear: the tendon is prone to wear during repeated stretching, affecting the service life.

[0004] 2. Complex structure of wheel-driven scheme: the gear transmission system has a complex structure, increasing the manufacturing and maintenance difficulty. Heavy weight: the gear components are usually heavy, which is not conducive to the lightweight design of the robot end effector. High cost: the complex structure and high precision requirements result in high manufacturing cost.

[0005] In view of the above problems, the application proposes a robot dexterous hand structure based on linkage-driven, aiming to simplify the structure, improve the load capacity and prolong the service life. By optimizing the mechanical linkage design, not only the function of the fingers being able to fully contact the palm is realized, but also the transmission efficiency and load capacity are significantly improved. In addition, the structure also integrates force feedback control function, which can adjust the gripping force in real time, reduce the operation error, and is particularly suitable for task scenarios that require fine operation and force feedback. SUMMARY

[0006] The purpose of the application is to provide a robot dexterous hand structure based on intelligent control, which realizes high load, high efficiency transmission, precise motion control and multi-modal force feedback functions through the deep integration of linkage transmission optimization and intelligent control technology, and is particularly suitable for complex task scenarios that require high flexibility.

[0007] To achieve the above purpose, the application provides the following technical scheme: a robot dexterous hand structure based on intelligent control, comprising a mounting seat, a mechanical hand assembly is arranged at the front end of the mounting seat, and a dust removal assembly is arranged in the mounting seat. The mechanical hand assembly comprises a palm base, four first servo cylinders and one second servo cylinder are fixedly arranged inside the palm base, four finger assemblies and one thumb assembly are rotationally arranged on the surface of the palm base, a third servo cylinder is arranged inside the thumb assembly, a palm shell and a back of hand shell are respectively mounted on the upper and lower surfaces of the palm base; The palm base is internally provided with a circuit board assembly for receiving control signals and outputting driving signals to the servo cylinders; The palm base is internally provided with a signal transmission line, which is led out from the circuit board assembly and connected to the servo cylinders via a specific path, ensuring stable transmission of signals, so that the finger assemblies and the thumb assembly can work cooperatively to realize various functions such as gripping and modeling; It is worth noting that compared with the tendon and gear transmission scheme, it has stronger load resistance (up to 10N dynamic grip) and higher transmission efficiency, while avoiding the problems of elastic deformation of the tendon scheme and complex structure of the gear scheme; In addition, it is worth noting that the unique linkage transmission structure enables the fingers to fully contact the palm, thereby expanding the working space and the gripping range, advanced motion programming, supporting 30-step motion sequence programming, each step can be individually set for angle, force, and waiting time, and can complete complex assembly processes and standardized gesture display; real-time state monitoring, the system can synchronously display the angle, speed, force, and temperature information of each joint, and intuitively present the current and force data through a column chart, which is convenient for fault diagnosis and performance optimization.

[0008] Preferably, the finger assembly comprises four finger root fixed seats fixedly connected to the front end of the palm base, a first movable push block is rotationally connected to the surface of the finger root fixed seat through a rotating shaft, and the telescopic end of the first servo cylinder is rotationally connected to the surface of the first movable push block.

[0009] Preferably, the surface of the finger root fixed seat is rotationally connected with a first movable linkage, the position of the first movable linkage corresponds to that of the first movable push block, the surface of the first movable push block and the first movable linkage are overlapped, one end of the first movable linkage away from the finger root fixed seat is rotationally connected with a knuckle seat, and the surface of the knuckle seat is rotationally provided with a fingertip through a limiting shaft.

[0010] Preferably, the surface of the first movable linkage is covered with a finger shell, and the surface of the limiting shaft is sleeved with a reset torsional spring, one end of the reset torsional spring is fixedly connected with the surface of the limiting shaft, and the other end of the reset torsional spring is fixedly connected with the surface of the finger shell.

[0011] Preferably, the thumb assembly comprises a finger root rotating base arranged on the side of the palm base, the surface of the finger root rotating base is rotatably connected with two second movable connecting rods, the telescopic end of the second servo cylinder is connected with the inner side of the finger root rotating base, and the second servo cylinder is used for pushing the finger root rotating base to rotate on the surface of the palm base.

[0012] Preferably, the surface of the finger root rotating base is fixedly installed with a thumb shell, the third servo cylinder is fixedly installed in the interior of the thumb shell, the front end of the thumb shell is rotatably provided with a third movable connecting rod, and the end, away from the thumb shell, of the third movable connecting rod is rotatably connected with a thumb tip.

[0013] Preferably, the inner wall of the thumb shell is fixedly provided with a limiting block, the position of the limiting block corresponds to the third movable connecting rod, and the limiting block is used for limiting the third movable connecting rod.

[0014] Preferably, the telescopic end of the third servo cylinder is rotatably connected with a second movable push block, the end, away from the finger root rotating base, of the second movable connecting rod is rotatably connected with the surface of the second movable push block, the position of the second movable push block corresponds to the third movable connecting rod, and the second movable push block is connected with the surface of the third movable connecting rod.

[0015] Preferably, the surface of the mounting base is fixedly provided with a wrist inner shell, the tail of the wrist inner shell is fixedly connected with an external rotating mechanism, the inner wall of the mounting base is rotatably connected with a linkage rod, the dust removal assembly comprises two linkage protrusions arranged on the surface of the linkage rod in a symmetrical mode, and two telescopic air bags are fixedly connected with the inner side wall of the mounting base, and the two telescopic air bags are distributed around the linkage rod in an interlaced and symmetrical mode.

[0016] Preferably, the position of the linkage protrusion corresponds to the telescopic air bag, the surface of the telescopic air bag is fixedly embedded with an air inlet pipe, the surface of the air inlet pipe is provided with a one-way air inlet valve, the surface of the telescopic air bag is provided with a dust removal air pipe, and the output end of the dust removal air pipe extends into the interior of the palm base.

[0017] Compared with the prior art, the present application has the following beneficial effects: (1) The robot dexterous hand structure based on intelligent control realizes high load and high efficient transmission, adopts optimized mechanical connecting rod design, compared with the tendon and gear transmission scheme, has stronger anti-load capacity (up to 10N dynamic grip) and higher transmission efficiency, and avoids the problems of elastic deformation of the tendon scheme and complex structure of the gear scheme; Precise motion control, 12 degrees of freedom design is accurately driven by a servo cylinder, cooperates with a spring return mechanism, realizes 0.2mm fingertip repeat positioning accuracy, can complete fine grabbing and complex modeling action; Optimize the spatial layout, the unique connecting rod transmission structure makes the fingers can fully contact the palm, expand the working space and the range of grabbing.

[0018] (2) The robot dexterous hand structure based on intelligent control realizes multi-modal force feedback, integrates force sensors to realize accurate force feedback, can adjust the grabbing force in real time, reduces the operation error by 70%, is especially suitable for fragile object operation; Advanced motion programming, supports 30-step motion sequence programming, each step can be individually set angle, force, waiting time, can complete complex assembly process and standardized gesture display; Real-time state monitoring, the system can display joint angle, speed, force, temperature information synchronously, and intuitively presents current and force data through a column chart, which is convenient for fault diagnosis and performance optimization.

[0019] (3) The robot dexterous hand structure based on intelligent control, by setting the dust removal assembly, can be driven by the external rotating mechanism to rotate the mechanical hand assembly, utilize the relative rotary motion between the wrist inner shell and the linkage rod, and then utilize the linkage protrusion to repeatedly extrude the expansion and contraction air bag, so that the expansion and contraction air bag transports the gas to the dust removal air pipe, and then the dust removal air pipe inputs the air to the inside of the palm base, so that the dust removal operation of the inside of the mechanical hand shell is realized. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is the overall structure schematic diagram of the present application; Figure 2 It is the internal structure schematic diagram of the mechanical hand assembly of the present application; Figure 3 It is the internal structure schematic diagram of the palm base of the present application; Figure 4 It is the local structure schematic diagram of the fingertip of the present application; Figure 5 It is the local structure schematic diagram of the thumb shell of the present application; Figure 6 It is Figure 2 It is the enlarged structure schematic diagram of A in the figure; Figure 7 It is Figure 3 It is the enlarged structure schematic diagram of B in the figure; Figure 8It is a schematic diagram of a partial front cross-section structure of the dust removal component of the present invention; Figure 9 for Figure 8 Schematic diagram of the enlarged structure at C in the middle; In the figure: 1. Mounting base; 2. Manipulator assembly; 3. Dust removal assembly; 4. Finger assembly; 5. Thumb assembly; 6. Wrist inner shell; 7. Linkage rod; 201, palm base; 202, first servo electric cylinder; 203, second servo electric cylinder; 204, palm shell; 205, back of hand shell; 301, linkage convex block; 302, telescopic airbag; 303, air intake pipe; 304, dust removal air pipe; 401, finger base fixing seat; 402, first movable push block; 403, first movable connecting rod; 404, knuckle seat; 405, fingertip; 406, finger housing; 407, reset torsion spring; 408, limit shaft; 501, finger base swivel seat; 502, second movable connecting rod; 503, thumb housing; 504, third servo electric cylinder; 505, third movable connecting rod; 506, thumb tip; 507, limit block; 508, second movable push block. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] See also Figures 1-9 The present invention provides a technical solution: a dexterous robotic hand structure based on intelligent control, comprising a mounting base 1, a manipulator assembly 2 disposed at the front end of the mounting base 1, and a dust removal assembly 3 disposed within the mounting base 1. The manipulator assembly 2 comprises a palm base 201, within which four first servo cylinders 202 and a second servo cylinder 203 are fixedly disposed, and four finger assemblies 4 and a thumb assembly 5 are rotatably disposed on the surface of the palm base 201. A third servo cylinder 504 is disposed within the thumb assembly 5, and a palm shell 204 and a back-of-hand shell 205 are mounted on the upper and lower surfaces of the palm base 201, respectively. A circuit board assembly is disposed within the palm base 201 for receiving control signals and outputting drive signals to the servo cylinders. A signal transmission circuit is also disposed within the palm base 201 to ensure stable signal transmission, enabling the finger assemblies 4 and thumb assembly 5 to work together to achieve various functions such as grasping and shaping.

[0023] It is worth mentioning that the palm base 201 and the servo cylinder layout, the palm base 201 as the core component of the mechanical hand assembly 2, is fixedly provided with four first servo cylinders 202 and a second servo cylinder 203 inside. Through precise machining and installation, the stability and reliability of the servo cylinders inside the palm base 201 are ensured. The first servo cylinders 202 are responsible for driving the movement of the four finger assemblies 4, and the second servo cylinder 203 is responsible for driving the rotary movement of the thumb assembly 5.

[0024] The finger assembly 4 includes four finger root fixed seats 401 fixedly connected to the front end of the palm base 201. The surface of the finger root fixed seat 401 is rotatably connected with a first movable push block 402 through a rotating shaft, and the telescopic end of the first servo cylinder 202 is rotatably connected with the surface of the first movable push block 402. When the first servo cylinder 202 telescopes, it will push the first movable push block 402 to rotate around the rotating shaft, thereby driving the movement of the subsequent connecting rod and the fingertip.

[0025] It is worth mentioning that the surface of the finger root fixed seat 401 is also rotatably connected with a first movable connecting rod 403, which is located corresponding to the first movable push block 402. The first movable push block 402 will lap with the surface of the first movable connecting rod 403 during rotation, thereby pushing the first movable connecting rod 403 to rotate around its rotating shaft. The end of the first movable connecting rod 403 away from the finger root fixed seat 401 is rotatably connected with a knuckle seat 404, and the surface of the knuckle seat 404 is rotatably provided with a fingertip 405 through a limiting shaft 408. In this way, when the first movable connecting rod 403 rotates, it will drive the knuckle seat 404 and the fingertip 405 to bend or stretch.

[0026] It should be noted that in order to increase the flexibility and stability of the finger assembly 4, the surface of the first movable connecting rod 403 is covered with a finger shell 406. The surface of the limiting shaft 408 is sleeved with a reset torsional spring 407, one end of which is fixedly connected with the surface of the limiting shaft 408, and the other end is fixedly connected with the surface of the finger shell 406. When the fingertip 405 is bent by external force, the reset torsional spring 407 will generate elastic force, so that the fingertip 405 can automatically reset after the external force disappears.

[0027] It is worth mentioning that the thumb assembly 5 includes a finger root rotating seat 501 rotatably arranged on the side surface of the palm base 201. The surface of the finger root rotating seat 501 is rotatably connected with two second movable connecting rods 502, and the telescopic end of the second servo cylinder 203 is lapped with the inner side of the finger root rotating seat 501. When the second servo cylinder 203 telescopes, it will push the finger root rotating seat 501 to rotate on the surface of the palm base 201, thereby realizing the rotary movement of the thumb assembly 5.

[0028] A thumb shell 503 is fixedly installed on the surface of the finger root transducer 501, and a third servo cylinder 504 is fixedly installed inside the thumb shell 503. A third movable connecting rod 505 is rotatably arranged at the front end of the thumb shell 503, and a thumb tip 506 is rotatably connected to the end of the third movable connecting rod 505 away from the thumb shell 503. When the third servo cylinder 504 extends and retracts, it pushes the third movable connecting rod 505 to rotate around its rotation axis, thereby driving the thumb tip 506 to bend or stretch.

[0029] In order to limit the movement range of the third movable connecting rod 505, a limiting block 507 is fixedly arranged on the inner wall of the thumb shell 503. The position of the limiting block 507 corresponds to the third movable connecting rod 505, and when the third movable connecting rod 505 rotates to a certain angle, it will contact the limiting block 507, thereby limiting its further rotation.

[0030] In addition, the second movable push block 508 is rotatably connected to the extension end of the third servo cylinder 504. The end of the second movable connecting rod 502 away from the finger root transducer 501 is rotatably connected to the surface of the second movable push block 508. When the third servo cylinder 504 extends and retracts, it pushes the second movable push block 508 to rotate around its rotation axis, thereby driving the finger root transducer 501 to fine-tune movement through the second movable connecting rod 502. At the same time, the position of the second movable push block 508 corresponds to the third movable connecting rod 505, and when the second movable push block 508 rotates, it will lap with the surface of the third movable connecting rod 505, thereby assisting its bending or stretching movement.

[0031] It should be noted that the signal transmission and intelligent control, the inside of the palm base 201 is provided with a circuit board assembly, which is used for receiving control signals from an external controller, and converting these signals into driving signals of servo cylinders. In order to ensure stable transmission of signals, the inside of the palm base 201 is also provided with signal transmission lines. These lines are led out from the circuit board assembly and connected to the terminal of each servo cylinder through a specific path.

[0032] Through intelligent control technology, precise control of the mechanical hand assembly 2 can be realized. The controller sends control signals to the circuit board assembly according to the preset action sequence and parameters. After receiving the signals, the circuit board assembly converts them into driving signals of servo cylinders, and transmits them to each servo cylinder through the signal transmission line. The servo cylinder extends and retracts according to the received driving signal, thereby driving the finger assembly 4 and the thumb assembly 5 to work cooperatively, realizing various functions such as grasping and modeling.

[0033] It is worth mentioning that the inside of the mounting seat 1 is provided with a dust removal assembly 3 for dust removal operation of the mechanical hand assembly 2. The dust removal assembly 3 includes two telescopic air bags 302 fixedly connected to the inner side wall of the mounting seat 1, and two linkage protrusions 301 symmetrically arranged on the surface of the linkage rod 7. The two telescopic air bags 302 are staggered and symmetrically distributed around the linkage rod 7.

[0034] The surface of the mounting seat 1 is fixedly provided with a wrist inner shell 6, and the tail of the wrist inner shell 6 is fixedly connected with an external rotating mechanism. When the external rotating mechanism drives the mechanical hand assembly 2 to rotate, the wrist inner shell 6 is also driven to rotate. Since the linkage rod 7 is rotationally connected to the inner wall of the mounting seat 1, relative rotational motion will occur between the wrist inner shell 6 and the linkage rod 7.

[0035] It is worth mentioning that the positions of the linkage protrusions 301 correspond to the telescopic air bags 302. When the linkage rod 7 rotates, the linkage protrusions 301 repeatedly press the telescopic air bags 302. The surface of the telescopic air bag 302 is fixedly embedded with an air inlet pipe 303, and the surface of the air inlet pipe 303 is provided with a one-way air inlet valve. When the telescopic air bag 302 is pressed, the one-way air inlet valve will open to allow external air to enter the inside of the telescopic air bag 302. At the same time, the surface of the telescopic air bag 302 is provided with a dust removal air pipe 304, and the output end of the dust removal air pipe 304 extends to the inside of the palm base 201. When the gas pressure inside the telescopic air bag 302 reaches a certain degree, the gas will be delivered to the inside of the palm base 201 through the dust removal air pipe 304, thereby realizing dust removal operation of the mechanical hand assembly 2.

[0036] Working principle: In use, the core of the mechanical hand assembly 2 is the palm base 201, four first servo cylinders 202 are arranged inside the palm base 201 to drive the finger assembly 4, through the linkage of the first movable push block 402 and the first movable connecting rod 403, to drive the knuckle seat 404 to complete a bending action with a precision of 0.2mm, and the reset torsional spring 407 ensures the action reset; the thumb assembly 5 is driven by the second servo cylinder 203 to rotate the finger root rotating seat 501, and the third servo cylinder 504 controls the movement of the thumb tip 506 through the second movable push block 508, forming a 12-degree-of-freedom cooperative operation capability. The intelligent control system processes force feedback signals in real time through the circuit board in the palm base 201, dynamically adjusts the extension amount and speed of the servo cylinder, and realizes adaptive gripping with a resolution of 0.5N. The dust removal assembly 3 utilizes the periodic pressing of the linkage protrusions 301 on the telescopic air bags 302 when the linkage rod 7 rotates to generate directional airflow through the dust removal air pipe 304 to remove dust accumulated in the mechanical structure, thereby ensuring long-term stable operation. The whole system supports 30-step action programming and can complete complex assembly tasks in an environment of-10℃ to 60℃.

[0037] The standard parts used in the present application can be purchased from the market, and the special-shaped parts can be ordered according to the description and the drawings, the specific connection mode of each part adopts the conventional means such as bolts, rivets and welding in the prior art, the machinery, parts and equipment adopt the conventional type in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, which will not be described in detail here. The contents not described in detail in the specification belong to the prior art known to those skilled in the art.

[0038] The above describes the present application and its embodiments, which is not limited, and the drawings only show one of the embodiments of the present application, and the actual structure is not limited thereto. In summary, if a person skilled in the art is inspired, without departing from the purpose of the present application, without creative design, similar structure and embodiments of the technical solution, which should belong to the protection scope of the present application.

Claims

1. A robot dexterous hand structure based on intelligent control, comprising a mounting base (1), characterized in that: A manipulator assembly (2) is provided at the front end of the mounting seat (1), and a dust removal assembly (3) is provided inside the mounting seat (1); The manipulator assembly (2) comprises a palm base (201), four first servo electric cylinders (202) and a second servo electric cylinder (203) are fixedly arranged inside the palm base (201), four finger assemblies (4) and a thumb assembly (5) are rotatably arranged on the surface of the palm base (201), a third servo electric cylinder (504) is arranged inside the thumb assembly (5), and a palm shell (204) and a back-of-hand shell (205) are respectively installed on the upper and lower surfaces of the palm base (201); A circuit board assembly is provided inside the palm base (201), and the circuit board assembly is used to receive a control signal and output a drive signal to the servo electric cylinder; A signal transmission line is provided inside the palm base (201), which is led out from the circuit board assembly and connected to the servo electric cylinder via a specific path, thereby ensuring stable signal transmission, enabling the finger assembly (4) and the thumb assembly (5) to work in coordination and realize various functions such as grasping and shaping.

2. The intelligent control-based dexterous robot hand structure according to claim 1, characterized in that: The finger assembly (4) comprises four finger base fixing seats (401) fixedly connected to the front end of the palm base (201); the surface of the finger base fixing seat (401) is rotatably connected to the first movable push block (402) via a rotating shaft; and the telescopic end of the first servo electric cylinder (202) is rotatably connected to the surface of the first movable push block (402).

3. The intelligent control-based dexterous robot hand structure according to claim 2, characterized in that: The surface of the finger base fixing seat (401) is rotatably connected to a first movable link (403), the position of the first movable link (403) corresponds to the first movable push block (402), and the first movable push block (402) overlaps the surface of the first movable link (403), and the end of the first movable link (403) away from the finger base fixing seat (401) is rotatably connected to a knuckle seat (404), and the surface of the knuckle seat (404) is rotatably provided with a fingertip (405) via a limiting shaft (408).

4. The intelligent control-based dexterous robot hand structure according to claim 3, characterized in that: The surface cover of the first movable link (403) is provided with a finger housing (406), the surface of the limiting shaft (408) is sleeved with a return torsion spring (407), one end of the return torsion spring (407) is fixedly connected to the surface of the limiting shaft (408), and the other end of the return torsion spring (407) is fixedly connected to the surface of the finger housing (406).

5. The intelligent control-based dexterous robot hand structure according to claim 4, characterized in that: The thumb assembly (5) includes a finger base rotating seat (501) rotatably arranged on the side of the palm base (201), the surface of the finger base rotating seat (501) is rotatably connected to two second movable connecting rods (502), the telescopic end of the second servo electric cylinder (203) is overlapped with the inner side of the finger base rotating seat (501), and the second servo electric cylinder (203) is used to push the finger base rotating seat (501) to rotate on the surface of the palm base (201).

6. The intelligent control-based dexterous robot hand structure according to claim 5, characterized in that: A thumb housing (503) is fixedly mounted on the surface of the finger base rotating seat (501), the third servo electric cylinder (504) is fixedly mounted inside the thumb housing (503), a third movable link (505) is rotatably provided at the front end of the thumb housing (503), and the end of the third movable link (505) away from the thumb housing (503) is rotatably connected to the thumb tip (506).

7. The intelligent control-based dexterous robot hand structure according to claim 6, characterized in that: A limit stopper (507) is fixedly provided on the inner wall of the thumb housing (503), the position of the limit stopper (507) corresponds to the third movable link (505), and the limit stopper (507) is used to limit the third movable link (505).

8. The intelligent control-based dexterous robot hand structure according to claim 7, characterized in that: The telescopic end of the third servo electric cylinder (504) is rotatably connected to the second movable push block (508), and the end of the second movable link (502) away from the finger root rotating seat (501) is rotatably connected to the surface of the second movable push block (508), the position of the second movable push block (508) corresponds to the third movable link (505), and the second movable push block (508) overlaps the surface of the third movable link (505).

9. The intelligent control-based dexterous robot hand structure according to claim 8, characterized in that: A wrist inner shell (6) is fixedly arranged on the surface of the mounting seat (1), the tail of the wrist inner shell (6) is fixedly connected to an external rotating mechanism, the inner wall of the mounting seat (1) is rotatably connected to a linkage rod (7), and the dust removal component (3) comprises two linkage protrusions (301) fixedly symmetrically arranged on the surface of the linkage rod (7), and two telescopic airbags (302) fixedly connected to the inner side wall of the mounting seat (1), and the two telescopic airbags (302) and the linkage protrusions (301) are staggered and symmetrically distributed around the linkage rod (7).

10. The intelligent control-based dexterous robot hand structure according to claim 9, characterized in that: The position of the linkage protrusion (301) corresponds to the telescopic airbag (302); an air intake pipe (303) is fixedly embedded on the surface of the telescopic airbag (302); a one-way air intake valve is provided on the surface of the air intake pipe (303); a dust removal air pipe (304) is provided on the surface of the telescopic airbag (302); an output end of the dust removal air pipe (304) extends to the interior of the palm base (201).

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