A high-integration degree anthropomorphic robot based on piezoelectric driving

Abstract

The application discloses a high-integration degree humanoid manipulator based on piezoelectric driving and belongs to the field of robot actuators and advanced driving technologies. The manipulator has the characteristics of compact structure, light weight, high output performance and flexible movement, effectively solves the problems of large size and low integration degree of traditional humanoid manipulators caused by the dependence on electromagnetic motors and complex reduction mechanisms, and is suitable for robot fine operation scenes with high requirements for space, weight and operation precision.

Description

Technical Field

[0001] This invention relates to the field of robot actuators and advanced drive technology, and in particular to a highly integrated humanoid robotic hand based on piezoelectric drive. Background Technology

[0002] As a core component for robots to achieve precise manipulation, the compactness, lightweight design, and high output performance of humanoid robotic hands have always been challenging technological goals. While traditional electromagnetic motor-based drive solutions are relatively mature, their reliance on complex reduction and transmission mechanisms results in large system size and significant weight, making it difficult to arrange multi-degree-of-freedom drive units within limited space, thus limiting the biomimetic and integrated capabilities of the robotic hand. Emerging piezoelectric drive technology, while possessing inherent advantages such as high power density and direct drive, offering possibilities for miniaturized, highly dynamic robotic hands, current research largely remains at the principle verification stage. It generally suffers from problems such as separate placement of actuators and control units and a lack of integrated design, leading to low system integration and poor engineering practicality. A deep integration between piezoelectric drive performance and humanoid robotic hand structure has not yet been achieved. Therefore, current technology still lacks a comprehensive humanoid robotic hand solution that optimizes drive performance, structural compactness, system integration, and reliability. Summary of the Invention

[0003] This invention provides a highly integrated humanoid robotic hand based on piezoelectric actuation to solve the problems existing in current robotic hands. The technical means adopted by this invention are as follows:

[0004] A highly integrated humanoid robotic hand based on piezoelectric actuation consists of a palm, thumb, index finger, middle finger, ring finger, and little finger.

[0005] Furthermore, the palm portion of the present invention mainly includes an upper support base, a pulley support base, a first piezoelectric drive motor, a first driving pulley, a first synchronous belt, a first driven pulley, an adjusting connector, a fixed connecting plate, a second piezoelectric drive motor, a third piezoelectric drive motor, a fourth piezoelectric drive motor, a fifth piezoelectric drive motor, a sixth piezoelectric drive motor, a cross connector, a second driven pulley, a seventh piezoelectric drive motor, a second synchronous belt, a second driving pulley, an eighth piezoelectric drive motor, a ninth piezoelectric drive motor, a tenth piezoelectric drive motor, an eleventh piezoelectric drive motor, a twelfth piezoelectric drive motor, a thirteenth piezoelectric drive motor, a first pulley driven shaft, a palm first bearing, a first pulley drive motor, a rotating component, a second pulley driven shaft, a palm second bearing, a lower support base, and a second pulley drive motor;

[0006] The pulley support is bolted to the upper support. The first piezoelectric drive motor is bolted to the upper support. The second pulley drive motor is keyed to the first driving pulley. The first synchronous belt engages with the first driving pulley and the first driven pulley. The first driven pulley is keyed to the driven shaft of the second pulley. The adjusting connector is bolted to the fixed connecting plate. The fixed connecting plate is bolted to the lower support. The second piezoelectric drive motor is bolted to the lower support. The third piezoelectric drive motor... The fourth piezoelectric drive motor is bolted to the lower support base. The fifth piezoelectric drive motor is bolted to the lower support base. The sixth piezoelectric drive motor is bolted to a cross connector, which is bolted to the lower support base. The second driven pulley is keyed to the driven shaft of the first pulley. The second synchronous belt is engaged with the second driven pulley and the second driving pulley for transmission. The seventh piezoelectric drive motor is bolted to the upper support base. The first pulley drive motor is bolted to the... The pulley support is fixedly connected. The second drive pulley is fixed to the first pulley drive motor via a key connection. The first pulley drive motor is fixedly connected to the upper support by bolts. The eighth piezoelectric drive motor is fixedly connected to the lower support by bolts. The ninth, tenth, eleventh, and twelfth piezoelectric drive motors are fixedly connected to the upper support by bolts. The thirteenth piezoelectric drive motor is fixedly connected to the upper support by bolts. The motor is connected and fixed to the upper support base by bolts. The upper support base is installed and fixed to the first bearing of the palm by interference fit. The driven shaft of the first pulley is installed and fixed to the first bearing of the palm by interference fit. The rotating part is connected and fixed to the driven shaft of the first pulley by key. The driven shaft of the second pulley is connected and fixed to the lower support base by welding. The second bearing of the palm is connected and fixed to the lower support base by interference fit. The driven shaft of the second pulley is connected and fixed to the second bearing of the palm by interference fit. The second pulley drive motor is connected and fixed to the upper support base by bolts.

[0007] Furthermore, the thumb portion of the present invention mainly includes a thumb end member, a thumb middle connecting member, a thumb auxiliary connecting member, a thumb movable member, a thumb front end connecting member, a thumb front end support member, a thumb support member, a thumb front end pivot, a thumb first support pivot, a thumb second support pivot, a thumb end first pivot, a thumb end second pivot, a thumb middle pivot, a thumb movable pivot, a thumb front end pivot, a thumb first bearing assembly, a thumb second bearing assembly, a thumb third bearing assembly, a thumb fourth bearing assembly, a thumb fifth bearing assembly, a thumb sixth bearing assembly, a thumb seventh bearing assembly, a thumb eighth bearing assembly, a thumb ninth bearing assembly, a thumb tenth bearing assembly, a thumb eleventh bearing assembly, a thumb twelfth bearing assembly, a thumb thirteenth bearing assembly, and a thumb fourteenth bearing assembly;

[0008] The thumb tip component is connected and fixed to the tenth thumb bearing assembly via an interference fit. The second pivot of the thumb tip is connected and fixed to the tenth thumb bearing assembly via an interference fit. The ninth thumb bearing assembly is connected and fixed to the lower end of the thumb auxiliary connector via an interference fit. The second pivot of the thumb tip is connected and fixed to the ninth thumb bearing assembly via an interference fit. The lower end of the thumb middle connector is installed and fixed to the eighth thumb bearing assembly via an interference fit. The upper end of the thumb middle connector is connected and fixed to the sixth thumb bearing assembly via an interference fit. The thumb tip component is connected and fixed to the eighth thumb bearing assembly via an interference fit. The first pivot of the thumb tip... The thumb's distal sprocket is connected and fixed to the thumb's eighth bearing assembly via an interference fit. The thumb's distal sprocket is connected and fixed to the thumb's seventh bearing assembly via an interference fit. The lower end of the thumb's movable component is connected and fixed to the thumb's fifth bearing assembly via an interference fit. The thumb's middle sprocket is connected and fixed to the thumb's fifth bearing assembly via an interference fit. The thumb's middle sprocket is connected and fixed to the thumb's sixth bearing assembly via an interference fit. The thumb's movable sprocket is connected and fixed to the thumb's twelfth bearing assembly via an interference fit. The upper end of the thumb's auxiliary connector is connected and fixed to the thumb's eleventh bearing assembly via an interference fit. The thumb's movable sprocket is connected and fixed to the thumb's tenth bearing assembly via an interference fit. A bearing assembly is connected and fixed. The front end of the thumb movable part is connected and fixed to the twelfth thumb bearing assembly via an interference fit. The upper end of the thumb movable part is connected and fixed to the fourteenth thumb bearing assembly via an interference fit. The fourteenth thumb bearing assembly is connected to the thumb front pivot via an interference fit. The thumb front pivot is connected and fixed to the thirteenth thumb bearing assembly via an interference fit. The thumb front connector is connected and fixed to the thirteenth thumb bearing assembly via an interference fit. The thumb front connector is connected and fixed to the first thumb bearing assembly via an interference fit. The thumb front pivot is connected and fixed to the first thumb bearing assembly via an interference fit. The thumb support is connected and fixed to the second thumb bearing assembly via an interference fit. The thumb front support is connected and fixed to the second thumb bearing assembly via an interference fit. The thumb first support shaft is connected and fixed to the third thumb bearing assembly via an interference fit. The thumb front support is connected to the first thumb support shaft assembly via a snap ring. The upper end of the thumb support is connected and fixed to the third thumb bearing assembly via an interference fit. The lower end of the thumb support is connected and fixed to the fourth thumb bearing assembly via an interference fit. The thumb second support shaft is connected and fixed to the fourth thumb bearing assembly via an interference fit. The thumb second support shaft is connected to the middle thumb connector via a snap ring.

[0009] Furthermore, the index finger portion of the present invention mainly includes an index finger tip support member, an index finger support connector, an index finger middle support member, an index finger middle connector, an index finger tip member, an index finger tip connector, an index finger L-shaped connector, an index finger middle connector, an index finger T-shaped connector, an index finger tip connector, an index finger tip connector, an index finger tip connecting block, an index finger tip first pivot, an index finger tip second pivot, an index finger middle connector first pivot, an index finger middle connector second pivot, an index finger tip first pivot, an index finger tip second pivot, an index finger middle first pivot, an index finger middle second pivot, and an index finger middle portion... The third pivot, the third pivot at the tip of the index finger, the first bearing group of the index finger, the second bearing group of the index finger, the third bearing group of the index finger, the fourth bearing group of the index finger, the fifth bearing group of the index finger, the sixth bearing group of the index finger, the seventh bearing group of the index finger, the eighth bearing group of the index finger, the ninth bearing group of the index finger, the tenth bearing group of the index finger, the eleventh bearing group of the index finger, the twelfth bearing group of the index finger, the fourteenth bearing group of the index finger, the fifteenth bearing group of the index finger, the sixteenth bearing group of the index finger, the seventeenth bearing group of the index finger, the eighteenth bearing group of the index finger, the nineteenth bearing group of the index finger, the twentieth bearing group of the index finger, and the twenty-first bearing group of the index finger;

[0010] The index finger front support is bolted to the index finger support connector. The index finger front support is also connected to the first index finger bearing assembly via an interference fit. The right end of the index finger front connecting block is connected to the second index finger bearing assembly via an interference fit. The first index finger front pivot is also connected to the first index finger bearing assembly via an interference fit. The left end of the index finger front connecting block is connected to the fifteenth index finger bearing assembly via an interference fit. The upper end of the index finger front connecting piece is connected to the fourteenth index finger bearing assembly via an interference fit. The second index finger front pivot is connected to the fifteenth index finger bearing assembly via an interference fit. The second pivot is connected and fixed to the fourteenth bearing assembly of the index finger via an interference fit. The upper end of the index finger middle support is connected and fixed to the fourth bearing assembly of the index finger via an interference fit. The lower end of the index finger support connector is connected and fixed to the third bearing assembly of the index finger via an interference fit. The third pivot at the front end of the index finger is connected and fixed to the fourth bearing assembly of the index finger via an interference fit. The third pivot at the front end of the index finger is connected and fixed to the third bearing assembly of the index finger via an interference fit. The lower end of the index finger front connector is connected and fixed to the fifth bearing assembly of the index finger via an interference fit. The middle support assembly of the index finger is connected and fixed to the sixth bearing assembly of the index finger via an interference fit. The third pivot at the middle of the index finger is connected and fixed to the fifth bearing assembly of the index finger via an interference fit. The index finger is connected and fixed to the sixth bearing assembly via an interference fit. The lower end of the index finger middle support is connected and fixed to the eighth bearing assembly via an interference fit. The upper end of the index finger middle connector is connected and fixed to the seventh bearing assembly via an interference fit. The second pivot of the index finger middle is connected and fixed to the eighth bearing assembly via an interference fit. The second pivot of the index finger middle is connected and fixed to the seventh bearing assembly via an interference fit. The lower end of the index finger middle connector is connected and fixed to the ninth bearing assembly via an interference fit. The index finger tip is connected and fixed to the tenth bearing assembly via an interference fit. The second pivot of the index finger tip is connected and fixed to the ninth bearing assembly via an interference fit. The second pivot of the index finger tip is connected and fixed to the tenth bearing assembly via an interference fit. The bearing assemblies are connected and fixed. The index finger tip component is connected and fixed to the twelfth bearing assembly of the index finger via an interference fit. The index finger tip connector is connected and fixed to the eleventh bearing assembly of the index finger via an interference fit. The first pivot of the index finger tip is connected and fixed to the twelfth bearing assembly of the index finger via an interference fit. The first pivot of the index finger tip is connected and fixed to the eleventh bearing assembly of the index finger via an interference fit. The L-shaped connector of the index finger is connected and fixed to the middle support component of the index finger via an interference fit. The L-shaped connector of the index finger is connected and fixed to the twenty-first bearing assembly of the index finger via an interference fit. The index finger tip connector is connected and fixed to the twentieth bearing assembly of the index finger via an interference fit. The second pivot of the middle connector of the index finger is connected and fixed to the twenty-first bearing assembly of the index finger via an interference fit.The second pivot of the index finger middle connector is fixedly connected to the twentieth bearing assembly of the index finger via an interference fit. The index finger middle connector is also fixedly connected to the eighteenth bearing assembly of the index finger via an interference fit. The lower end of the index finger middle connector is fixedly connected to the nineteenth bearing assembly of the index finger via an interference fit. The first pivot of the index finger middle connector is fixedly connected to the eighteenth and nineteenth bearing assemblies of the index finger via an interference fit. The upper end of the index finger middle connector is fixedly connected to the sixteenth bearing assembly of the index finger via an interference fit. The index finger T-shaped connector is fixedly connected to the seventeenth bearing assembly of the index finger via an interference fit. The first pivot of the index finger middle connector is fixedly connected to the sixteenth and seventeenth bearing assemblies of the index finger via an interference fit. The index finger T-shaped connector is fixedly connected to the index finger support connector via bolts.

[0011] Furthermore, the middle finger portion of the present invention mainly includes a middle finger front end support, a middle finger support connector, a middle finger middle support, a middle finger middle connector, a middle finger end member, a middle finger end connector, a middle finger L-shaped connector, a middle finger middle connector, a middle finger T-shaped connector, a middle finger front end connector, a middle finger front end connecting block, a first pivot of the middle finger front end, a second pivot of the middle finger front end, a first pivot of the middle finger middle connector, a second pivot of the middle finger middle connector, a first pivot of the middle finger end, a second pivot of the middle finger end, a first pivot of the middle finger middle portion, a second pivot of the middle finger middle portion, and a middle finger middle portion. Third pivot, third pivot at the front end of the middle finger, first bearing group of the middle finger, second bearing group of the middle finger, third bearing group of the middle finger, fourth bearing group of the middle finger, fifth bearing group of the middle finger, sixth bearing group of the middle finger, seventh bearing group of the middle finger, eighth bearing group of the middle finger, ninth bearing group of the middle finger, tenth bearing group of the middle finger, eleventh bearing group of the middle finger, twelfth bearing group of the middle finger, fourteenth bearing group of the middle finger, fifteenth bearing group of the middle finger, sixteenth bearing group of the middle finger, seventeenth bearing group of the middle finger, eighteenth bearing group of the middle finger, nineteenth bearing group of the middle finger, twentieth bearing group of the middle finger, and twenty-first bearing group of the middle finger;

[0012] The middle finger front support is bolted to the middle finger support connector. The middle finger front support is also connected to the first bearing assembly of the middle finger via an interference fit. The right end of the middle finger front connecting block is connected to the second bearing assembly of the middle finger via an interference fit. The first rotating shaft of the middle finger front is connected to the first bearing assembly of the middle finger via an interference fit. The left end of the middle finger front connecting block is connected to the fifteenth bearing assembly of the middle finger via an interference fit. The upper end of the middle finger front connecting piece is connected to the fourteenth bearing assembly of the middle finger via an interference fit. The second rotating shaft of the middle finger front is connected to the fifteenth bearing assembly of the middle finger via an interference fit. The second pivot is connected and fixed to the fourteenth bearing assembly of the middle finger via an interference fit. The upper end of the middle finger support is connected and fixed to the fourth bearing assembly of the middle finger via an interference fit. The lower end of the middle finger support connector is connected and fixed to the third bearing assembly of the middle finger via an interference fit. The third pivot at the front end of the middle finger is connected and fixed to the fourth bearing assembly of the middle finger via an interference fit. The third pivot at the front end of the middle finger is connected and fixed to the third bearing assembly of the middle finger via an interference fit. The lower end of the middle finger front connector is connected and fixed to the fifth bearing assembly of the middle finger via an interference fit. The middle finger support is connected and fixed to the sixth bearing assembly of the middle finger via an interference fit. The third pivot at the middle of the middle finger is connected and fixed to the fifth bearing assembly of the middle finger via an interference fit. The middle finger is connected and fixed to the sixth bearing assembly of the middle finger via an interference fit. The lower end of the middle finger support is connected and fixed to the eighth bearing assembly of the middle finger via an interference fit. The upper end of the middle finger connector is connected and fixed to the seventh bearing assembly of the middle finger via an interference fit. The second pivot of the middle finger is connected and fixed to the eighth bearing assembly of the middle finger via an interference fit. The second pivot of the middle finger is connected and fixed to the seventh bearing assembly of the middle finger via an interference fit. The lower end of the middle finger connector is connected and fixed to the ninth bearing assembly of the middle finger via an interference fit. The end part of the middle finger is connected and fixed to the tenth bearing of the middle finger via an interference fit. The second pivot of the end of the middle finger is connected and fixed to the ninth bearing assembly of the middle finger via an interference fit. The second pivot of the end of the middle finger is connected and fixed to the tenth bearing of the middle finger via an interference fit. The bearing assemblies are connected and fixed. The middle finger end piece is connected and fixed to the twelfth bearing assembly of the middle finger via an interference fit. The middle finger end connecting piece is connected and fixed to the eleventh bearing assembly of the middle finger via an interference fit. The first rotating shaft of the middle finger end is connected and fixed to the twelfth bearing assembly of the middle finger via an interference fit. The first rotating shaft of the middle finger end is connected and fixed to the eleventh bearing assembly of the middle finger via an interference fit. The middle finger L-shaped connecting piece is connected and fixed to the middle finger middle support piece via welding. The middle finger L-shaped connecting piece is connected and fixed to the twenty-first bearing assembly of the middle finger via an interference fit. The middle finger end connecting piece is connected and fixed to the twentieth bearing assembly of the middle finger via an interference fit. The second rotating shaft of the middle finger connecting piece is connected and fixed to the twenty-first bearing assembly of the middle finger via an interference fit.The second pivot of the middle finger connecting piece is fixedly connected to the twentieth bearing assembly of the middle finger via an interference fit. The middle finger connecting piece is also fixedly connected to the eighteenth bearing assembly of the middle finger via an interference fit. The lower end of the middle finger connecting piece is fixedly connected to the nineteenth bearing assembly of the middle finger via an interference fit. The first pivot of the middle finger is fixedly connected to the eighteenth and nineteenth bearing assemblies of the middle finger via an interference fit. The upper end of the middle finger connecting piece is fixedly connected to the sixteenth bearing assembly of the middle finger via an interference fit. The T-shaped connecting piece is fixedly connected to the seventeenth bearing assembly of the middle finger via an interference fit. The first pivot of the middle finger connecting piece is fixedly connected to the sixteenth and seventeenth bearing assemblies of the middle finger via an interference fit. The T-shaped connecting piece is fixedly connected to the middle finger support connecting piece via bolts.

[0013] Furthermore, the ring finger portion of the present invention mainly includes a ring finger front end support, a ring finger support connector, a ring finger middle support, a ring finger middle connector, a ring finger end member, a ring finger end connector, a ring finger L-shaped connector, a ring finger middle connector, a ring finger T-shaped connector, a ring finger front end connector, a ring finger front end connecting block, a ring finger front end first pivot, a ring finger front end second pivot, a ring finger middle connector first pivot, a ring finger middle connector second pivot, a ring finger end first pivot, a ring finger end second pivot, a ring finger middle first pivot, a ring finger middle second pivot, and a ring finger middle portion... The third pivot, the third pivot at the front end of the ring finger, the first bearing group of the ring finger, the second bearing group of the ring finger, the third bearing group of the ring finger, the fourth bearing group of the ring finger, the fifth bearing group of the ring finger, the sixth bearing group of the ring finger, the seventh bearing group of the ring finger, the eighth bearing group of the ring finger, the ninth bearing group of the ring finger, the tenth bearing group of the ring finger, the eleventh bearing group of the ring finger, the twelfth bearing group of the ring finger, the fourteenth bearing group of the ring finger, the fifteenth bearing group of the ring finger, the sixteenth bearing group of the ring finger, the seventeenth bearing group of the ring finger, the eighteenth bearing group of the ring finger, the nineteenth bearing group of the ring finger, the twentieth bearing group of the ring finger, and the twenty-first bearing group of the ring finger;

[0014] The ring finger front support is bolted to the ring finger support connector. The ring finger front support is also bolted to the first bearing assembly of the ring finger via an interference fit. The right end of the ring finger front connecting block is bolted to the second bearing assembly of the ring finger via an interference fit. The first rotating shaft at the front of the ring finger is bolted to the first bearing assembly of the ring finger via an interference fit. The left end of the ring finger front connecting block is bolted to the fifteenth bearing assembly of the ring finger via an interference fit. The upper end of the ring finger front connecting piece is bolted to the fourteenth bearing assembly of the ring finger via an interference fit. The second rotating shaft at the front of the ring finger is bolted to the ring finger... The 15th bearing assembly of the ring finger is connected and fixed. The second pivot at the front end of the ring finger is connected and fixed to the 14th bearing assembly of the ring finger via an interference fit. The upper end of the middle support member of the ring finger is connected and fixed to the fourth bearing assembly of the ring finger via an interference fit. The lower end of the ring finger support connector is connected and fixed to the third bearing assembly of the ring finger via an interference fit. The third pivot at the front end of the ring finger is connected and fixed to the fourth bearing assembly of the ring finger via an interference fit. The third pivot at the front end of the ring finger is connected and fixed to the third bearing assembly of the ring finger via an interference fit. The lower end of the front connector of the ring finger is connected and fixed to the fifth bearing assembly of the ring finger via an interference fit. The middle support member of the ring finger is connected and fixed to the sixth bearing assembly of the ring finger via an interference fit. The third pivot at the middle end of the ring finger... The ring finger is connected and fixed to the fifth bearing assembly of the ring finger via an interference fit. The third pivot in the middle of the ring finger is connected and fixed to the sixth bearing assembly of the ring finger via an interference fit. The lower end of the middle support member of the ring finger is connected and fixed to the eighth bearing assembly of the ring finger via an interference fit. The upper end of the middle connector of the ring finger is connected and fixed to the seventh bearing assembly of the ring finger via an interference fit. The second pivot in the middle of the ring finger is connected and fixed to the eighth bearing assembly of the ring finger via an interference fit. The second pivot in the middle of the ring finger is connected and fixed to the seventh bearing assembly of the ring finger via an interference fit. The lower end of the middle connector of the ring finger is connected and fixed to the ninth bearing assembly of the ring finger via an interference fit. The end member of the ring finger is connected and fixed to the tenth bearing of the ring finger via an interference fit. The second pivot at the end of the ring finger is connected and fixed to the ninth bearing assembly of the ring finger via an interference fit. The second pivot at the end of the ring finger is connected and fixed to the tenth bearing assembly of the ring finger via an interference fit. The end component of the ring finger is connected and fixed to the twelfth bearing assembly of the ring finger via an interference fit. The end connector of the ring finger is connected and fixed to the eleventh bearing assembly of the ring finger via an interference fit. The first pivot at the end of the ring finger is connected and fixed to the twelfth bearing assembly of the ring finger via an interference fit. The first pivot at the end of the ring finger is connected and fixed to the eleventh bearing assembly of the ring finger via an interference fit. The L-shaped connector of the ring finger is connected and fixed to the middle support component of the ring finger via welding. The L-shaped connector of the ring finger is connected and fixed to the twenty-first bearing assembly of the ring finger via an interference fit.The distal fin connector of the ring finger is fixedly connected to the twentieth bearing assembly of the ring finger via an interference fit. The second pivot of the middle connector of the ring finger is fixedly connected to the twenty-first bearing assembly of the ring finger via an interference fit. The second pivot of the middle connector of the ring finger is fixedly connected to the twentieth bearing assembly of the ring finger via an interference fit. The middle connector of the ring finger is fixedly connected to the eighteenth bearing assembly of the ring finger via an interference fit. The lower end of the middle connector of the ring finger is fixedly connected to the nineteenth bearing assembly of the ring finger via an interference fit. The first pivot of the middle part of the ring finger is fixedly connected to the eighteenth bearing assembly of the ring finger via an interference fit. The first pivot of the middle part of the ring finger is fixedly connected to the nineteenth bearing assembly of the ring finger via an interference fit. The upper end of the middle connecting piece of the ring finger is fixedly connected to the sixteenth bearing assembly of the ring finger via an interference fit. The T-shaped connecting piece of the ring finger is fixedly connected to the seventeenth bearing assembly of the ring finger via an interference fit. The first pivot of the middle connecting piece of the ring finger is fixedly connected to the sixteenth bearing assembly of the ring finger via an interference fit. The first pivot of the middle connecting piece of the ring finger is fixedly connected to the seventeenth bearing assembly of the ring finger via an interference fit. The T-shaped connecting piece of the ring finger is fixedly connected to the ring finger support connecting piece via bolts.

[0015] Furthermore, the little finger portion of the present invention mainly includes a little finger front end support, a little finger support connector, a little finger middle support, a little finger middle connector, a little finger end component, a little finger end connector, a little finger L-shaped connector, a little finger middle connector, a little finger T-shaped connector, a little finger front end connector, a little finger front end connecting block, a little finger front end first pivot, a little finger front end second pivot, a little finger middle connector first pivot, a little finger middle connector second pivot, a little finger end first pivot, a little finger end second pivot, a little finger middle first pivot, a little finger middle second pivot, and a little finger middle portion. Third pivot, third pivot at the tip of the little finger, first bearing group of the little finger, second bearing group of the little finger, third bearing group of the little finger, fourth bearing group of the little finger, fifth bearing group of the little finger, sixth bearing group of the little finger, seventh bearing group of the little finger, eighth bearing group of the little finger, ninth bearing group of the little finger, tenth bearing group of the little finger, eleventh bearing group of the little finger, twelfth bearing group of the little finger, fourteenth bearing group of the little finger, fifteenth bearing group of the little finger, sixteenth bearing group of the little finger, seventeenth bearing group of the little finger, eighteenth bearing group of the little finger, nineteenth bearing group of the little finger, twentieth bearing group of the little finger, twenty-first bearing group of the little finger;

[0016] The little finger front support is bolted to the little finger support connector. The little finger front support is also connected to the first little finger bearing assembly via an interference fit. The right end of the little finger front connecting block is connected to the second little finger bearing assembly via an interference fit. The first little finger front rotating shaft is connected to the first little finger bearing assembly via an interference fit. The left end of the little finger front connecting block is connected to the fifteenth little finger bearing assembly via an interference fit. The upper end of the little finger front connecting piece is connected to the fourteenth little finger bearing assembly via an interference fit. The second little finger front rotating shaft is connected to the little finger front bearing assembly via an interference fit. The 15th bearing assembly of the thumb is connected and fixed. The second pivot at the front end of the little finger is connected and fixed to the 14th bearing assembly of the little finger via an interference fit. The upper end of the middle support of the little finger is connected and fixed to the fourth bearing assembly of the little finger via an interference fit. The lower end of the little finger support connector is connected and fixed to the third bearing assembly of the little finger via an interference fit. The third pivot at the front end of the little finger is connected and fixed to the fourth bearing assembly of the little finger via an interference fit. The third pivot at the front end of the little finger is connected and fixed to the third bearing assembly of the little finger via an interference fit. The lower end of the front end connector of the little finger is connected and fixed to the fifth bearing assembly of the little finger via an interference fit. The middle support of the little finger is connected and fixed to the sixth bearing assembly of the little finger via an interference fit. The third pivot at the middle end of the little finger... The little finger is connected and fixed to the fifth bearing assembly via an interference fit. The third pivot in the middle of the little finger is connected and fixed to the sixth bearing assembly via an interference fit. The lower end of the middle support member is connected and fixed to the eighth bearing assembly via an interference fit. The upper end of the middle connector is connected and fixed to the seventh bearing assembly via an interference fit. The second pivot in the middle of the little finger is connected and fixed to the eighth bearing assembly via an interference fit. The second pivot in the middle of the little finger is connected and fixed to the seventh bearing assembly via an interference fit. The lower end of the middle connector is connected and fixed to the ninth bearing assembly via an interference fit. The end piece of the little finger is connected and fixed to the tenth bearing assembly via an interference fit. The second pivot at the end of the little finger is connected and fixed to the ninth bearing assembly of the little finger via an interference fit. The second pivot at the end of the little finger is connected and fixed to the tenth bearing assembly of the little finger via an interference fit. The end component of the little finger is connected and fixed to the twelfth bearing assembly of the little finger via an interference fit. The end connector of the little finger is connected and fixed to the eleventh bearing assembly of the little finger via an interference fit. The first pivot at the end of the little finger is connected and fixed to the twelfth bearing assembly of the little finger via an interference fit. The first pivot at the end of the little finger is connected and fixed to the eleventh bearing assembly of the little finger via an interference fit. The L-shaped connector of the little finger is connected and fixed to the middle support component of the little finger via welding. The L-shaped connector of the little finger is connected and fixed to the twenty-first bearing assembly of the little finger via an interference fit.The little finger distal finite element is connected and fixed to the twentieth bearing assembly of the little finger via an interference fit. The second pivot of the little finger middle finite element is connected and fixed to the twenty-first bearing assembly of the little finger via an interference fit. The second pivot of the little finger middle finite element is connected and fixed to the twentieth bearing assembly of the little finger via an interference fit. The little finger middle finite element is connected and fixed to the eighteenth bearing assembly of the little finger via an interference fit. The lower end of the little finger middle finite element is connected and fixed to the nineteenth bearing assembly of the little finger via an interference fit. The first pivot of the little finger middle finite element is connected and fixed to the eighteenth bearing assembly of the little finger via an interference fit. The first pivot at the middle of the little finger is fixedly connected to the nineteenth bearing assembly of the little finger via an interference fit. The upper end of the little finger middle connector is fixedly connected to the sixteenth bearing assembly of the little finger via an interference fit. The little finger T-shaped connector is fixedly connected to the seventeenth bearing assembly of the little finger via an interference fit. The first pivot of the little finger middle connector is fixedly connected to the sixteenth bearing assembly of the little finger via an interference fit. The first pivot of the little finger middle connector is fixedly connected to the seventeenth bearing assembly of the little finger via an interference fit. The little finger T-shaped connector is fixedly connected to the little finger support connector via bolts.

[0017] Furthermore, in this invention, the thumb tip pivot and the adjusting connector are connected by a snap ring, the index finger tip support is connected and fixed to the lower support seat by a bolt, the middle finger tip support is connected and fixed to the lower support seat by a bolt, the ring finger tip support is connected and fixed to the lower support seat by a bolt, and the little finger tip support is connected and fixed to the lower support seat by a bolt.

[0018] Furthermore, in this invention, the first piezoelectric drive motor drives the thumb portion along the Z-axis direction via a steel wire rope; the fourth piezoelectric drive motor drives the thumb portion along the X-axis direction via a steel wire rope; the fifth piezoelectric drive motor drives the thumb portion along the X-axis direction via a steel wire rope; the eleventh piezoelectric drive motor drives the thumb portion along the Y-axis direction via a steel wire rope; the second piezoelectric drive motor drives the index finger portion along the Y-axis direction via a steel wire rope; the tenth piezoelectric drive motor drives the index finger portion along the Y-axis direction via a steel wire rope; the third piezoelectric drive motor drives the middle finger portion along the Y-axis via a steel wire rope; the eighth piezoelectric drive motor drives the middle finger portion along the Y-axis via a steel wire rope; the sixth piezoelectric drive motor drives the ring finger portion along the Y-axis via a steel wire rope; the ninth piezoelectric drive motor drives the ring finger portion along the Y-axis via a steel wire rope; the twelfth piezoelectric drive motor drives the little finger portion along the Y-axis via a steel wire rope; and the thirteenth piezoelectric drive motor drives the little finger portion along the Y-axis via a steel wire rope.

[0019] This invention employs an integrated design approach combining piezoelectric motor drive, wire rope transmission, and multi-axis coupling structure to achieve a compact, lightweight, and highly humanoid five-fingered robotic hand. The piezoelectric motor features high power density, high response speed, and power-off self-locking, allowing direct drive without complex reduction mechanisms. This makes it ideal for space-constrained humanoid robotic hands requiring multi-degree-of-freedom arrangements. Power is transmitted to each finger joint via wire ropes. Wire rope transmission offers advantages such as flexibility, the ability to navigate complex paths, and high transmission efficiency, facilitating the transfer of power from multiple actuators concentrated in the palm to the distal joints. This is crucial for achieving a highly integrated layout, converting the linear tension of the wire rope into rotational motion of the finger joints around a pivot axis, simulating the bending and extending movements of human fingers. This solves the problems of large size, heavy weight, and low integration in traditional humanoid robotic hands, providing a high-performance end effector solution for robots to perform delicate manipulation tasks. Attached Figure Description

[0020] To more clearly illustrate the present invention and provide a clear understanding of it, the accompanying drawings used in the embodiments will be briefly introduced below. The illustrative examples and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0021] Figure 1 This is a schematic diagram of the overall mechanical structure of the present invention;

[0022] Figure 2 This is an isometric schematic diagram of the palm portion structure of the present invention;

[0023] Figure 3 This is a schematic diagram of the rear of the palm portion structure of the present invention;

[0024] Figure 4 This is a frontal cross-sectional view of the internal structure of the palm portion of the present invention;

[0025] Figure 5 This is a schematic diagram of the internal structure of the palm portion of the present invention, viewed from a side cross-section.

[0026] Figure 6 This is a schematic diagram of the side structure of the palm portion of the present invention;

[0027] Figure 7 This is a schematic diagram of the thumb portion structure of the present invention;

[0028] Figure 8 This is a schematic diagram of the internal cross-sectional structure of the thumb portion of the present invention;

[0029] Figure 9 This is a schematic diagram of the internal cross-sectional structure of the front end of the thumb portion of the present invention;

[0030] Figure 10This is a schematic diagram of the internal cross-sectional structure of the connection between the thumb tip support and the thumb support member in the thumb portion of the present invention;

[0031] Figure 11 This is a schematic diagram of the internal cross-sectional structure of the connection between the thumb support and the middle thumb connector of the present invention.

[0032] Figure 12 This is a schematic diagram of the internal cross-sectional structure of the thumb-middle connector of the present invention;

[0033] Figure 13 This is a schematic diagram of the internal cross-sectional structure of the thumb auxiliary connector of the present invention.

[0034] Figure 14 This is a schematic diagram of the internal cross-sectional structure of the thumb movable part of the present invention;

[0035] Figure 15 This is a schematic diagram of the index finger portion of the present invention;

[0036] Figure 16 This is a frontal cross-sectional view of the internal structure of the index finger portion of the present invention;

[0037] Figure 17 This is a schematic diagram of the internal structure of the index finger portion of the present invention, viewed from a side cross-section.

[0038] Figure 18 This is a schematic diagram of the internal cross-sectional structure of the first pivot at the front end of the index finger in the present invention.

[0039] Figure 19 This is a schematic diagram of the internal cross-sectional structure of the first rotating shaft of the index finger middle connector of the present invention;

[0040] Figure 20 This is a schematic diagram of the internal cross-sectional structure of the first pivot in the middle of the index finger portion of the present invention;

[0041] Figure 21 This is a schematic diagram of the internal cross-sectional structure of the second rotating shaft of the index finger middle connector of the present invention;

[0042] Figure 22 This is a schematic diagram of the middle finger portion of the present invention;

[0043] Figure 23 This is a frontal cross-sectional view of the internal structure of the middle finger portion of the present invention;

[0044] Figure 24 This is a schematic diagram of the internal structure of the middle finger portion in cross-section according to the present invention;

[0045] Figure 25 This is a schematic diagram of the internal cross-sectional structure of the first rotating shaft at the front end of the middle finger portion of the present invention;

[0046] Figure 26 This is a schematic diagram of the internal cross-sectional structure of the first rotating shaft of the middle finger connector of the present invention.

[0047] Figure 27 This is a schematic diagram of the internal cross-sectional structure of the first rotating shaft in the middle part of the middle finger section of the present invention;

[0048] Figure 28 This is a schematic diagram of the internal cross-sectional structure of the second rotating shaft of the middle finger connector of the middle finger part of the present invention;

[0049] Figure 29 This is a schematic diagram of the ring finger portion of the present invention;

[0050] Figure 30 This is a frontal cross-sectional view of the internal structure of the ring finger portion of the present invention;

[0051] Figure 31 This is a schematic diagram of the internal structure of the ring finger portion in cross-section of the present invention;

[0052] Figure 32 This is a schematic diagram of the internal cross-sectional structure of the first rotating shaft at the front end of the ring finger portion of the present invention;

[0053] Figure 33 This is a schematic diagram of the internal cross-sectional structure of the first rotating shaft of the ring finger middle connector of the present invention;

[0054] Figure 34 This is a schematic diagram of the internal cross-sectional structure of the first rotating shaft in the middle of the ring finger portion of the present invention;

[0055] Figure 35 This is a schematic diagram of the internal cross-sectional structure of the second rotating shaft of the ring finger middle connector of the present invention;

[0056] Figure 36 This is a schematic diagram of the little finger portion of the present invention;

[0057] Figure 37 This is a frontal cross-sectional view of the internal structure of the little finger portion of the present invention;

[0058] Figure 38 This is a schematic diagram of the internal structure of the little finger portion of the present invention, viewed from a side cross-section.

[0059] Figure 39 This is a schematic diagram of the internal cross-sectional structure of the first pivot at the tip of the little finger in the present invention.

[0060] Figure 40 This is a schematic diagram of the internal cross-sectional structure of the first rotating shaft of the little finger middle connector of the present invention;

[0061] Figure 41This is a schematic diagram of the internal cross-sectional structure of the first pivot in the middle of the little finger portion of the present invention;

[0062] Figure 42 This is a schematic diagram of the internal cross-sectional structure of the second rotating shaft of the little finger middle connector of the present invention;

[0063] Figure 43 This is a schematic diagram of the overall structural orientation of the present invention. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use.

[0065] The following description, in conjunction with the accompanying drawings, further illustrates the detailed content of the present invention and its specific implementation scheme.

[0066] See Figure 1 A highly integrated humanoid robotic hand based on piezoelectric drive, consisting of a palm part 1, a thumb part 2, an index finger part 3, a middle finger part 4, a ring finger part 5, and a little finger part 6;

[0067] See Figure 2-6 The palm portion 1 of the present invention mainly includes an upper support base 101, a pulley support base 102, a first piezoelectric drive motor 103, a first driving pulley 104, a first synchronous belt 105, a first driven pulley 106, an adjusting connector 107, a fixed connecting plate 108, a second piezoelectric drive motor 109, a third piezoelectric drive motor 110, a fourth piezoelectric drive motor 111, a fifth piezoelectric drive motor 112, a sixth piezoelectric drive motor 113, a cross connector 114, a second driven pulley 115, and a seventh piezoelectric drive motor 16. 16. Second synchronous belt; 117. Second drive pulley; 118. Eighth piezoelectric drive motor; 119. Ninth piezoelectric drive motor; 120. Tenth piezoelectric drive motor; 121. Eleventh piezoelectric drive motor; 122. Twelfth piezoelectric drive motor; 123. Thirteenth piezoelectric drive motor; 124. First pulley driven shaft; 125. First palm bearing; 126. First pulley drive motor; 127. Rotating component; 128. Second pulley driven shaft; 129. Second palm bearing; 130. Lower support seat; 131. Second pulley drive motor; 132.

[0068] The pulley support 102 is bolted to the upper support 101. The first piezoelectric drive motor 103 is bolted to the upper support 101. The second pulley drive motor 132 is keyed to the first driving pulley 104. The first synchronous belt 105 is connected to the first driving pulley 104 and the first driven pulley 106 via meshing. The first driven pulley 106 is keyed to the driven shaft 129 of the second pulley. The adjusting connector 107 is bolted to the fixed connecting plate 108. The fixed connecting plate 108 is bolted to the lower support 131. The second piezoelectric drive motor 109 is bolted to the lower support 131. The third piezoelectric drive motor... Machine 110 is bolted to the lower support base 131. The fourth piezoelectric drive motor 111 is bolted to the lower support base 131. The fifth piezoelectric drive motor 112 is bolted to the lower support base 131. The sixth piezoelectric drive motor 113 is bolted to the cross connector 114. The cross connector 114 is bolted to the lower support base 131. The second driven pulley 115 is keyed to the first pulley driven shaft 125. The second synchronous belt 117 is connected to the second driven pulley 115 and the second driving pulley 118 via meshing. The seventh piezoelectric drive motor 116 is bolted to the upper support base 101. The first pulley drive motor 111... 7. The second drive pulley 118 is fixed to the pulley support 102 by bolts. The first pulley drive motor 127 is fixed to the upper support 101 by bolts. The eighth piezoelectric drive motor 119 is fixed to the lower support 131 by bolts. The ninth piezoelectric drive motor 120 is fixed to the upper support 101 by bolts. The tenth piezoelectric drive motor 121 is fixed to the upper support 101 by bolts. The eleventh piezoelectric drive motor 122 is fixed to the upper support 101 by bolts. The twelfth piezoelectric drive motor 123 is fixed to the upper support 101 by bolts. The thirteenth piezoelectric drive motor... The motor 124 is bolted to the upper support 101. The upper support 101 is installed and fixed to the first palm bearing 126 by an interference fit. The first pulley driven shaft 125 is installed and fixed to the first palm bearing 126 by an interference fit. The rotating part 128 is keyed to the first pulley driven shaft 125. The second pulley driven shaft 129 is welded to the lower support 131. The second palm bearing 130 is connected and fixed to the lower support 131 by an interference fit. The second pulley driven shaft 129 is connected and fixed to the second palm bearing 130 by an interference fit. The second pulley drive motor 132 is bolted to the upper support 101.

[0069] See Figure 7-14 The thumb portion 2 of the present invention mainly includes a thumb end member 201, a thumb middle end connector 202, a thumb auxiliary connector 203, a thumb movable member 204, a thumb front end connector 205, a thumb front end support member 206, a thumb support member 207, a thumb front end pivot 208, a thumb first support pivot 209, a thumb second support pivot 210, a thumb end first pivot 211, a thumb end second pivot 212, a thumb middle end pivot 213, a thumb movable pivot 214, and a thumb... Front pivot 215, thumb first bearing group 216, thumb second bearing group 217, thumb third bearing group 218, thumb fourth bearing group 219, thumb fifth bearing group 220, thumb sixth bearing group 221, thumb seventh bearing group 222, thumb eighth bearing group 223, thumb ninth bearing group 224, thumb tenth bearing group 225, thumb eleventh bearing group 226, thumb twelfth bearing group 227, thumb thirteenth bearing group 228, thumb fourteenth bearing group 229;

[0070] The thumb tip component 201 is connected and fixed to the tenth thumb bearing assembly 225 via an interference fit. The second thumb tip pivot 212 is connected and fixed to the tenth thumb bearing assembly 225 via an interference fit. The ninth thumb bearing assembly 224 is connected and fixed to the lower end of the thumb auxiliary connector 203 via an interference fit. The second thumb tip pivot 212 is connected and fixed to the ninth thumb bearing assembly 224 via an interference fit. The lower end of the thumb middle connector 202 is installed and fixed to the eighth thumb bearing assembly 223 via an interference fit. The upper end of the thumb middle connector 202 is connected and fixed to the sixth thumb bearing assembly 221 via an interference fit. The thumb tip component 201 is connected and fixed to the eighth thumb bearing assembly 225 via an interference fit. 3. Connection and Fixing: The first pivot 211 at the tip of the thumb is fixedly connected to the eighth bearing assembly 223 of the thumb via an interference fit. The first pivot 211 at the tip of the thumb is fixedly connected to the seventh bearing assembly 222 of the thumb via an interference fit. The lower end of the thumb movable part 204 is fixedly connected to the fifth bearing assembly 220 of the thumb via an interference fit. The pivot 213 at the middle of the thumb is fixedly connected to the fifth bearing assembly 220 of the thumb via an interference fit. The middle pivot 213 is fixedly connected to the sixth bearing assembly 221 of the thumb via an interference fit. The thumb movable pivot 214 is fixedly connected to the twelfth bearing assembly 227 of the thumb via an interference fit. The upper end of the thumb auxiliary connector 203 is fixedly connected to the eleventh bearing assembly of the thumb via an interference fit. 226 is connected and fixed. The thumb movable pivot 214 is connected and fixed to the eleventh thumb bearing assembly 226 by interference fit. The front end of the thumb movable part 204 is connected and fixed to the twelfth thumb bearing assembly 227 by interference fit. The upper end of the thumb movable part 204 is connected and fixed to the fourteenth thumb bearing assembly 229 by interference fit. The fourteenth thumb bearing assembly 229 is connected to the thumb front pivot 215 by interference fit. The thumb front pivot 215 is connected and fixed to the thirteenth thumb bearing assembly 228 by interference fit. The thumb front connector 205 is connected and fixed to the thirteenth thumb bearing assembly 228 by interference fit. The thumb front connector 205 is connected and fixed to the first thumb bearing assembly by interference fit. The thumb front pivot 208 is connected and fixed to the first thumb bearing assembly 216 via an interference fit. The thumb front pivot 208 is also connected and fixed to the second thumb bearing assembly 217 via an interference fit. The thumb front support 206 is connected and fixed to the second thumb bearing assembly 217 via an interference fit. The first thumb support pivot 209 is connected and fixed to the third thumb bearing assembly 218 via an interference fit. The thumb front support 206 is connected to the first thumb support pivot assembly 209 via a snap ring. The upper end of the thumb support 207 is connected and fixed to the third thumb bearing assembly 218 via an interference fit, and the lower end of the thumb support 207 is connected and fixed to the fourth thumb bearing assembly 219 via an interference fit.The second thumb support shaft 210 is connected and fixed to the fourth thumb bearing assembly 219 by an interference fit, and the second thumb support shaft 210 is connected to the thumb mid-end connector 202 by a snap ring.

[0071] See Figure 22-28 The index finger portion 3 of the present invention mainly includes an index finger front support 301, an index finger support connector 302, an index finger middle support 303, an index finger middle connector 304, an index finger end piece 305, an index finger end connector 306, an index finger L-shaped connector 307, an index finger middle connector 308, an index finger T-shaped connector 309, an index finger front connector 310, an index finger front connector block 311, an index finger front first pivot 312, an index finger front second pivot 313, an index finger middle connector first pivot 314, an index finger middle connector second pivot 315, an index finger end first pivot 316, an index finger end second pivot 317, an index finger middle first pivot 318, an index finger middle second pivot 319, and an index finger middle third pivot 32. 0. Third pivot of index finger tip 321; First bearing group of index finger 322; Second bearing group of index finger 323; Third bearing group of index finger 324; Fourth bearing group of index finger 325; Fifth bearing group of index finger 326; Sixth bearing group of index finger 327; Seventh bearing group of index finger 328; Eighth bearing group of index finger 329; Ninth bearing group of index finger 330; Tenth bearing group of index finger 331; Eleventh bearing group of index finger 332; Twelfth bearing group of index finger 333; Fourteenth bearing group of index finger 334; Fifteenth bearing group of index finger 335; Sixteenth bearing group of index finger 336; Seventeenth bearing group of index finger 337; Eighteenth bearing group of index finger 338; Nineteenth bearing group of index finger 339; Twentieth bearing group of index finger 340; Twenty-first bearing group of index finger 341;

[0072] The index finger front support 301 is bolted to the index finger support connector 302. The index finger front support 301 is also connected to the first index finger bearing assembly 322 via an interference fit. The right end of the index finger front connecting block 311 is connected to the second index finger bearing assembly 323 via an interference fit. The first index finger front pivot 312 is connected to the first index finger bearing assembly 322 via an interference fit. The first index finger front pivot 312 is also connected to the first index finger bearing assembly 322 via an interference fit. The left end of the index finger front connecting block 311 is connected to the fifteenth index finger bearing assembly 335 via an interference fit. The upper end of the index finger front connector 310 is connected to the index finger's... The fourteenth bearing assembly 334 is connected and fixed. The second pivot 313 at the front end of the index finger is connected and fixed to the fifteenth bearing assembly 335 of the index finger via an interference fit. The second pivot 313 at the front end of the index finger is connected and fixed to the fourteenth bearing assembly 334 of the index finger via an interference fit. The upper end of the middle support member 303 of the index finger is connected and fixed to the fourth bearing assembly 325 of the index finger via an interference fit. The lower end of the index finger support connector 302 is connected and fixed to the third bearing assembly 324 of the index finger via an interference fit. The third pivot 321 at the front end of the index finger is connected and fixed to the fourth bearing assembly 325 of the index finger via an interference fit. The third pivot 321 at the front end of the index finger is connected and fixed to the third bearing assembly 324 of the index finger via an interference fit. The lower end of the index finger front end connector 310... The index finger is connected and fixed to the fifth bearing assembly 326 of the index finger via an interference fit. The index finger middle support 303 is connected and fixed to the sixth bearing assembly 327 of the index finger via an interference fit. The index finger middle third pivot 320 is connected and fixed to the fifth bearing assembly 326 of the index finger via an interference fit. The index finger middle third pivot 320 is connected and fixed to the sixth bearing assembly 327 of the index finger via an interference fit. The lower end of the index finger middle support 303 is connected and fixed to the eighth bearing assembly 329 of the index finger via an interference fit. The upper end of the index finger middle connector 304 is connected and fixed to the seventh bearing assembly 328 of the index finger via an interference fit. The index finger middle second pivot 319 is connected and fixed to the eighth bearing assembly 329 of the index finger via an interference fit. The second pivot 319 in the middle section is connected and fixed to the seventh bearing assembly 328 of the index finger via an interference fit. The lower end of the middle connector 304 of the index finger is connected and fixed to the ninth bearing assembly 330 of the index finger via an interference fit. The distal part 305 of the index finger is connected and fixed to the tenth bearing 331 of the index finger via an interference fit. The second pivot 317 at the distal end of the index finger is connected and fixed to the ninth bearing assembly 330 of the index finger via an interference fit. The second pivot 317 at the distal end of the index finger is connected and fixed to the tenth bearing assembly 331 of the index finger via an interference fit. The distal part 305 of the index finger is connected and fixed to the twelfth bearing assembly 333 of the index finger via an interference fit. The distal part connector 306 of the index finger is connected and fixed to the eleventh bearing assembly 332 of the index finger via an interference fit.The first pivot 316 at the tip of the index finger is connected and fixed to the twelfth bearing group 333 of the index finger via an interference fit. The first pivot 316 at the tip of the index finger is also connected and fixed to the eleventh bearing group 332 of the index finger via an interference fit. The L-shaped connector 307 of the index finger is connected and fixed to the middle support member 303 of the index finger via welding. The L-shaped connector 307 is connected and fixed to the twenty-first bearing group 341 of the index finger via an interference fit. The tip connector 306 of the index finger is connected and fixed to the twentieth bearing group 340 of the index finger via an interference fit. The second pivot 315 of the middle connector of the index finger is connected and fixed to the twenty-first bearing group 341 of the index finger via an interference fit. The second pivot 315 of the middle connector of the index finger is connected and fixed to the twentieth bearing group 340 of the index finger via an interference fit. The middle connector 304 of the index finger is connected and fixed to the eighteenth bearing group 338 of the index finger via an interference fit. The lower end of the index finger middle connector 308 is connected and fixed to the nineteenth bearing assembly 339 of the index finger via an interference fit. The first pivot 318 of the index finger middle section is connected and fixed to the eighteenth bearing assembly 338 of the index finger via an interference fit. The first pivot 318 of the index finger middle section is connected and fixed to the nineteenth bearing assembly 339 of the index finger via an interference fit. The upper end of the index finger middle connector 308 is connected and fixed to the sixteenth bearing assembly 336 of the index finger via an interference fit. The index finger T-shaped connector 309 is connected and fixed to the seventeenth bearing assembly 337 of the index finger via an interference fit. The first pivot 314 of the index finger middle connector is connected and fixed to the sixteenth bearing assembly 336 of the index finger via an interference fit. The first pivot 314 of the index finger middle connector is connected and fixed to the seventeenth bearing assembly 337 of the index finger via an interference fit. The index finger T-shaped connector 309 is connected and fixed to the index finger support connector 302 via bolts.

[0073] Furthermore, the middle finger portion 4 of the present invention mainly includes a middle finger front end support member 401, a middle finger support connector 402, a middle finger middle support member 403, a middle finger middle connector 404, a middle finger end member 405, a middle finger end connector 406, a middle finger L-shaped connector 407, a middle finger middle connector 408, a middle finger T-shaped connector 409, a middle finger front end connector 410, a middle finger front end connecting block 411, a first pivot 412 for the middle finger front end, a second pivot 413 for the middle finger front end, a first pivot 414 for the middle finger middle connector, a second pivot 415 for the middle finger middle connector, a first pivot 416 for the middle finger end, a second pivot 417 for the middle finger end, a first pivot 418 for the middle finger middle, a second pivot 419 for the middle finger middle, and a third pivot 410 for the middle finger middle. 420. Third pivot of the middle finger front end; 421. First bearing group of the middle finger; 422. Second bearing group of the middle finger; 423. Third bearing group of the middle finger; 424. Fourth bearing group of the middle finger; 425. Fifth bearing group of the middle finger; 426. Sixth bearing group of the middle finger; 427. Seventh bearing group of the middle finger; 428. Eighth bearing group of the middle finger; 429. Ninth bearing group of the middle finger; 430. Tenth bearing group of the middle finger; 431. Eleventh bearing group of the middle finger; 432. Twelfth bearing group of the middle finger; 433. Fourteenth bearing group of the middle finger; 434. Fifteenth bearing group of the middle finger; 435. Sixteenth bearing group of the middle finger; 436. Seventeenth bearing group of the middle finger; 437. Eighteenth bearing group of the middle finger; 438. Nineteenth bearing group of the middle finger; 439. Twentieth bearing group of the middle finger; 440. Twenty-first bearing group of the middle finger; 441.

[0074] The middle finger front support 401 is bolted to the middle finger support connector 402. The middle finger front support 401 is also connected to the first bearing assembly 422 of the middle finger via an interference fit. The right end of the middle finger front connecting block 411 is connected to the second bearing assembly 423 of the middle finger via an interference fit. The first rotating shaft 412 of the middle finger front is connected to the first bearing assembly 422 of the middle finger via an interference fit. The left end of the middle finger front connecting block 411 is connected to the fifteenth bearing assembly 435 of the middle finger via an interference fit. The upper end of the middle finger front connecting piece 410 is connected to the middle finger's... The fourteenth bearing assembly 434 is connected and fixed. The second pivot 413 at the front end of the middle finger is connected and fixed to the fifteenth bearing assembly 435 of the middle finger via an interference fit. The second pivot 413 at the front end of the middle finger is connected and fixed to the fourteenth bearing assembly 434 of the middle finger via an interference fit. The upper end of the middle finger support 403 is connected and fixed to the fourth bearing assembly 425 of the middle finger via an interference fit. The lower end of the middle finger support connector 402 is connected and fixed to the third bearing assembly 424 of the middle finger via an interference fit. The third pivot 421 at the front end of the middle finger is connected and fixed to the fourth bearing assembly 425 of the middle finger via an interference fit. The third pivot 421 at the front end of the middle finger is connected and fixed to the third bearing assembly 424 of the middle finger via an interference fit. The lower end of the middle finger front end connector 410... The middle finger is connected and fixed to the fifth bearing assembly 426 of the middle finger via an interference fit. The middle finger middle support 403 is connected and fixed to the sixth bearing assembly 427 of the middle finger via an interference fit. The middle finger middle third rotating shaft 420 is connected and fixed to the fifth bearing assembly 426 of the middle finger via an interference fit. The middle finger middle third rotating shaft 420 is connected and fixed to the sixth bearing assembly 427 of the middle finger via an interference fit. The lower end of the middle finger middle support 403 is connected and fixed to the eighth bearing assembly 429 of the middle finger via an interference fit. The upper end of the middle finger middle connector 404 is connected and fixed to the seventh bearing assembly 428 of the middle finger via an interference fit. The middle finger middle second rotating shaft 419 is connected and fixed to the eighth bearing assembly 429 of the middle finger via an interference fit. The middle second pivot 419 is connected and fixed to the middle finger seventh bearing assembly 428 via an interference fit. The lower end of the middle finger connecting piece 404 is connected and fixed to the middle finger ninth bearing assembly 430 via an interference fit. The middle finger end piece 405 is connected and fixed to the middle finger tenth bearing 431 via an interference fit. The middle finger end second pivot 417 is connected and fixed to the middle finger ninth bearing assembly 430 via an interference fit. The middle finger end second pivot 417 is connected and fixed to the middle finger tenth bearing assembly 431 via an interference fit. The middle finger end piece 405 is connected and fixed to the middle finger twelfth bearing assembly 433 via an interference fit. The middle finger end connecting piece 406 is connected and fixed to the middle finger eleventh bearing assembly 432 via an interference fit.The first pivot 416 at the tip of the middle finger is connected and fixed to the twelfth bearing group 433 of the middle finger via an interference fit. The first pivot 416 at the tip of the middle finger is also connected and fixed to the eleventh bearing group 432 of the middle finger via an interference fit. The L-shaped connector 407 of the middle finger is connected and fixed to the middle finger middle support 403 by welding. The L-shaped connector 407 is also connected and fixed to the twenty-first bearing group 441 of the middle finger via an interference fit. The tip connector 406 of the middle finger is connected and fixed to the twentieth bearing group 440 of the middle finger via an interference fit. The second pivot 415 of the middle finger connector is connected and fixed to the twenty-first bearing group 441 of the middle finger via an interference fit. The second pivot 415 of the middle finger connector is also connected and fixed to the twentieth bearing group 440 of the middle finger via an interference fit. The middle finger connector 404 is connected and fixed to the eighteenth bearing group 438 of the middle finger via an interference fit. The lower end of the middle connecting piece 408 is connected and fixed to the nineteenth bearing assembly 439 of the middle finger via an interference fit. The first rotating shaft 418 of the middle finger is connected and fixed to the eighteenth bearing assembly 438 of the middle finger via an interference fit. The first rotating shaft 418 of the middle finger is connected and fixed to the nineteenth bearing assembly 439 of the middle finger via an interference fit. The upper end of the middle connecting piece 408 is connected and fixed to the sixteenth bearing assembly 436 of the middle finger via an interference fit. The T-shaped connecting piece 409 of the middle finger is connected and fixed to the seventeenth bearing assembly 437 of the middle finger via an interference fit. The first rotating shaft 414 of the middle connecting piece is connected and fixed to the sixteenth bearing assembly 436 of the middle finger via an interference fit. The first rotating shaft 414 of the middle connecting piece is connected and fixed to the seventeenth bearing assembly 437 of the middle finger via an interference fit. The T-shaped connecting piece 409 of the middle finger is connected and fixed to the middle finger support connecting piece 402 via bolts.

[0075] See Figures 29-35The ring finger portion 5 of the present invention mainly includes a ring finger front end support member 501, a ring finger support connector 502, a ring finger middle support member 503, a ring finger middle connector 504, a ring finger end member 505, a ring finger end connector 506, a ring finger L-shaped connector 507, a ring finger middle connector 508, a ring finger T-shaped connector 509, a ring finger front end connector 510, a ring finger front end connector block 511, a ring finger front end first pivot 512, a ring finger front end second pivot 513, a ring finger middle connector first pivot 514, a ring finger middle connector second pivot 515, a ring finger end first pivot 516, a ring finger end second pivot 517, a ring finger middle first pivot 518, a ring finger middle second pivot 519, and a ring finger middle third pivot 52. 0. Third pivot of the ring finger front end; 521. First bearing group of the ring finger; 522. Second bearing group of the ring finger; 523. Third bearing group of the ring finger; 524. Fourth bearing group of the ring finger; 525. Fifth bearing group of the ring finger; 526. Sixth bearing group of the ring finger; 527. Seventh bearing group of the ring finger; 528. Eighth bearing group of the ring finger; 529. Ninth bearing group of the ring finger; 530. Tenth bearing group of the ring finger; 531. Eleventh bearing group of the ring finger; 532. Twelfth bearing group of the ring finger; 533. Fourteenth bearing group of the ring finger; 534. Fifteenth bearing group of the ring finger; 535. Sixteenth bearing group of the ring finger; 536. Seventeenth bearing group of the ring finger; 537. Eighteenth bearing group of the ring finger; 538. Nineteenth bearing group of the ring finger; 539. Twentieth bearing group of the ring finger; 540. Twenty-first bearing group of the ring finger; 541.

[0076] The ring finger front support 501 is bolted to the ring finger support connector 502. The ring finger front support 501 is also bolted to the first ring finger bearing assembly 522. The right end of the ring finger front connecting block 511 is bolted to the second ring finger bearing assembly 523. The first ring finger front pivot 512 is bolted to the first ring finger bearing assembly 522. The left end of the ring finger front connecting block 511 is bolted to the fifteenth ring finger bearing assembly 535. The upper end of the ring finger front connector 510 is bolted to the first ring finger bearing assembly 535. The ring finger is connected and fixed to the fourteenth bearing assembly 534 of the ring finger via an interference fit. The second pivot 513 at the front end of the ring finger is connected and fixed to the fifteenth bearing assembly 535 of the ring finger via an interference fit. The upper end of the middle support member 503 of the ring finger is connected and fixed to the fourth bearing assembly 525 of the ring finger via an interference fit. The lower end of the ring finger support connector 502 is connected and fixed to the third bearing assembly 524 of the ring finger via an interference fit. The third pivot 521 at the front end of the ring finger is connected and fixed to the fourth bearing assembly 525 of the ring finger via an interference fit. The third pivot 521 at the front end of the ring finger is connected and fixed to the third bearing assembly 524 of the ring finger via an interference fit. 4. Connection and Fixing: The lower end of the ring finger front connector 510 is fixedly connected to the fifth bearing assembly 526 of the ring finger via an interference fit; the middle support 503 of the ring finger is fixedly connected to the sixth bearing assembly 527 of the ring finger via an interference fit; the third pivot 520 of the middle of the ring finger is fixedly connected to the fifth bearing assembly 526 of the ring finger via an interference fit; the third pivot 520 of the middle of the ring finger is fixedly connected to the sixth bearing assembly 527 of the ring finger via an interference fit; the lower end of the middle support 503 of the ring finger is fixedly connected to the eighth bearing assembly 529 of the ring finger via an interference fit; the upper end of the middle connector 504 of the ring finger is fixedly connected to the seventh bearing assembly 528 of the ring finger via an interference fit; the second pivot 519 of the middle of the ring finger... The ring finger is connected and fixed to the eighth bearing assembly 529 of the ring finger via an interference fit. The second pivot 519 in the middle of the ring finger is connected and fixed to the seventh bearing assembly 528 of the ring finger via an interference fit. The lower end of the middle connector 504 of the ring finger is connected and fixed to the ninth bearing assembly 530 of the ring finger via an interference fit. The end part 505 of the ring finger is connected and fixed to the tenth bearing 531 of the ring finger via an interference fit. The second pivot 517 at the end of the ring finger is connected and fixed to the ninth bearing assembly 530 of the ring finger via an interference fit. The second pivot 517 at the end of the ring finger is connected and fixed to the tenth bearing assembly 531 of the ring finger via an interference fit. The end part 505 of the ring finger is connected and fixed to the twelfth bearing assembly 533 of the ring finger via an interference fit.The ring finger tip connector 506 is connected and fixed to the eleventh bearing assembly 532 of the ring finger via an interference fit. The ring finger tip first pivot 516 is connected and fixed to the ring finger twelfth bearing assembly 533 via an interference fit. The ring finger tip first pivot 516 is connected and fixed to the eleventh bearing assembly 532 of the ring finger via an interference fit. The ring finger L-shaped connector 507 is connected and fixed to the ring finger middle support 503 by welding. The ring finger L-shaped connector 507 is connected and fixed by an interference fit. The ring finger is connected and fixed to the 21st bearing assembly 541 of the ring finger via an interference fit. The ring finger end connector 506 is connected and fixed to the 20th bearing assembly 540 of the ring finger via an interference fit. The second rotating shaft 515 of the middle connector of the ring finger is connected and fixed to the 21st bearing assembly 541 of the ring finger via an interference fit. The second rotating shaft 515 of the middle connector of the ring finger is connected and fixed to the 20th bearing assembly 540 of the ring finger via an interference fit. The middle connector 504 of the ring finger is connected and fixed to the 20th bearing assembly 540 via an interference fit. The ring finger is connected and fixed to the eighteenth bearing assembly 538. The lower end of the middle connecting piece 508 of the ring finger is connected and fixed to the nineteenth bearing assembly 539 of the ring finger via an interference fit. The first rotating shaft 518 of the middle part of the ring finger is connected and fixed to the eighteenth bearing assembly 538 of the ring finger via an interference fit. The first rotating shaft 518 of the middle part of the ring finger is connected and fixed to the nineteenth bearing assembly 539 of the ring finger via an interference fit. The upper end of the middle connecting piece 508 of the ring finger is connected and fixed to the sixteenth bearing assembly of the ring finger via an interference fit. Group 536 is connected and fixed. The ring finger T-shaped connector 509 is fixed to the seventeenth bearing group 537 of the ring finger via an interference fit. The first rotating shaft 514 of the middle connector of the ring finger is fixed to the sixteenth bearing group 536 of the ring finger via an interference fit. The first rotating shaft 514 of the middle connector of the ring finger is fixed to the seventeenth bearing group 537 of the ring finger via an interference fit. The ring finger T-shaped connector 509 is fixed to the ring finger support connector 502 via bolts.

[0077] See Figure 36-42The little finger portion 6 of the present invention mainly includes a little finger front end support 601, a little finger support connector 602, a little finger middle support 603, a little finger middle connector 604, a little finger end part 605, a little finger end connector 606, a little finger L-shaped connector 607, a little finger middle connector 608, a little finger T-shaped connector 609, a little finger front end connector 610, a little finger front end connecting block 611, a little finger front end first pivot 612, a little finger front end second pivot 613, a little finger middle connector first pivot 614, a little finger middle connector second pivot 615, a little finger end first pivot 616, a little finger end second pivot 617, a little finger middle first pivot 618, a little finger middle second pivot 619, and a little finger middle third pivot 62. 0. Third pivot at the tip of the little finger; 621. First bearing group of the little finger; 622. Second bearing group of the little finger; 623. Third bearing group of the little finger; 624. Fourth bearing group of the little finger; 625. Fifth bearing group of the little finger; 626. Sixth bearing group of the little finger; 627. Seventh bearing group of the little finger; 628. Eighth bearing group of the little finger; 629. Ninth bearing group of the little finger; 630. Tenth bearing group of the little finger; 631. Eleventh bearing group of the little finger; 632. Twelfth bearing group of the little finger; 633. Fourteenth bearing group of the little finger; 634. Fifteenth bearing group of the little finger; 635. Sixteenth bearing group of the little finger; 636. Seventeenth bearing group of the little finger; 637. Eighteenth bearing group of the little finger; 638. Nineteenth bearing group of the little finger; 639. Twentieth bearing group of the little finger; 640. Twenty-first bearing group of the little finger; 641.

[0078] The little finger front support 601 is bolted to the little finger support connector 602. The little finger front support 601 is also bolted to the little finger first bearing assembly 622. The right end of the little finger front connecting block 611 is bolted to the little finger second bearing assembly 623. The little finger front first rotating shaft 612 is bolted to the little finger first bearing assembly 622. The little finger front first rotating shaft 612 is bolted to the little finger first bearing assembly 622. The left end of the little finger front connecting block 611 is bolted to the little finger fifteenth bearing assembly 635. The upper end of the little finger front connecting piece 610 is bolted to the little finger first bearing assembly 635. The little finger is connected and fixed to the fourteenth bearing assembly 634 of the little finger through an interference fit. The second pivot 613 at the front end of the little finger is connected and fixed to the fifteenth bearing assembly 635 of the little finger through an interference fit. The second pivot 613 at the front end of the little finger is connected and fixed to the fourteenth bearing assembly 634 of the little finger through an interference fit. The upper end of the middle support member 603 of the little finger is connected and fixed to the fourth bearing assembly 625 of the little finger through an interference fit. The lower end of the little finger support connector 602 is connected and fixed to the third bearing assembly 624 of the little finger through an interference fit. The third pivot 621 at the front end of the little finger is connected and fixed to the fourth bearing assembly 625 of the little finger through an interference fit. The third pivot 621 at the front end of the little finger is connected and fixed to the third bearing assembly 624 of the little finger through an interference fit. 4. Connection and Fixing: The lower end of the little finger front connector 610 is connected and fixed to the fifth little finger bearing assembly 626 via an interference fit; the middle little finger support 603 is connected and fixed to the sixth little finger bearing assembly 627 via an interference fit; the middle little finger third pivot 620 is connected and fixed to the fifth little finger bearing assembly 626 via an interference fit; the middle little finger third pivot 620 is connected and fixed to the sixth little finger bearing assembly 627 via an interference fit; the lower end of the middle little finger support 603 is connected and fixed to the eighth little finger bearing assembly 629 via an interference fit; the upper end of the middle little finger connector 604 is connected and fixed to the seventh little finger bearing assembly 628 via an interference fit; the middle little finger second pivot 619... The little finger is connected and fixed to the eighth bearing assembly 629 of the little finger via an interference fit. The second pivot 619 in the middle of the little finger is connected and fixed to the seventh bearing assembly 628 of the little finger via an interference fit. The lower end of the little finger middle connector 604 is connected and fixed to the ninth bearing assembly 630 of the little finger via an interference fit. The little finger end piece 605 is connected and fixed to the tenth bearing 631 of the little finger via an interference fit. The second pivot 617 at the end of the little finger is connected and fixed to the ninth bearing assembly 630 of the little finger via an interference fit. The second pivot 617 at the end of the little finger is connected and fixed to the tenth bearing assembly 631 of the little finger via an interference fit. The little finger end piece 605 is connected and fixed to the twelfth bearing assembly 633 of the little finger via an interference fit.The little finger tip connector 606 is connected and fixed to the little finger eleventh bearing assembly 632 via an interference fit. The little finger tip first pivot 616 is connected and fixed to the little finger twelfth bearing assembly 633 via an interference fit. The little finger tip first pivot 616 is connected and fixed to the little finger eleventh bearing assembly 632 via an interference fit. The little finger L-shaped connector 607 is connected and fixed to the little finger middle support 603 via welding. The little finger L-shaped connector 607 is connected and fixed to the little finger twenty-first bearing assembly 641 via an interference fit. The little finger tip connector 606 is connected and fixed to the little finger twentieth bearing assembly 640 via an interference fit. The little finger middle connector second pivot 615 is connected and fixed to the little finger twenty-first bearing assembly 641 via an interference fit. The little finger middle connector second pivot 615 is connected and fixed to the little finger twentieth bearing assembly 640 via an interference fit. The little finger middle connector 604 is connected and fixed via an interference fit. The little finger is connected and fixed to the eighteenth bearing assembly 638 of the little finger. The lower end of the little finger middle connector 608 is connected and fixed to the nineteenth bearing assembly 639 of the little finger via an interference fit. The first pivot 618 of the little finger middle section is connected and fixed to the eighteenth bearing assembly 638 of the little finger via an interference fit. The first pivot 618 of the little finger middle section is connected and fixed to the nineteenth bearing assembly 639 of the little finger via an interference fit. The upper end of the little finger middle connector 608 is connected and fixed to the sixteenth bearing assembly 636 of the little finger via an interference fit. The little finger T-shaped connector 609 is connected and fixed to the seventeenth bearing assembly 637 of the little finger via an interference fit. The first pivot 614 of the little finger middle connector is connected and fixed to the sixteenth bearing assembly 636 of the little finger via an interference fit. The first pivot 614 of the little finger middle connector is connected and fixed to the seventeenth bearing assembly 637 of the little finger via an interference fit. The little finger T-shaped connector 609 is connected and fixed to the little finger support connector 602 via bolts.

[0079] See Figure 1-43In this invention, the thumb tip pivot 208 is connected to the adjusting connector 107 via a snap ring. The index finger tip support 301 is fixedly connected to the lower support base 131 via bolts. The middle finger tip support 401 is fixedly connected to the lower support base 131 via bolts. The ring finger tip support 501 is fixedly connected to the lower support base 131 via bolts. The little finger tip support 601 is fixedly connected to the lower support base 131 via bolts. In this invention, the first piezoelectric drive motor 103 drives the thumb part 2 along the Z-axis direction via a steel wire rope. The fourth piezoelectric drive motor 111 drives the thumb part 2 along the X-axis direction via a steel wire rope. The fifth piezoelectric drive motor 112 drives the thumb part 2 along the X-axis direction via a steel wire rope. The eleventh piezoelectric drive motor 122 drives the thumb part 2 along the X-axis direction via a steel wire rope. The piezoelectric drive motor 109 drives the index finger portion 3 along the Y-axis via a steel wire rope; the tenth piezoelectric drive motor 121 drives the index finger portion 3 along the Y-axis via a steel wire rope; the third piezoelectric drive motor 110 drives the middle finger portion 4 along the Y-axis via a steel wire rope; the eighth piezoelectric drive motor 119 drives the middle finger portion 4 along the Y-axis via a steel wire rope; the sixth piezoelectric drive motor 113 drives the ring finger portion 5 along the Y-axis via a steel wire rope; the ninth piezoelectric drive motor 120 drives the ring finger portion 5 along the Y-axis via a steel wire rope; the twelfth piezoelectric drive motor 123 drives the little finger portion 6 along the Y-axis via a steel wire rope; and the thirteenth piezoelectric drive motor 124 drives the little finger portion 6 along the Y-axis via a steel wire rope.

[0080] To achieve precise control of the joints of the humanoid robotic hand by a piezoelectric drive motor, this invention uses a steel wire rope as the power transmission medium. Steel wire rope transmission has advantages such as high flexibility, flexible layout, and low friction, making it particularly suitable for drive arrangements with multiple degrees of freedom and limited space. Its theoretical model is as follows:

[0081] Neglecting the mass and bending stiffness of the wire rope, the relationship between the tension in the wire rope and the output torque of the finger joint is as follows:

[0082]

[0083] in: : Joint output torque (N·m), T: Tension force on the wire rope (N); : Equivalent radius (m) of the drive wheel or joint shaft; Transmission efficiency (considering friction and bending losses, typically taken as 0.85~0.95);

[0084] The relationship between the elongation of the wire rope and the joint angle is as follows:

[0085]

[0086] in: : The amount of expansion and contraction of the wire rope (m); Joint rotation angle (rad); : Drive wheel radius (m);

[0087] Under tension, steel wire ropes will experience elastic elongation, which affects control accuracy. Its stiffness can be expressed as:

[0088]

[0089] Where: k: axial stiffness of the wire rope (N / m); E: equivalent elastic modulus of the wire rope (Pa); A: cross-sectional area of ​​the wire rope (m²); L: effective length of the wire rope (m).

[0090] For multi-joint fingers, the arrangement path of the wire rope is complex, and its kinematic relationship can be modeled as follows:

[0091]

[0092] in: The angle of the first joint; : The change in length of the first section of the wire rope; : A nonlinear function determined by structural geometric relationships;

[0093] Finally, it should be noted that specific examples have been used in this invention to illustrate the principles and implementation methods of the invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the invention. Furthermore, various modifications and variations can be made to this invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made to this invention should be included within the scope of protection of this invention.

Claims

1. A highly integrated humanoid robotic hand based on piezoelectric actuation, characterized in that: It consists of the palm part (1), the thumb part (2), the index finger part (3), the middle finger part (4), the ring finger part (5), and the little finger part (6).

2. The highly integrated humanoid robotic hand based on piezoelectric drive according to claim 1, characterized in that: The palm part (1) mainly includes an upper support base (101), a pulley support base (102), a first piezoelectric drive motor (103), a first driving pulley (104), a first synchronous belt (105), a first driven pulley (106), an adjusting connector (107), a fixed connecting plate (108), a second piezoelectric drive motor (109), a third piezoelectric drive motor (110), a fourth piezoelectric drive motor (111), a fifth piezoelectric drive motor (112), a sixth piezoelectric drive motor (113), a cross connector (114), a second driven pulley (115), a seventh piezoelectric drive motor (116), a second synchronous belt (117), a second driving pulley (118), an eighth piezoelectric drive motor (119), and a ninth piezoelectric drive motor (110). The piezoelectric drive motor (120), the tenth piezoelectric drive motor (121), the eleventh piezoelectric drive motor (122), the twelfth piezoelectric drive motor (123), the thirteenth piezoelectric drive motor (124), the first pulley driven shaft (125), the first palm bearing (126), the first pulley drive motor (127), the rotating component (128), the second pulley driven shaft (129), the second palm bearing (130), the lower support seat (131), and the second pulley drive motor (132); wherein the pulley support seat (102) is connected and fixed to the upper support seat (101) by bolts, the first piezoelectric drive motor (103) is installed on the upper support seat (101) by bolts, and the second pulley drive motor 132 is connected by a key. The first synchronous belt (105) is connected and fixed to the first driving pulley (104) and the first driven pulley (106) through meshing. The first driven pulley (106) is connected to the driven shaft (129) of the second pulley by a key. The adjusting connector (107) is connected and fixed to the fixed connecting plate (108) by bolts. The fixed connecting plate (108) is connected and fixed to the lower support base (131) by bolts. The second piezoelectric drive motor (109) is connected and fixed to the lower support base (131) by bolts. The third piezoelectric drive motor (110) is connected and fixed to the lower support base (131) by bolts. The fourth piezoelectric drive motor (111) is connected to the lower support base (131) by bolts. The fifth piezoelectric drive motor (112) is fixedly connected to the lower support base (131) by bolts. The sixth piezoelectric drive motor (113) is fixedly connected to the cross connector (114) by bolts. The cross connector (114) is fixedly connected to the lower support base (131) by bolts. The second driven pulley (115) is fixedly connected to the driven shaft (125) of the first pulley by a key connection. The second synchronous belt (117) is connected to the second driven pulley (115) and the second driving pulley (118) by meshing. The seventh piezoelectric drive motor (116) is fixedly connected to the upper support base (101) by bolts. The first pulley drive motor (127) is fixedly connected to the pulley support base (102) by bolts.The second drive pulley (118) is fixed to the first pulley drive motor (127) by a key connection. The first pulley drive motor (127) is fixed to the upper support base (101) by bolts. The eighth piezoelectric drive motor (119) is fixed to the lower support base (131) by bolts. The ninth piezoelectric drive motor (120) is fixed to the upper support base (101) by bolts. The tenth piezoelectric drive motor (121) is fixed to the upper support base (101) by bolts. The eleventh piezoelectric drive motor (122) is fixed to the upper support base (101) by bolts. The twelfth piezoelectric drive motor (123) is fixed to the upper support base (101) by bolts. The thirteenth piezoelectric drive motor (124) is fixed to the upper support base (101) by bolts. The first pulley driven shaft (125) is fixed to the upper support base (101) via bolt connection. The upper support base (101) is fixed to the first palm bearing (126) via interference fit. The first pulley driven shaft (125) is fixed to the first palm bearing (126) via interference fit. The rotating part (128) is fixed to the first pulley driven shaft (125) via key connection. The second pulley driven shaft (129) is fixed to the lower support base (131) via welding. The second palm bearing (130) is fixed to the lower support base (131) via interference fit. The second pulley driven shaft (129) is fixed to the second palm bearing (130) via interference fit. The second pulley drive motor (132) is fixed to the upper support base (101) via bolts.

3. The highly integrated humanoid robotic hand based on piezoelectric drive according to claim 1, characterized in that: The thumb part (2) mainly includes the thumb end component (201), the thumb middle connector (202), the thumb auxiliary connector (203), the thumb movable component (204), the thumb front connector (205), the thumb front support component (206), the thumb support component (207), the thumb front pivot (208), the thumb first support pivot (209), the thumb second support pivot (210), the thumb end first pivot (211), the thumb end second pivot (212), the thumb middle pivot (213), the thumb movable pivot (214), the thumb front pivot (215), the thumb first bearing assembly (216), the thumb second bearing assembly (217), the thumb third bearing assembly (218), and the thumb fourth axis. The thumb bearing assembly consists of four groups: the fifth thumb bearing group (219), the sixth thumb bearing group (221), the seventh thumb bearing group (222), the eighth thumb bearing group (223), the ninth thumb bearing group (224), the tenth thumb bearing group (225), the eleventh thumb bearing group (226), the twelfth thumb bearing group (227), the thirteenth thumb bearing group (228), and the fourteenth thumb bearing group (229). The thumb end component (201) is connected and fixed to the tenth thumb bearing group (225) via an interference fit. The second pivot shaft (212) of the thumb end is connected and fixed to the tenth thumb bearing group (225) via an interference fit. The ninth thumb bearing group (224) is connected and fixed to the thumb end component (229) via an interference fit. The lower end of the auxiliary connector (203) is fixedly connected to the thumb. The second pivot (212) at the end of the thumb is fixedly connected to the ninth bearing assembly (224) of the thumb by an interference fit. The lower end of the middle connector (202) at the end of the thumb is fixedly connected to the eighth bearing assembly (223) of the thumb by an interference fit. The upper end of the middle connector (202) at the end of the thumb is fixedly connected to the sixth bearing assembly (221) of the thumb by an interference fit. The end piece (201) at the end of the thumb is fixedly connected to the eighth bearing assembly (223) of the thumb by an interference fit. The first pivot (211) at the end of the thumb is fixedly connected to the eighth bearing assembly (223) of the thumb by an interference fit. The first pivot (211) at the end of the thumb is fixedly connected to the seventh bearing assembly (224) of the thumb by an interference fit. 222) The lower end of the thumb movable part (204) is connected and fixed to the fifth thumb bearing group (220) by interference fit. The middle thumb pivot (213) is connected and fixed to the fifth thumb bearing group (220) by interference fit. The middle thumb pivot (213) is connected and fixed to the sixth thumb bearing group (221) by interference fit. The thumb movable pivot (214) is connected and fixed to the twelfth thumb bearing group (227) by interference fit. The upper end of the thumb auxiliary connector (203) is connected and fixed to the eleventh thumb bearing group (226) by interference fit. The thumb movable pivot (214) is connected and fixed to the eleventh thumb bearing group (226) by interference fit.The front end of the thumb movable part (204) is connected and fixed to the twelfth thumb bearing assembly (227) by interference fit. The upper end of the thumb movable part (204) is connected and fixed to the fourteenth thumb bearing assembly (229) by interference fit. The fourteenth thumb bearing assembly (229) is connected and fixed to the thumb front pivot (215) by interference fit. The thumb front pivot (215) is connected and fixed to the thirteenth thumb bearing assembly (228) by interference fit. The thumb front connector (205) is connected and fixed to the thirteenth thumb bearing assembly (228) by interference fit. The thumb front connector (205) is connected and fixed to the first thumb bearing assembly (216) by interference fit. The thumb front pivot (208) is connected and fixed to the first thumb bearing assembly (216) by interference fit. The thumb support (206) is connected to the second thumb bearing assembly (217) via an interference fit. The first thumb support shaft (209) is connected to the third thumb bearing assembly (218) via an interference fit. The thumb front support (206) is connected to the first thumb support shaft assembly (209) via a snap ring. The upper end of the thumb support (207) is connected to the third thumb bearing assembly (218) via an interference fit. The lower end of the thumb support (207) is connected to the fourth thumb bearing assembly (219) via an interference fit. The second thumb support shaft (210) is connected to the fourth thumb bearing assembly (219) via an interference fit. The second thumb support shaft (210) is connected to the middle thumb connector (202) via a snap ring.

4. The highly integrated humanoid robotic hand based on piezoelectric drive according to claim 1, characterized in that: The index finger part (3) mainly includes an index finger front support (301), an index finger support connector (302), an index finger middle support (303), an index finger middle connector (304), an index finger end piece (305), an index finger end connector (306), an index finger L-shaped connector (307), an index finger middle connector (308), an index finger T-shaped connector (309), an index finger front connector (310), an index finger front connector block (311), an index finger front first pivot (312), an index finger front second pivot (313), an index finger middle connector first pivot (314), an index finger middle connector second pivot (315), an index finger end first pivot (316), an index finger end second pivot (317), and an index finger... First pivot in the middle of the index finger (318), second pivot in the middle of the index finger (319), third pivot in the middle of the index finger (320), third pivot at the front of the index finger (321), first bearing group of the index finger (322), second bearing group of the index finger (323), third bearing group of the index finger (324), fourth bearing group of the index finger (325), fifth bearing group of the index finger (326), sixth bearing group of the index finger (327), seventh bearing group of the index finger (328), eighth bearing group of the index finger (329), ninth bearing group of the index finger (330), tenth bearing group of the index finger (331), eleventh bearing group of the index finger (332), twelfth bearing group of the index finger (333), fourteenth bearing group of the index finger (334), fifteenth bearing group of the index finger (335), tenth bearing group of the index finger The index finger consists of six bearing groups (336), seventeenth bearing group (337), eighteenth bearing group (338), nineteenth bearing group (339), twentieth bearing group (340), and twenty-first bearing group (341). The index finger front support (301) is bolted to the index finger support connector (302), the index finger front support (301) is interference-fitted to the first bearing group (322), the right end of the index finger front connecting block (311) is interference-fitted to the second bearing group (323), and the first pivot (312) at the index finger front is interference-fitted to the first bearing group (322). The first pivot (312) at the front end is connected and fixed to the first bearing assembly (322) of the index finger by an interference fit. The left end of the index finger front end connecting block (311) is connected and fixed to the fifteenth bearing assembly (335) of the index finger by an interference fit. The upper end of the index finger front end connecting piece (310) is connected and fixed to the fourteenth bearing assembly (334) of the index finger by an interference fit. The second pivot (313) at the front end of the index finger is connected and fixed to the fifteenth bearing assembly (335) of the index finger by an interference fit. The second pivot (313) at the front end of the index finger is connected and fixed to the fourteenth bearing assembly (334) of the index finger by an interference fit. The upper end of the index finger middle support piece (303) is connected and fixed to the fourth bearing assembly (325) of the index finger by an interference fit.The lower end of the index finger support connector (302) is fixedly connected to the third bearing assembly (324) of the index finger via an interference fit. The third pivot (321) at the front end of the index finger is fixedly connected to the fourth bearing assembly (325) of the index finger via an interference fit. The third pivot (321) at the front end of the index finger is fixedly connected to the third bearing assembly (324) of the index finger via an interference fit. The lower end of the index finger front end connector (310) is fixedly connected to the fifth bearing assembly (326) of the index finger via an interference fit. The middle support component (303) of the index finger is fixedly connected to the sixth bearing assembly (327) of the index finger via an interference fit. The third pivot (320) at the middle end of the index finger is fixedly connected to the fifth bearing assembly (326) of the index finger via an interference fit. The third pivot (320) in the middle of the index finger is connected and fixed to the sixth bearing assembly (327) of the index finger by interference fit. The lower end of the middle support member (303) of the index finger is connected and fixed to the eighth bearing assembly (329) of the index finger by interference fit. The upper end of the middle connector (304) of the index finger is connected and fixed to the seventh bearing assembly (328) of the index finger by interference fit. The second pivot (319) in the middle of the index finger is connected and fixed to the eighth bearing assembly (329) of the index finger by interference fit. The second pivot (319) in the middle of the index finger is connected and fixed to the seventh bearing assembly (328) of the index finger by interference fit. The lower end of the middle connector (304) of the index finger is connected and fixed to the ninth bearing assembly (330) of the index finger by interference fit. The index finger tip component (305) is connected and fixed to the index finger tenth bearing (331) by interference fit. The index finger tip second pivot (317) is connected and fixed to the index finger ninth bearing group (330) by interference fit. The index finger tip second pivot (317) is connected and fixed to the index finger tenth bearing group (331) by interference fit. The index finger tip component (305) is connected and fixed to the index finger twelfth bearing group (333) by interference fit. The index finger tip connector (306) is connected and fixed to the index finger eleventh bearing group (332) by interference fit. The index finger tip first pivot (316) is connected and fixed to the index finger twelfth bearing group (333) by interference fit. The pivot (316) is connected and fixed to the eleventh bearing assembly (332) of the index finger by an interference fit. The L-shaped connector (307) of the index finger is connected and fixed to the middle support (303) of the index finger by welding. The L-shaped connector (307) of the index finger is connected and fixed to the twenty-first bearing assembly (341) of the index finger by an interference fit. The end connector (306) of the index finger is connected and fixed to the twentieth bearing assembly (340) of the index finger by an interference fit. The second pivot (315) of the middle connector of the index finger is connected and fixed to the twenty-first bearing assembly (341) of the index finger by an interference fit. The second pivot (315) of the middle connector of the index finger is connected and fixed to the twentieth bearing assembly (340) of the index finger by an interference fit.The middle connector (304) of the index finger is connected and fixed to the eighteenth bearing assembly (338) of the index finger by an interference fit. The lower end of the middle connector (308) of the index finger is connected and fixed to the nineteenth bearing assembly (339) of the index finger by an interference fit. The first pivot (318) of the middle of the index finger is connected and fixed to the eighteenth bearing assembly (338) of the index finger by an interference fit. The first pivot (318) of the middle of the index finger is connected and fixed to the nineteenth bearing assembly (339) of the index finger by an interference fit. The upper end of the middle connector (308) of the index finger is connected and fixed to the eighteenth bearing assembly (338) of the index finger by an interference fit. The index finger is fixedly connected to the sixteenth bearing assembly (336) via an interference fit. The index finger T-shaped connector (309) is fixedly connected to the seventeenth bearing assembly (337) via an interference fit. The first rotating shaft (314) of the index finger middle connector is fixedly connected to the sixteenth bearing assembly (336) via an interference fit. The first rotating shaft (314) of the index finger middle connector is fixedly connected to the seventeenth bearing assembly (337) via an interference fit. The index finger T-shaped connector (309) is fixedly connected to the index finger support connector (302) via a bolt connection.

5. The highly integrated humanoid robotic hand based on piezoelectric drive according to claim 1, characterized in that: The middle finger section (4) mainly includes the middle finger front end support (401), middle finger support connector (402), middle finger middle support (403), middle finger middle connector (404), middle finger end piece (405), middle finger end connector (406), middle finger L-shaped connector (407), middle finger middle connector (408), middle finger T-shaped connector (409), middle finger front end connector (410), middle finger front end connector block (411), middle finger front end first pivot (412), middle finger front end second pivot (413), middle finger middle connector first pivot (414), middle finger middle connector second pivot (415), middle finger end first pivot (416), middle finger end second pivot (417), and middle finger... First pivot in the middle (418), second pivot in the middle of the middle finger (419), third pivot in the middle of the middle finger (420), third pivot at the front of the middle finger (421), first bearing group of the middle finger (422), second bearing group of the middle finger (423), third bearing group of the middle finger (424), fourth bearing group of the middle finger (425), fifth bearing group of the middle finger (426), sixth bearing group of the middle finger (427), seventh bearing group of the middle finger (428), eighth bearing group of the middle finger (429), ninth bearing group of the middle finger (430), tenth bearing group of the middle finger (431), eleventh bearing group of the middle finger (432), twelfth bearing group of the middle finger (433), fourteenth bearing group of the middle finger (434), fifteenth bearing group of the middle finger (435), tenth bearing group of the middle finger The middle finger consists of six bearing groups (436), seventeenth bearing group (437), eighteenth bearing group (438), nineteenth bearing group (439), twentieth bearing group (440), and twenty-first bearing group (441). The middle finger front end support (401) is bolted to the middle finger support connector (402), the middle finger front end support (401) is interference-fitted to the first bearing group (422), the right end of the middle finger front end connecting block (411) is interference-fitted to the second bearing group (423), and the first rotating shaft (412) at the front end of the middle finger is interference-fitted to the first bearing group (422). The first pivot (412) at the front end is connected and fixed to the first bearing assembly (422) of the middle finger by an interference fit. The left end of the middle finger front end connecting block (411) is connected and fixed to the fifteenth bearing assembly (435) of the middle finger by an interference fit. The upper end of the middle finger front end connecting piece (410) is connected and fixed to the fourteenth bearing assembly (434) of the middle finger by an interference fit. The second pivot (413) at the front end of the middle finger is connected and fixed to the fifteenth bearing assembly (435) of the middle finger by an interference fit. The second pivot (413) at the front end of the middle finger is connected and fixed to the fourteenth bearing assembly (434) of the middle finger by an interference fit. The upper end of the middle finger middle support piece (403) is connected and fixed to the fourth bearing assembly (425) of the middle finger by an interference fit.The lower end of the middle finger support connector (402) is fixedly connected to the third bearing assembly (424) of the middle finger via an interference fit. The third pivot (421) at the front end of the middle finger is fixedly connected to the fourth bearing assembly (425) of the middle finger via an interference fit. The third pivot (421) at the front end of the middle finger is fixedly connected to the third bearing assembly (424) of the middle finger via an interference fit. The lower end of the middle finger front end connector (410) is fixedly connected to the fifth bearing assembly (426) of the middle finger via an interference fit. The middle support component (403) of the middle finger is fixedly connected to the sixth bearing assembly (427) of the middle finger via an interference fit. The third pivot (420) at the middle end of the middle finger is fixedly connected to the fifth bearing assembly (426) of the middle finger via an interference fit. The third pivot (420) in the middle of the middle finger is connected and fixed to the sixth bearing assembly (427) of the middle finger by interference fit. The lower end of the middle finger support (403) is connected and fixed to the eighth bearing assembly (429) of the middle finger by interference fit. The upper end of the middle finger connector (404) is connected and fixed to the seventh bearing assembly (428) of the middle finger by interference fit. The second pivot (419) in the middle of the middle finger is connected and fixed to the eighth bearing assembly (429) of the middle finger by interference fit. The second pivot (419) in the middle of the middle finger is connected and fixed to the seventh bearing assembly (428) of the middle finger by interference fit. The lower end of the middle finger connector (404) is connected and fixed to the ninth bearing assembly (430) of the middle finger by interference fit. The middle finger tip component (405) is connected and fixed to the middle finger tenth bearing (431) by interference fit. The middle finger tip second pivot (417) is connected and fixed to the middle finger ninth bearing group (430) by interference fit. The middle finger tip second pivot (417) is connected and fixed to the middle finger tenth bearing group (431) by interference fit. The middle finger tip component (405) is connected and fixed to the middle finger twelfth bearing group (433) by interference fit. The middle finger tip connector (406) is connected and fixed to the middle finger eleventh bearing group (432) by interference fit. The middle finger tip first pivot (416) is connected and fixed to the middle finger twelfth bearing group (433) by interference fit. The pivot (416) is connected and fixed to the eleventh bearing assembly (432) of the middle finger by an interference fit. The middle finger L-shaped connector (407) is connected and fixed to the middle finger middle support (403) by welding. The middle finger L-shaped connector (407) is connected and fixed to the twenty-first bearing assembly (441) of the middle finger by an interference fit. The middle finger end connector (406) is connected and fixed to the twentieth bearing assembly (440) of the middle finger by an interference fit. The second pivot (415) of the middle finger connector is connected and fixed to the twenty-first bearing assembly (441) of the middle finger by an interference fit. The second pivot (415) of the middle finger connector is connected and fixed to the twentieth bearing assembly (440) of the middle finger by an interference fit.The middle finger connecting piece (404) is connected and fixed to the eighteenth bearing assembly (438) of the middle finger by an interference fit. The lower end of the middle finger connecting piece (408) is connected and fixed to the nineteenth bearing assembly (439) of the middle finger by an interference fit. The middle finger first rotating shaft (418) is connected and fixed to the eighteenth bearing assembly (438) of the middle finger by an interference fit. The middle finger first rotating shaft (418) is connected and fixed to the nineteenth bearing assembly (439) of the middle finger by an interference fit. The upper end of the middle finger connecting piece (408) is connected and fixed to the nineteenth bearing assembly (439) of the middle finger by an interference fit. The middle finger is connected and fixed to the sixteenth bearing assembly (436) of the middle finger via an interference fit. The middle finger T-shaped connector (409) is connected and fixed to the seventeenth bearing assembly (437) of the middle finger via an interference fit. The first rotating shaft (414) of the middle finger connecting piece is connected and fixed to the sixteenth bearing assembly (436) of the middle finger via an interference fit. The first rotating shaft (414) of the middle finger connecting piece is connected and fixed to the seventeenth bearing assembly (437) of the middle finger via an interference fit. The middle finger T-shaped connector (409) is connected and fixed to the middle finger support connector (402) via bolts.

6. The highly integrated humanoid robotic hand based on piezoelectric drive according to claim 1, characterized in that: The ring finger portion (5) mainly includes a ring finger front end support (501), a ring finger support connector (502), a ring finger middle support (503), a ring finger middle connector (504), a ring finger end component (505), a ring finger end connector (506), a ring finger L-shaped connector (507), a ring finger middle connector (508), a ring finger T-shaped connector (509), a ring finger front end connector (510), a ring finger front end connector block (511), a ring finger front end first pivot (512), a ring finger front end second pivot (513), a ring finger middle connector first pivot (514), a ring finger middle connector second pivot (515), a ring finger end first pivot (516), and a ring finger end... Second pivot (517), first pivot (518) in the middle of the ring finger, second pivot (519) in the middle of the ring finger, third pivot (520) in the middle of the ring finger, third pivot (521) at the front end of the ring finger, first bearing group (522) in the ring finger, second bearing group (523) in the ring finger, third bearing group (524) in the ring finger, fourth bearing group (525) in the ring finger, fifth bearing group (526) in the ring finger, sixth bearing group (527) in the ring finger, seventh bearing group (528) in the ring finger, eighth bearing group (529) in the ring finger, ninth bearing group (530) in the ring finger, tenth bearing group (531) in the ring finger, eleventh bearing group (532) in the ring finger, twelfth bearing group (533) in the ring finger, fourteenth bearing group in the ring finger. Group (534), the fifteenth bearing group of the ring finger (535), the sixteenth bearing group of the ring finger (536), the seventeenth bearing group of the ring finger (537), the eighteenth bearing group of the ring finger (538), the nineteenth bearing group of the ring finger (539), the twentieth bearing group of the ring finger (540), and the twenty-first bearing group of the ring finger (541); wherein the ring finger front end support member (501) is connected and fixed to the ring finger support connector (502) by bolt connection, the ring finger front end support member (501) is connected and fixed to the first bearing group of the ring finger (522) by interference fit, the right end of the ring finger front end connecting block (511) is connected and fixed to the second bearing group of the ring finger (523) by interference fit, and the first rotating shaft of the ring finger front end. (512) The first pivot (512) of the ring finger is connected and fixed to the first bearing assembly (522) of the ring finger by interference fit. The left end of the ring finger front connecting block (511) is connected and fixed to the fifteenth bearing assembly (535) of the ring finger by interference fit. The upper end of the ring finger front connecting piece (510) is connected and fixed to the fourteenth bearing assembly (534) of the ring finger by interference fit. The second pivot (513) of the ring finger front is connected and fixed to the fifteenth bearing assembly (535) of the ring finger by interference fit. The second pivot (513) of the ring finger front is connected and fixed to the fourteenth bearing assembly (534) of the ring finger by interference fit.The upper end of the middle support member (503) of the ring finger is connected and fixed to the fourth bearing assembly (525) of the ring finger by an interference fit. The lower end of the ring finger support connector (502) is connected and fixed to the third bearing assembly (524) of the ring finger by an interference fit. The third pivot (521) at the front end of the ring finger is connected and fixed to the fourth bearing assembly (525) of the ring finger by an interference fit. The third pivot (521) at the front end of the ring finger is connected and fixed to the third bearing assembly (524) of the ring finger by an interference fit. The lower end of the front end connector (510) of the ring finger is connected and fixed to the fifth bearing assembly (526) of the ring finger by an interference fit. The middle support member (503) of the ring finger is connected and fixed to the sixth bearing assembly of the ring finger by an interference fit. The bearing assembly (527) is connected and fixed. The third pivot (520) in the middle of the ring finger is connected and fixed to the fifth bearing assembly (526) of the ring finger by interference fit. The third pivot (520) in the middle of the ring finger is connected and fixed to the sixth bearing assembly (527) of the ring finger by interference fit. The lower end of the support member (503) in the middle of the ring finger is connected and fixed to the eighth bearing assembly (529) of the ring finger by interference fit. The upper end of the connecting member (504) in the middle of the ring finger is connected and fixed to the seventh bearing assembly (528) of the ring finger by interference fit. The second pivot (519) in the middle of the ring finger is connected and fixed to the eighth bearing assembly (529) of the ring finger by interference fit. The second pivot (519) in the middle of the ring finger is connected and fixed to the eighth bearing assembly (529) of the ring finger by interference fit. The ring finger is fixed to the seventh bearing assembly (528) of the ring finger by an interference fit. The lower end of the middle connecting part (504) of the ring finger is fixed to the ninth bearing assembly (530) of the ring finger by an interference fit. The end part (505) of the ring finger is fixed to the tenth bearing (531) of the ring finger by an interference fit. The second pivot (517) of the end of the ring finger is fixed to the ninth bearing assembly (530) of the ring finger by an interference fit. The second pivot (517) of the end of the ring finger is fixed to the tenth bearing assembly (531) of the ring finger by an interference fit. The end part (505) of the ring finger is fixed to the twelfth bearing assembly (533) of the ring finger by an interference fit. The end connecting part (504) of the ring finger is fixed to the twelfth bearing assembly (533) of the ring finger by an interference fit. 06) The ring finger is connected and fixed to the eleventh bearing assembly (532) of the ring finger by interference fit. The first rotating shaft (516) at the end of the ring finger is connected and fixed to the twelfth bearing assembly (533) of the ring finger by interference fit. The first rotating shaft (516) at the end of the ring finger is connected and fixed to the eleventh bearing assembly (532) of the ring finger by interference fit. The ring finger L-shaped connector (507) is connected and fixed to the middle support (503) of the ring finger by welding. The ring finger L-shaped connector (507) is connected and fixed to the twenty-first bearing assembly (541) of the ring finger by interference fit. The ring finger end connector (506) is connected and fixed to the twentieth bearing assembly (540) of the ring finger by interference fit.The second pivot (515) of the middle connector of the ring finger is connected and fixed to the twenty-first bearing assembly (541) of the ring finger by an interference fit. The second pivot (515) of the middle connector of the ring finger is connected and fixed to the twentieth bearing assembly (540) of the ring finger by an interference fit. The middle connector (504) of the ring finger is connected and fixed to the eighteenth bearing assembly (538) of the ring finger by an interference fit. The lower end of the middle connector (508) of the ring finger is connected and fixed to the nineteenth bearing assembly (539) of the ring finger by an interference fit. The first pivot (518) of the middle of the ring finger is connected and fixed to the eighteenth bearing assembly (538) of the ring finger by an interference fit. The first pivot (518) of the middle of the ring finger is connected and fixed to the eighteenth bearing assembly (538) of the ring finger by an interference fit. The ring finger is connected and fixed to the nineteenth bearing assembly (539) of the ring finger via an interference fit. The upper end of the middle connecting piece (508) of the ring finger is connected and fixed to the sixteenth bearing assembly (536) of the ring finger via an interference fit. The ring finger T-shaped connecting piece (509) is connected and fixed to the seventeenth bearing assembly (537) of the ring finger via an interference fit. The first rotating shaft (514) of the middle connecting piece of the ring finger is connected and fixed to the sixteenth bearing assembly (536) of the ring finger via an interference fit. The first rotating shaft (514) of the middle connecting piece of the ring finger is connected and fixed to the seventeenth bearing assembly (537) of the ring finger via an interference fit. The ring finger T-shaped connecting piece (509) is connected and fixed to the ring finger support connecting piece (502) via a bolt connection.

7. The highly integrated humanoid robotic hand based on piezoelectric drive according to claim 1, characterized in that: The little finger portion (6) mainly includes a little finger front support (601), a little finger support connector (602), a little finger middle support (603), a little finger middle connector (604), a little finger end piece (605), a little finger end connector (606), a little finger L-shaped connector (607), a little finger middle connector (608), a little finger T-shaped connector (609), a little finger front connector (610), a little finger front connector block (611), a little finger front first pivot (612), a little finger front second pivot (613), a little finger middle connector first pivot (614), a little finger middle connector second pivot (615), a little finger end first pivot (616), and a little finger tip. Second pivot (617), first pivot (618) in the middle of the little finger, second pivot (619) in the middle of the little finger, third pivot (620) in the middle of the little finger, third pivot (621) at the tip of the little finger, first bearing group (622) of the little finger, second bearing group (623) of the little finger, third bearing group (624) of the little finger, fourth bearing group (625) of the little finger, fifth bearing group (626) of the little finger, sixth bearing group (627) of the little finger, seventh bearing group (628) of the little finger, eighth bearing group (629) of the little finger, ninth bearing group (630) of the little finger, tenth bearing group (631) of the little finger, eleventh bearing group (632) of the little finger, twelfth bearing group (633) of the little finger, fourteenth bearing group of the little finger Group (634), Little Finger Fifteenth Bearing Group (635), Little Finger Sixteenth Bearing Group (636), Little Finger Seventeenth Bearing Group (637), Little Finger Eighteenth Bearing Group (638), Little Finger Nineteenth Bearing Group (639), Little Finger Twentieth Bearing Group (640), Little Finger Twenty-first Bearing Group (641); wherein the Little Finger Front End Support (601) is connected and fixed to the Little Finger Support Connector (602) by bolt connection, the Little Finger Front End Support (601) is connected and fixed to the Little Finger First Bearing Group (622) by interference fit, the right end of the Little Finger Front End Connecting Block (611) is connected and fixed to the Little Finger Second Bearing Group (623) by interference fit, and the Little Finger Front End First Rotating Shaft (612) is connected and fixed to the first bearing assembly (622) of the little finger by interference fit. The first rotating shaft (612) of the front end of the little finger is connected and fixed to the first bearing assembly (622) of the little finger by interference fit. The left end of the connecting block (611) of the front end of the little finger is connected and fixed to the fifteenth bearing assembly (635) of the little finger by interference fit. The upper end of the connecting piece (610) of the front end of the little finger is connected and fixed to the fourteenth bearing assembly (634) of the little finger by interference fit. The second rotating shaft (613) of the front end of the little finger is connected and fixed to the fifteenth bearing assembly (635) of the little finger by interference fit. The second rotating shaft (613) of the front end of the little finger is connected and fixed to the fourteenth bearing assembly (634) of the little finger by interference fit.The upper end of the little finger middle support (603) is connected and fixed to the little finger fourth bearing assembly (625) by interference fit. The lower end of the little finger support connector (602) is connected and fixed to the little finger third bearing assembly (624) by interference fit. The little finger front third pivot (621) is connected and fixed to the little finger fourth bearing assembly (625) by interference fit. The little finger front third pivot (621) is connected and fixed to the little finger third bearing assembly (624) by interference fit. The lower end of the little finger front connector (610) is connected and fixed to the little finger fifth bearing assembly (626) by interference fit. The little finger middle support (603) is connected and fixed to the little finger sixth bearing assembly by interference fit. The bearing assembly (627) is connected and fixed. The third pivot (620) in the middle of the little finger is connected and fixed to the fifth bearing assembly (626) of the little finger by interference fit. The third pivot (620) in the middle of the little finger is connected and fixed to the sixth bearing assembly (627) of the little finger by interference fit. The lower end of the support member (603) in the middle of the little finger is connected and fixed to the eighth bearing assembly (629) of the little finger by interference fit. The upper end of the connector (604) in the middle of the little finger is connected and fixed to the seventh bearing assembly (628) of the little finger by interference fit. The second pivot (619) in the middle of the little finger is connected and fixed to the eighth bearing assembly (629) of the little finger by interference fit. The second pivot (619) in the middle of the little finger is connected and fixed to the eighth bearing assembly (629) of the little finger by interference fit. The little finger is connected and fixed to the seventh bearing assembly (628) of the little finger by an interference fit. The lower end of the little finger middle connector (604) is connected and fixed to the ninth bearing assembly (630) of the little finger by an interference fit. The little finger end piece (605) is connected and fixed to the tenth bearing assembly (631) of the little finger by an interference fit. The little finger end second pivot (617) is connected and fixed to the ninth bearing assembly (630) of the little finger by an interference fit. The little finger end second pivot (617) is connected and fixed to the tenth bearing assembly (631) of the little finger by an interference fit. The little finger end piece (605) is connected and fixed to the twelfth bearing assembly (633) of the little finger by an interference fit. The little finger end connector (604) is connected and fixed to the seventh bearing assembly (628) of the little finger by an interference fit. The lower end of the little finger middle connector (604) is connected and fixed to the ninth bearing assembly (630) of the little finger by an interference fit. The little finger end connector (605) is connected and fixed to the twelfth bearing assembly (633) of the little finger by an interference fit. 06) The little finger is connected and fixed to the eleventh bearing assembly (632) of the little finger by interference fit. The first pivot (616) at the end of the little finger is connected and fixed to the twelfth bearing assembly (633) of the little finger by interference fit. The first pivot (616) at the end of the little finger is connected and fixed to the eleventh bearing assembly (632) of the little finger by interference fit. The little finger L-shaped connector (607) is connected and fixed to the middle support (603) of the little finger by welding. The little finger L-shaped connector (607) is connected and fixed to the twenty-first bearing assembly (641) of the little finger by interference fit. The little finger end connector (606) is connected and fixed to the twentieth bearing assembly (640) of the little finger by interference fit.The second pivot (615) of the little finger middle connector is connected and fixed to the little finger twenty-first bearing group (641) by interference fit. The second pivot (615) of the little finger middle connector is connected and fixed to the little finger twentieth bearing group (640) by interference fit. The little finger middle connector (604) is connected and fixed to the little finger eighteenth bearing group (638) by interference fit. The lower end of the little finger middle connector (608) is connected and fixed to the little finger nineteenth bearing group (639) by interference fit. The first pivot (618) of the little finger middle is connected and fixed to the little finger eighteenth bearing group (638) by interference fit. The first pivot (618) of the little finger middle is connected and fixed to the little finger eighteenth bearing group (638) by interference fit. The little finger is connected and fixed to the nineteenth bearing assembly (639) of the little finger through a combination method. The upper end of the little finger middle connector (608) is connected and fixed to the sixteenth bearing assembly (636) of the little finger through an interference fit. The little finger T-shaped connector (609) is connected and fixed to the seventeenth bearing assembly (637) of the little finger through an interference fit. The first rotating shaft (614) of the little finger middle connector is connected and fixed to the sixteenth bearing assembly (636) of the little finger through an interference fit. The first rotating shaft (614) of the little finger middle connector is connected and fixed to the seventeenth bearing assembly (637) of the little finger through an interference fit. The little finger T-shaped connector (609) is connected and fixed to the little finger support connector (602) through a bolt connection.

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