dexterous hand

Abstract

The application discloses a dexterous hand, and relates to the technical field of dexterous hands, wherein the dexterous hand comprises a palm, fingers and an electric control assembly; the palm comprises a palm shell and a mounting seat; a swing driving element is arranged in a palm space in the palm shell; the mounting seat is arranged to swing around a first axis in the width direction of the palm; the mounting seat is provided with a palm passage for wires, and the axis of the palm passage for wires is coaxial with the first axis or intersects with the first axis, and the intersection point is located at the end of the passage; the finger roots are mounted on the palm through the mounting seat, and the finger roots are provided with functional components; the electric control assembly comprises a general control panel in the palm space and a conductive wire harness; the conductive wire harness is sequentially arranged through the fingers, the mounting seat and the palm shell to connect the general control panel and the functional components, and part of the conductive wire harness is arranged through the palm passage for wires. The technical scheme provided by the application can avoid repeatedly stretching, bending or twisting of the wire harness during the swinging of the dexterous hand.

Description

Technical Field

[0001] This invention relates to the field of dexterity technology, and particularly to a dexterity hand. Background Technology

[0002] As the core execution component for robots to interact with their external environment, the performance of the humanoid dexterous hand directly determines the robot's ability to perform fine operations and complex movements. The palm, as the core supporting component of the dexterous hand, not only needs to provide a stable mounting base for the fingers, but also needs to integrate core control and power components such as the main control board and drive units. Simultaneously, it needs to ensure the electrical connection between the fingers and the main control board to guarantee the normal operation of functional components within the fingers (such as position sensors, force sensors, and drive units).

[0003] To enable flexible finger movement, a wiring structure is typically installed between the palm and fingers of a dexterous hand. This structure allows conductive wires connecting the electronic control components and the functional components of the fingers to pass through, ensuring stable transmission of power and control signals. Currently, the conventional wiring structure design involves creating a wiring channel on the back of the finger. This channel connects to the mounting space inside the palm. The conductive wires are led out from inside the finger, pass through the wiring channel on the back of the finger, and extend into the palm, where they establish an electrical connection with the main control board and other electronic control components.

[0004] However, when the fingers of a dexterous hand move along the width of the palm, the relative position between the fingers and the palm changes. Since the existing wiring channels are located on the back of the fingers, their axes are usually offset from the finger's movement axis. This causes the conductive wires running through the channels to be repeatedly stretched, bent, or twisted with the finger's movement. This repeated stretching and bending causes frequent changes in the length of the conductive wires. Over time, this can lead to fatigue wear, insulation damage, and even breakage of the internal wires, resulting in electrical connection failure between the electronic control components and the finger's functional components. Consequently, the dexterous hand's finger movements become uncontrollable, preventing it from completing tasks properly. Furthermore, the tensile force and bending resistance generated during the movement of the conductive wires increase the load on the fingers, affecting their flexibility and accuracy, thus limiting the application of dexterous hands in high-precision operation scenarios. Summary of the Invention

[0005] The main objective of this invention is to provide a dexterous hand that avoids the wire harness being repeatedly stretched, bent, or twisted during the swinging process of the dexterous hand.

[0006] To achieve the above objectives, the present invention provides a dexterous hand comprising:

[0007] The palm includes a palm shell and a mounting base. The mounting base is located on the top of the palm shell. The palm shell has a palm space inside. The palm space has a swing drive component. The swing drive component is driven to connect with the mounting base to drive the mounting base to swing around a first axis in the width direction of the palm. The mounting base has a palm wire passage. The axis of the palm wire passage is configured to be the same as the first axis, or the axis of the palm wire passage intersects the first axis, and the intersection point is located at the end of the palm wire passage.

[0008] The finger, the base of which is mounted to the palm via the mounting base, and the finger contains functional components;

[0009] An electronic control assembly includes a main control board and a conductive wire harness. The main control board is located in the palm space, and the conductive wire harness passes sequentially through the finger, the mounting base, and the palm shell to electrically connect the main control board and the functional components. A portion of the conductive wire harness passes through the palm wire passage.

[0010] In one embodiment, the dexterous hand further includes a speed reducer, which includes a worm and a helical gear shaft. The worm is driven to the output shaft of the oscillating drive. The helical gear shaft includes a mounting portion and a gear portion disposed in the mounting portion. The gear portion meshes with the worm at an intersecting axis. A threading channel is provided in the mounting portion. The threading channel passes through opposite end faces of the mounting portion along the axial direction of the gear portion. The mounting base is connected to opposite ends of the mounting portion. The axis of the threading channel and the axis of the palm threading channel are configured to be the same axis. The threading channel communicates with the palm threading channel.

[0011] In one embodiment, the mounting base further includes a wire hole that extends obliquely toward one of the back of the hand and the palm side in a direction from the top to the bottom of the mounting base, and the conductive wire bundle passes through the wire hole and the palm wire passage in sequence within the mounting base.

[0012] In one embodiment, the palm-mounted wire passage extends through the mounting base, and the wire hole extends obliquely toward one of the back of the hand and the palm side to communicate with the outside. The conductive wire bundle extends out from the base of the finger and passes through the wire hole from the back of the hand or the palm side, and extends obliquely toward the direction of the palm-mounted wire passage to enter the palm-mounted wire passage, and extends out of the mounting base from the other side through the palm-mounted wire passage.

[0013] In one embodiment, the palm housing is provided with a wire harness through hole, which is located near the mounting base. The conductive wire harness passes through the palm wire passage and extends in the direction of the wire harness through hole, and extends into the palm space through the wire harness through hole.

[0014] In one embodiment, the top of the mounting base is provided with two connecting brackets opposite each other in the width direction of the palm, the connecting brackets being rotatably connected to the fingers about a second axis, the second axis being perpendicular to the first axis; the bottom of the mounting base is provided with two mounting brackets opposite each other in the thickness direction of the palm, the mounting brackets being rotatably connected to the palm shell about the first axis.

[0015] In one embodiment, the connecting bracket is provided with a clearance hole, the wire hole is connected to the wall of the clearance hole, the axis of the clearance hole is configured to be the same axis as the rotation axis of the finger root, the conductive wire bundle extends from the finger root into the clearance hole along the axial direction of the clearance hole, and extends into the wire hole within the clearance hole.

[0016] In one embodiment, the mounting base includes a first base structure and a second base structure. The first base structure includes a connecting bracket and a mounting bracket, and the second base structure includes another connecting bracket and another mounting bracket. The opposite sides of the first base structure and the second base structure are provided with interlocking plug blocks and corresponding plug slots.

[0017] In one embodiment, the reducer further includes a transmission housing, which has a mounting cavity and two clearance holes communicating with the mounting cavity. The worm gear and the helical gear shaft are both located in the mounting cavity, and the mounting part is exposed in the two clearance holes. The mounting bracket is fixedly connected to the mounting part through the clearance holes, and the transmission housing is fixedly connected to the palm housing.

[0018] In one embodiment, the functional component includes a rotation drive that drives the knuckle of the finger to rotate about the second axis.

[0019] The technical solution of this invention configures the palm-mounted wire passage and the first axis coaxially or with their intersection point at the end of the palm-mounted wire passage. This allows the conductive wire bundle passing through it to rotate only around the first axis as the finger moves, ensuring that the length of the conductive wire bundle within the mounting base remains unchanged. This avoids the stretching, bending, and torsion of the conductive wire bundle during the finger's movement around the first axis, guaranteeing long-term stable electrical connection. Simultaneously, the absence of stretching and bending resistance in the conductive wire bundle directly reduces the load on the finger's movement around the first axis, making the movement smoother and improving the dexterity and precision of the hand, thus adapting to high-precision operation scenarios. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of an embodiment of the dexterous hand provided by the present invention;

[0022] Figure 2 for Figure 1 A schematic diagram of the hand structure in the embodiment shown;

[0023] Figure 3 for Figure 1 A cross-sectional view of the palm in the illustrated embodiment;

[0024] Figure 4 for Figure 1 Another cross-sectional view of the palm in the illustrated embodiment;

[0025] Figure 5 for Figure 1 An exploded view of the palm in the illustrated embodiment;

[0026] Figure 6 for Figure 1 A cross-sectional view of the speed reducer in the illustrated embodiment;

[0027] Figure 7 for Figure 1 Exploded view of the mounting base in the illustrated embodiment;

[0028] Figure 8 for Figure 1 Another exploded view of the mounting base in the illustrated embodiment;

[0029] Figure 9 for Figure 1 The diagram shows the structure of the speed reducer in the embodiment shown.

[0030] Figure 10 for Figure 1 Another structural schematic diagram of the speed reducer in the illustrated embodiment.

[0031] Explanation of icon numbers:

[0032] 100. Hand; 11. Hand shell; 111. Hand space; 112. Wire harness through hole; 12. Mounting base; 121. Hand wire passage; 122. Wire hole; 123. Connecting bracket; 124. Clearance hole; 125. Mounting bracket; 126. First base structure; 127. Second base structure; 128. Plug block; 129. Plug slot; 13. Oscillating drive component; 14. Reducer; 141. Worm gear; 142. Helical gear shaft; 143. Wire passage; 144. Mounting part; 145. Gear part; 146. Transmission housing; 147. Clearance through hole; 148. Mounting cavity;

[0033] 200. Finger; 21. Functional component; 211. Rotation drive; 212. Sensor;

[0034] 300. Electrical control components; 31. Conductive wire harness.

[0035] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0037] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0038] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0039] This invention proposes a dexterous hand.

[0040] Please see Figures 1 to 10 In one embodiment of the present invention, the dexterous hand includes:

[0041] The palm 100 includes a palm shell 11 and a mounting base 12. The mounting base 12 is located on the top of the palm shell 11. The palm shell 11 has a palm space 111. The palm space 111 has a swing drive 13. The swing drive 13 is driven to the mounting base 12 to drive the mounting base 12 to swing around a first axis in the width direction of the palm 100. The mounting base 12 has a palm wire passage 121. The axis of the palm wire passage 121 is configured to be the same as the first axis, or the axis of the palm wire passage 121 intersects the first axis, and the intersection point is located at the end of the palm wire passage 121.

[0042] The finger 200 has its base mounted on the palm 100 via a mounting base 12, and the finger 200 contains a functional component 21.

[0043] The electronic control component 300 includes a main control board and a conductive wire harness 31. The main control board is located in the palm space 111. The conductive wire harness 31 passes through the finger 200, the mounting base 12 and the palm shell 11 in sequence to electrically connect the main control board and the functional component 21. A portion of the conductive wire harness 31 passes through the palm wire passage 121.

[0044] The technical solution of this invention configures the palm-mounted wire passage 121 and the first axis coaxially or with the intersection point at the end of the palm-mounted wire passage 121. This allows the conductive wire bundle 31, which runs through it, to rotate only around the first axis when the finger 200 swings. This ensures that the length of the conductive wire bundle 31 within the mounting base 12 remains unchanged, avoiding the stretching, bending, and torsion of the conductive wire bundle 31 during the finger 200's swing around the first axis, thus guaranteeing long-term stable electrical connection. Simultaneously, the absence of stretching and bending resistance in the conductive wire bundle 31 directly reduces the load on the finger 200's swing around the first axis, making the swinging motion smoother and improving the dexterity and precision of the hand, making it suitable for high-precision operation scenarios.

[0045] Please see Figure 3 , Figure 6In one embodiment, the dexterous hand further includes a reducer 14, which includes a worm 141 and a helical gear shaft 142. The worm 141 is driven to the output shaft of the swing drive 13. The helical gear shaft 142 includes a mounting portion 144 and a gear portion 145 disposed on the mounting portion 144. The gear portion 145 meshes with the worm 141 at an axial intersection. A wire-passing channel 143 is provided in the mounting portion 144. The wire-passing channel 143 passes through the opposite end faces of the mounting portion 144 along the axial direction of the gear portion 145. The mounting base 12 is connected to the opposite ends of the mounting portion 144. The axis of the wire-passing channel 143 is configured to be the same axis as the axis of the palm wire-passing channel 121. The wire-passing channel 143 is connected to the palm wire-passing channel 121. The worm gear 141 transmission features a large transmission ratio and good self-locking properties, effectively improving the stability of the mounting base 12's swing and preventing the finger 200 from swaying or deflecting, thus preventing additional bending and pulling of the wire harness due to unexpected finger movements. Simultaneously, the high meshing precision of the worm gear 141 and gear 145 further enhances the control precision of the finger 200's swing. The wire passage 143 is coaxial and connected to the palm wire passage 121, allowing the conductive wire harness 31 to extend along the first axis throughout its path from the mounting base 12 to the mounting section 144, achieving continuous coaxial wiring. The mounting base 12 and mounting section 144 are connected at both ends, forming symmetrical support on both sides of the mounting base 12, improving the coaxiality of the mounting base 12 during swing, ensuring the wire harness always rotates regularly around the first axis, further reducing uneven stress and wear risk on the conductive wire harness 31. The reducer 14 integrates the transmission function and the wire-passing function, eliminating the need for an additional wire-passing structure and significantly saving palm space 111, thus meeting the miniaturization design requirements of dexterous hands. In other embodiments, the dexterous hand may not have a worm gear 141 transmission structure.

[0046] Please see Figure 4 In one embodiment, the mounting base 12 further includes a wire hole 122, which extends obliquely towards either the back of the hand or the palm side in the direction from the top to the bottom of the mounting base 12. Within the mounting base 12, the conductive wire harness 31 passes sequentially through the wire hole 122 and the palm-mounted wire passage 121. The wire hole 122 deflects the routing direction of the conductive wire harness 31 towards the side of the reducer 14, allowing the harness to bypass the reducer 14 from the outside, thus achieving physical isolation from the reducer 14 and preventing the conductive wire harness 31 from interfering with the reducer 14. In other embodiments, the wire hole 122 may be omitted, and the conductive wire harness 31 extends from the outer wall of the mounting base 12 to the palm-mounted wire passage 121.

[0047] Please see Figure 3 , Figure 6In one embodiment, the palm-mounted wire passage 121 extends through the mounting base 12. The wire hole 122 extends obliquely towards either the back of the hand or the palm side to communicate with the outside. The conductive wire harness 31 extends from the base of the fingers and passes through the wire hole 122 from either the back of the hand or the palm side, then extends obliquely towards the direction of the palm-mounted wire passage 121 until it enters the palm-mounted wire passage 121, and then extends out of the mounting base 12 from the other side through the palm-mounted wire passage 121. The conductive wire harness 31 passes through the wire hole 122 towards either the back of the hand or the palm side, and then extends obliquely into the palm-mounted wire passage 121, avoiding the reducer 14 below the mounting base 12 throughout the entire process, completely eliminating the interference of the wire harness on the transmission components, and ensuring smooth and uninterrupted transmission of the worm gear 141. Meanwhile, the wiring harness's "side-in, side-out" routing method features a smooth, sloping transition without any right-angle bends or inflections. When the finger 200 swings, the harness only rotates regularly around the first axis, further reducing fatigue and wear. The through-type palm-mounted wiring channel 121 allows the harness to freely exit from both sides of the mounting base 12, adapting to the layout of the reducer 14 in the palm space 111, making the overall structure more compact and meeting the miniaturization requirements of dexterous hands. In other embodiments, the palm-mounted wiring channel 121 may not penetrate the mounting base 12, and the wire hole 122 may not extend out of the mounting base 12. That is, within the mounting base 12, the wire hole 122 facilitates the intersection and connection of the palm-mounted wiring channel 121, allowing the conductive harness 31 to enter the palm-mounted wiring channel 121 within the mounting base 12.

[0048] Please see Figure 5 In one embodiment, the palm housing 11 is provided with a wiring harness through-hole 112, which is located near the mounting base 12. The conductive wire harness 31 extends from the palm wiring channel 121 towards the wiring harness through-hole 112 and enters the palm space 111 through the through-hole 112. This allows the conductive wire harness 31 to directly and quickly enter the palm space 111 inside the palm 100 via the wiring harness through-hole 112 after exiting the palm wiring channel 121, avoiding any shifting or shaking of the wire harness within the gap. Furthermore, the proximity of the wiring harness through-hole 112 to the mounting base 12 significantly shortens the exposed length of the wire harness. Simultaneously, the fixed wiring path ensures that the conductive wire harness 31 always maintains a safe distance from the reducer 14, eliminating the risk of the wire harness entanglement with the transmission components and guaranteeing the smoothness of the worm gear 141 transmission and the stability of the electrical connection. In other embodiments, the wire harness via 112 may be positioned close to the main control board so that the conductive wire harness 31 can be precisely aligned with the main control board.

[0049] Please see Figures 2 to 8In one embodiment, the top of the mounting base 12 is provided with two connecting brackets 123 opposite to each other in the width direction of the palm 100. The connecting brackets 123 are rotatably connected to the fingers 200 around a second axis, which is perpendicular to the first axis. The bottom of the mounting base 12 is provided with two mounting brackets 125 opposite to each other in the thickness direction of the palm 100. The mounting brackets 125 are rotatably connected to the palm shell 11 around the first axis. The double mounting brackets 125 at the bottom provide symmetrical and balanced support for the mounting base 12, effectively ensuring the coaxiality of the mounting base 12 when it swings around the first axis and preventing the mounting base 12 from tilting or shifting. The double connecting brackets 123 at the top symmetrically support the fingers 200, ensuring the stability of the fingers 200 when they flex and extend around the second axis, and also preventing the swaying of the wiring harness caused by the swaying of the fingers 200. In other embodiments, the mounting brackets 125 may not be provided.

[0050] Please see Figure 4 , Figure 7 In one embodiment, the connecting bracket 123 is provided with a clearance hole 124, and the wire hole 122 communicates with the wall of the clearance hole 124. The axis of the clearance hole 124 is configured to be the same axis as the rotation axis of the finger root. The conductive wire bundle 31 extends from the finger root into the clearance hole 124 along the axial direction of the clearance hole 124, and extends into the wire hole 122 within the clearance hole 124. The clearance hole 124 is coaxial with the second axis. When the finger 200 flexes and extends around the second axis, the wire bundle will rotate synchronously with the finger 200 without stretching, bending, or offset, ensuring that the wire bundle is always in the exclusive channel formed by the clearance hole 124 and the wire hole 122, and will not be stretched or stacked due to the flexion and extension of the finger 200. Furthermore, the clearance hole 124 provides precise positioning for the conductive wire harness 31, preventing friction between the conductive wire harness 31 and the rotating mating surface of the connecting bracket 123, thus protecting the insulation layer of the conductive wire harness 31. In addition, the connection between the clearance hole 124 and the wire hole 122 allows for neater routing of the conductive wire harness 31, reducing the space occupied by the conductive wire harness 31 at the connecting bracket 123 and preventing secondary interference between the conductive wire harness 31 and surrounding components of the connecting bracket 123. This ensures smooth transmission of the worm gear 141 and extends the service life of the conductive wire harness 31. In other embodiments, the wire hole 122 may not be connected to the wall of the clearance hole 124, with one end of the wire hole 122 located on the side wall of the mounting base 12 with the clearance hole 124.

[0051] Please see Figure 7 , Figure 8In one embodiment, the mounting base 12 includes a first base structure 126 and a second base structure 127. The first base structure 126 includes a connecting bracket 123 and a mounting bracket 125, and the second base structure 127 includes another connecting bracket 123 and another mounting bracket 125. The opposite sides of the first base structure 126 and the second base structure 127 are alternately provided with insertion blocks 128 and insertion slots 129 corresponding to the insertion blocks 128. This split-type structural design facilitates the separate processing of the first and second bases, simplifying the processing difficulty of the mounting base 12. The first and second mounting bodies are joined together by staggered insertion blocks 128 and insertion slots 129, enabling precise positioning and ensuring the coaxiality of the two mounting bodies after joining. The joining structure also increases the strength of the mounting base 12, reducing the stress on the bolts when the mounting bracket 125 is bolted to the helical gear shaft 142, and when the connecting bracket 123 is bolted to the finger 200, thus preventing the mounting base 12 from loosening, deforming, or shifting. In other embodiments, the mounting base 12 can also be an integrated structure.

[0052] Please see Figure 6 , Figure 10 In one embodiment, the reducer 14 is further provided with a transmission housing 146. The transmission housing 146 is provided with a mounting cavity 148 and two clearance holes 147 communicating with the mounting cavity 148. The worm gear 141 and the helical gear shaft 142 are both provided in the mounting cavity 148, and the mounting part 144 is exposed in the two clearance holes 147. The mounting bracket 125 is fixedly connected to the mounting part 144 through the clearance holes 147. The transmission housing 146 is fixedly connected to the palm housing 11. The transmission housing 146 is fixedly connected to the palm housing 11, which can firmly fix the position of the reducer 14, prevent the transmission mechanism from shifting or moving during operation, and prevent the transmission components from shifting and approaching the conductive wire harness 31, further enhancing the interference avoidance effect. The two clearance holes 147 on the transmission housing 146 precisely expose the mounting part 144, so that the mounting bracket 125 can be precisely fixedly connected to the mounting part 144 through the clearance holes 147, ensuring the coaxiality of the mounting base 12 and the mounting part 144, thereby ensuring the coaxiality of the palm wire passage 121 and the wire threading passage 143, so that the wiring of the conductive wire harness 31 always remains neat and avoids the conductive wire harness 31 from shifting due to coaxiality deviation. In addition, the sealing structure of the transmission housing 146 can prevent dust and impurities from entering the transmission mating surface, improving the stability and service life of the worm gear 141 transmission; at the same time, the transmission housing 146 itself can also provide additional physical protection for the conductive wire harness 31, preventing external forces from squeezing the conductive wire harness 31 and causing it to shift, further ensuring the interference avoidance effect and electrical connection stability. In other embodiments, the transmission housing 146 may not be provided.

[0053] Please see Figure 4In one embodiment, functional component 21 includes a rotation drive 211 that drives the knuckles of finger 200 to rotate about a second axis. Both the rotation drive 211 and the sensor 212 are electrically connected to the main control board via a conductive wiring harness 31. Further, functional component 21 also includes a sensor 212, which is disposed on the fingertip side of each knuckle of finger 200, and a rotation drive 211 is provided within each knuckle. In other embodiments, functional component 21 may not include the sensor 212.

[0054] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A dexterous hand, characterized in that, include: The palm includes a palm shell and a mounting base. The mounting base is located on the top of the palm shell. The palm shell has a palm space inside. The palm space has a swing drive component. The swing drive component is driven to connect with the mounting base to drive the mounting base to swing around a first axis in the width direction of the palm. The mounting base has a palm wire passage. The axis of the palm wire passage is configured to be the same as the first axis, or the axis of the palm wire passage intersects the first axis, and the intersection point is located at the end of the palm wire passage. The finger, the base of which is mounted to the palm via the mounting base, and the finger contains functional components; An electronic control component includes a main control board and a conductive wire harness. The main control board is located in the palm space. The conductive wire harness passes through the finger, the mounting base and the palm shell in sequence to electrically connect the main control board and the functional component. A portion of the conductive wire harness passes through the palm wire passage channel. The dexterous hand also includes a speed reducer, which includes a worm and a helical gear shaft. The worm is driven to the output shaft of the oscillating drive. The helical gear shaft includes a mounting part and a gear part disposed in the mounting part. The gear part meshes with the worm at an intersecting axis. A threading channel is provided in the mounting part. The threading channel passes through the opposite end faces of the mounting part along the axial direction of the gear part. The mounting base is connected to the opposite ends of the mounting part. The axis of the threading channel and the axis of the palm threading channel are configured to be the same axis. The threading channel is connected to the palm threading channel.

2. The dexterous hand as described in claim 1, characterized in that, The mounting base also includes a wire hole that extends obliquely toward one of the back of the hand and the palm side in the direction from the top to the bottom of the mounting base. Within the mounting base, the conductive wire bundle passes through the wire hole and the palm wire passage in sequence.

3. The dexterous hand as described in claim 2, characterized in that, The palm-mounted wire passage extends through the mounting base. The wire hole extends obliquely towards one of the back of the hand and the palm side to communicate with the outside. The conductive wire bundle extends out from the base of the finger and passes through the wire hole from the back of the hand or the palm side. It then extends obliquely towards the direction of the palm-mounted wire passage to enter the palm-mounted wire passage and extends out of the mounting base from the other side through the palm-mounted wire passage.

4. The dexterous hand as described in claim 3, characterized in that, The palm housing is provided with a wire harness through hole, which is located near the mounting base. The conductive wire harness extends from the palm wire passage towards the wire harness through hole and enters the palm space through the wire harness through hole.

5. The dexterous hand as described in claim 2, characterized in that, The top of the mounting base is provided with two connecting brackets that are opposite each other in the width direction of the palm. The connecting brackets are rotatably connected to the fingers about a second axis, which is perpendicular to the first axis. The bottom of the mounting base is provided with two mounting brackets that are arranged opposite each other in the thickness direction of the palm, and the mounting brackets are rotatably connected to the palm shell around the first axis.

6. The dexterous hand as described in claim 5, characterized in that, The connecting bracket is provided with a clearance hole, the wire hole is connected to the wall of the clearance hole, the axis of the clearance hole is configured to be the same axis as the rotation axis of the finger root, the conductive wire bundle extends from the finger root into the clearance hole along the axis of the clearance hole, and extends into the wire hole within the clearance hole.

7. The dexterous hand as described in claim 5, characterized in that, The mounting base includes a first base structure and a second base structure. The first base structure includes a connecting bracket and a mounting bracket. The second base structure includes another connecting bracket and another mounting bracket. The opposite sides of the first base structure and the second base structure are provided with interlocking plug blocks and corresponding plug slots.

8. The dexterous hand as described in claim 5, characterized in that, The reducer also includes a transmission housing, which has a mounting cavity and two clearance holes communicating with the mounting cavity. The worm and the helical gear shaft are both located in the mounting cavity, and the mounting part is exposed in the two clearance holes. The mounting bracket is fixedly connected to the mounting part through the clearance holes, and the transmission housing is fixedly connected to the palm housing.

9. The dexterous hand as described in claim 5, characterized in that, The functional component includes a rotation drive that drives the knuckles of the finger to rotate about the second axis.

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