Self-adaptive dexterous hand

Abstract

The utility model discloses a self-adaptive dexterous hand, which belongs to the technical field of manipulators and comprises a group of thumb joints and a plurality of groups of four-finger joints, each of the thumb joints and the four-finger joints comprises a far-finger joint and a near-finger joint, and the upper end of each near-finger joint is rotatably connected with the lower end of the far-finger joint through a far-finger joint pin shaft. The distal knuckle pin shaft is sleeved with a distal knuckle torsional spring; the lower end of a near-finger joint of the four-finger joint is rotationally connected with the palm through a near-finger joint pin shaft, and a near-finger joint torsional spring is arranged on the near-finger joint pin shaft in a sleeving mode. In this way, the single tendon rope is adopted for driving, and the structure is simpler. Self-adaptive holding of each finger can be achieved, and when objects of different shapes and different sizes are held, the bending degrees of the far finger joint and the near finger joint of each finger can be better attached to the surfaces of the objects according to the shapes and the sizes of the objects.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to an adaptive dexterous hand. Background Technology

[0002] Dexterous robotic hands are typically attached to the end of humanoid robots or robotic arms, enabling them to grasp objects in various scenarios, much like a human hand.

[0003] For example, CN118269127A discloses a general-purpose humanoid dexterous hand that uses a double tendon rope drive, has a more complex structure, and the tendon rope will loosen due to wear after long-term use.

[0004] Based on this, the present invention designs an adaptive dexterous hand to solve the above problems. Utility Model Content

[0005] In view of the above-mentioned shortcomings of the existing technology, the present invention provides an adaptive dexterous hand.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] An adaptive dexterous hand includes a set of thumb joints, multiple sets of four-finger joints, and a palm and wrist;

[0008] The thumb joint and the four finger joints each include a distal finger joint and a proximal finger joint. The upper end of the proximal finger joint is rotatably connected to the lower end of the distal finger joint through a distal finger joint pin. The distal finger joint torsion spring is sleeved on the distal finger joint pin. One end of the distal finger joint torsion spring is close to the finger joint limit, and the other end of the distal finger joint torsion spring is close to the distal finger joint limit.

[0009] The lower end of the proximal joint of the four finger joints is rotatably connected to the palm through the proximal joint pin. The proximal joint torsion spring is sleeved on the proximal joint pin. One end of the proximal joint torsion spring is limited by the palm, and the other end of the proximal joint torsion spring is limited close to the finger joint.

[0010] The palm, thumb joint, and four-finger joint are equipped with a control panel, a four-finger drive structure, and a thumb drive structure.

[0011] The four-finger drive structure includes a first power structure for driving the four-finger joints to grasp and open, and the first power structure is connected to the four-finger joints.

[0012] The thumb drive structure includes a first power structure for driving the thumb joint to grasp and open, and a second power structure for driving the thumb joint to rotate and adduct. The first power structure is connected to the thumb joint, and the drive end of the second power structure is fixedly connected to the lower end of the proximal interphalangeal joint of the thumb joint.

[0013] Furthermore, the first power structure includes a tendon cord, a proximal phalanx pulley shaft, a winch, a hollow screw, a helical gear shaft, an output helical gear shaft, a motor and reducer assembly, an output encoder, and a motor bracket. The hollow screw is threadedly fixed inside the distal phalanx. The upper end of the tendon cord is fixedly connected to the hollow screw. The proximal phalanx pulley shaft is rotatably mounted inside the proximal phalanx. The tendon cord passes around the proximal phalanx pulley shaft. The drive end of the motor and reducer assembly is fixedly connected to the output helical gear shaft. The output helical gear on the output helical gear shaft meshes with the helical gear on the helical gear shaft to complete a 90-degree reversal. The two ends of the helical gear shaft are fixedly connected to the output encoder and the winch, respectively. The motor and reducer assembly are fixedly mounted on the motor bracket. The helical gear shaft is rotatably mounted on the motor bracket. The lower end of the tendon cord is wound around the winch.

[0014] Furthermore, the second power structure includes a helical gear shaft, an output helical gear shaft, a motor bracket, a motor and reducer assembly, an output encoder, and a rotating bracket. The drive end of the motor and reducer assembly is fixedly connected to the output helical gear shaft. The output helical gear on the output helical gear shaft meshes with the helical gear on the helical gear shaft to complete a 90-degree reversal. The two ends of the helical gear shaft are fixedly connected to the output encoder and the rotating bracket, respectively. The motor and reducer assembly are fixedly mounted on the motor bracket. The helical gear shaft is rotatably mounted on the motor bracket. The rotating bracket is fixedly connected to the lower end of the proximal interphalangeal joint of the thumb joint.

[0015] Furthermore, copper sleeves are installed at both ends of the distal interphalangeal joint pin and between the distal interphalangeal joint, with the copper sleeves fitted onto the distal interphalangeal joint pin.

[0016] Furthermore, the distal and proximal interphalangeal joints are respectively covered with distal and proximal silicone gel.

[0017] Furthermore, the palm includes a palm shell and a palm inner cover, the palm inner cover being detachably and fixedly connected to the palm shell, and the palm inner cover being covered with soft silicone; the lower end of the proximal interphalangeal joint of the four finger joints is rotatably connected to the palm shell through a proximal interphalangeal joint pin.

[0018] Furthermore, the motor bracket of the first power structure of the four-finger drive structure is fixedly connected to the palm.

[0019] Furthermore, the motor bracket of the first power structure of the thumb-driven structure is fixedly connected to the palm.

[0020] Furthermore, the hollow screw has a through hole inside.

[0021] Furthermore, the motor and reducer assembly, as well as the output encoder, are all connected to the control board.

[0022] Compared to existing technologies, the advantages of this invention are as follows: The dexterous hand of this invention can grasp and hold objects of different shapes and sizes. Each finger can bend to conform to the surface of the object according to its shape, achieving adaptive grasping. Furthermore, after the actuator is released, each finger can quickly spring back to the open palm state. In this open state, if the dexterous hand is subjected to external impact, the fingers can adaptively bend, avoiding stress damage to the dexterous hand and preventing damage to external objects.

[0023] The dexterous hand of this invention adopts a tendon-driven method. The motor and reducer assembly drive the output helical gear shaft to rotate. The output helical gear shaft drives the helical gear shaft to rotate to change direction. The helical gear shaft drives the winch to rotate. The winch drives the tendon to shorten and lengthen, thereby driving the bending and opening of the finger joints.

[0024] The torsion spring of the proximal interphalangeal joint in this invention has a slightly smaller torque than that of the distal interphalangeal joint torsion spring. Therefore, when performing a gripping action, the proximal interphalangeal joint torsion spring is triggered first, and the proximal interphalangeal joint bends first. When it bends to a certain extent, the distal interphalangeal joint torsion spring is triggered, and the distal interphalangeal joint begins to bend. This enables adaptive gripping of each finger. When gripping objects of different shapes and sizes, the degree of bending of the distal and proximal interphalangeal joints of each finger will conform more closely to the object's surface according to the object's shape and size. This action does not require the addition of a new motor. The advantage is that it reduces the complexity of the dexterous hand's structure and control, achieving a more ideal gripping posture with fewer motors and reducer components, making it more flexible.

[0025] When the tendon cord of the dexterous hand is first installed, the hollow screw is tightened, that is, the threads of the hollow screw are fully screwed into the distal interphalangeal joint. When the tendon cord loosens due to long-term use, the fixing screws of the two shells of the distal interphalangeal joint are removed, the distal interphalangeal joint is opened, and the tendon cord is tightened by loosening the hollow screw, so as to ensure the tension of the tendon cord and solve the problem of tendon cord loosening due to long-term use.

[0026] This invention adds an output encoder, which can accurately confirm the rotation angle, speed and other states of the helical gear shaft, and can realize closed-loop control of the position and speed of the motor and reducer components, resulting in higher control accuracy.

[0027] This invention uses a single tendon rope drive, which makes the structure simpler. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a front view of an adaptive dexterous hand according to the present invention;

[0030] Figure 2 This is a front view of an adaptive dexterous hand for removing the lower shell of the palm according to the present invention;

[0031] Figure 3 For along Figure 2 A sectional view along the AA direction;

[0032] Figure 4 for Figure 3 A magnified view of a portion of the image;

[0033] Figure 5 This is a partial structural diagram of the first power structure in this utility model;

[0034] Figure 6 Schematic diagram of the connection structure between the thumb drive structure and the thumb joint Figure 1 ;

[0035] Figure 7 This is the front view of the four-finger drive structure;

[0036] Figure 8 For along Figure 7 BB direction sectional view;

[0037] Figure 9 A side view of the four-finger drive structure;

[0038] Figure 10 This is an exploded view of the four-finger drive structure.

[0039] The numbers in the figure represent:

[0040] 1. Thumb joint; 101. Distal finger joint; 102. Proximal finger joint; 2. Four-finger joint; 3. Palm; 31. Palm shell; 32. Palm inner cover; 4. Wrist; 5. Control panel; 6. Four-finger drive structure; 7. Thumb drive structure; 8. Distal finger joint pin; 9. Distal finger joint torsion spring; 10. Proximal finger joint torsion spring; 11. Proximal finger joint pin; 12. Tendon cord; 13. Proximal finger joint pulley shaft; 14. Winch; 15. Motor and reducer assembly; 16. Distal finger joint silicone; 17. Rotary bracket; 18. Proximal finger joint silicone; 19. Hollow screw; 20. Copper sleeve; 21. Output encoder; 22. Helical gear shaft; 23. Output helical gear shaft; 24. Motor bracket; 25. First power structure; 26. Second power structure. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0042] The terms “left,” “right,” “front,” “back,” “up,” and “down” mentioned in the following description are oriented in the viewing direction of the front view.

[0043] In some embodiments, please refer to the accompanying drawings. Figures 1-10 An adaptive dexterous hand includes a set of thumb joints 1, multiple sets of four finger joints 2 (taking four sets as an example), a palm 3 and a wrist 4;

[0044] The thumb joint 1 and the four-finger joint 2 each include a distal finger joint 101 and a proximal finger joint 102. The upper end of the proximal finger joint 102 is rotatably connected to the lower end of the distal finger joint 101 through a distal finger joint pin 8, and can rotate around the proximal finger joint 102. The distal finger joint torsion spring 9 is sleeved on the distal finger joint pin 8. One end of the distal finger joint torsion spring 9 is close to the finger joint 102 for limitation, and the other end of the distal finger joint torsion spring 9 is limited by the distal finger joint 101.

[0045] When the distal interphalangeal joint 101 rotates inward toward the palm 3, it needs to overcome the torque of the distal interphalangeal joint torsion spring 9. When the distal interphalangeal joint 101 is released, the torque of the distal interphalangeal joint torsion spring 9 is released, and the distal interphalangeal joint 101 returns to the extended finger state. At this time, one end of the distal interphalangeal joint 101 is limited by the proximal interphalangeal joint 102, preventing the torque of the distal interphalangeal joint torsion spring 9 from being released further. Therefore, like human fingers, dexterous hands cannot bend in the opposite direction.

[0046] Preferably, copper sleeves 20 are installed at both ends of the distal interphalangeal joint pin 8 and between the distal interphalangeal joint 101. The copper sleeves 20 are fitted on the distal interphalangeal joint pin 8, which can reduce the frictional resistance during joint rotation, improve the smoothness of joint rotation, and reduce wear.

[0047] The lower end of the proximal interphalangeal joint 102 of the four finger joint 2 is rotatably connected to the palm 3 through the proximal interphalangeal joint pin 11, and can rotate around the palm. The proximal interphalangeal joint torsion spring 10 is sleeved on the proximal interphalangeal joint pin 11. One end of the proximal interphalangeal joint torsion spring 10 is limited by the palm 3, and the other end of the proximal interphalangeal joint torsion spring 10 is limited near the finger joint 102.

[0048] When the proximal interphalangeal joint 102 rotates inward toward the palm 3, it needs to overcome the torque of the proximal interphalangeal joint torsion spring 10. When the proximal interphalangeal joint 102 is released, the torque of the proximal interphalangeal joint torsion spring 10 is released, and the proximal interphalangeal joint 102 returns to the extended finger state. At this time, one end of the proximal interphalangeal joint 102 is limited by the palm 3, preventing the torque of the proximal interphalangeal joint torsion spring 10 from being released further. Therefore, like human fingers, dexterous hands cannot bend in the opposite direction.

[0049] Preferably, the fingertips of the distal phalanx 101 and proximal phalanx 102 are respectively fixedly covered with distal phalanx silicone 16 and proximal phalanx silicone 18, which can increase the friction when the fingers are gripping, and at the same time better fit the surface of the object being gripped.

[0050] The palm 3 includes a palm shell 31 and a palm inner cover 32. The palm inner cover 32 is detachably and fixedly connected to the palm shell 31. The palm inner cover 32 is covered with soft silicone, which can increase the friction when gripping and better conform to the surface of the object. The lower end of the proximal interphalangeal joint 102 of the four finger joint 2 is rotatably connected to the palm shell 31 through the proximal interphalangeal joint pin 11.

[0051] The control panel 5, the four-finger drive structure 6, and the thumb drive structure 7 are installed inside the palm shell 31, the thumb joint 1, and the four-finger joint 2.

[0052] The four-finger drive structure 6 includes a first power structure 25 for driving the four-finger joints 2 to grasp and open, and the first power structure 25 is connected to the four-finger joints 2.

[0053] The thumb drive structure 7 includes a first power structure 25 for driving the thumb joint 1 to grasp and open, and a second power structure 26 for driving the thumb joint 1 to rotate and adduct. The first power structure 25 is connected to the thumb joint 1, and the driving end of the second power structure 26 is fixedly connected to the lower end of the proximal interphalangeal joint 102 of the thumb joint 1.

[0054] The first power structure 25 includes a tendon cord 12, a proximal knuckle pulley shaft 13, a winch 14, a hollow screw 19, a helical gear shaft 22, an output helical gear shaft 23, a motor and reducer assembly 15, an output encoder 21, and a motor bracket 24. The hollow screw 19 is threadedly fixed inside the distal knuckle joints 101 of the thumb joint 1 and the fourth finger joint 2, respectively. The upper end of the tendon cord 12 is fixedly connected to the hollow screw 19. The proximal knuckle pulley shaft 13 is rotatably mounted inside the proximal knuckle joint 102. The tendon cord 12 is wound around... The drive end of the motor and reducer assembly 15 is fixedly connected to the output helical gear shaft 23 via the near knuckle pulley shaft 13. The output helical gear on the output helical gear shaft 23 meshes with the helical gear on the helical gear shaft 22 to complete a 90-degree reversal. The two ends of the helical gear shaft 22 are fixedly connected to the output encoder 21 and the winch 14, respectively. The motor and reducer assembly 15 is fixedly mounted on the motor bracket 24. The helical gear shaft 22 is rotatably mounted on the motor bracket 24. The lower end of the tendon rope 12 is wound around the winch 14.

[0055] The motor bracket 24 of the first power structure 25 of the four-finger drive structure 6 is fixedly connected to the palm 3.

[0056] The second power structure 26 includes a helical gear shaft 22, an output helical gear shaft 23, a motor bracket 24, a motor and reducer assembly 15, an output encoder 21, and a rotating bracket 17. The drive end of the motor and reducer assembly 15 is fixedly connected to the output helical gear shaft 23. The output helical gear on the output helical gear shaft 23 meshes with the helical gear on the helical gear shaft 22 to complete a 90-degree reversal. The two ends of the helical gear shaft 22 are fixedly connected to the output encoder 21 and the rotating bracket 17, respectively. The motor and reducer assembly 15 is fixedly mounted on the motor bracket 24. The helical gear shaft 22 is rotatably mounted on the motor bracket 24. The rotating bracket 17 is fixedly connected to the lower end of the proximal interphalangeal joint 102 of the thumb joint 1.

[0057] The motor bracket 24 of the first power structure 25 of the thumb drive structure 7 is fixedly connected to the palm 3.

[0058] Preferably, the hollow screw 19 is a special screw that looks like a conventional screw but has a hole drilled through it.

[0059] When the tendon cord 12 of the dexterous hand is installed for the first time, the hollow screw 19 should be tightened, that is, the threads of the hollow screw 19 should be fully screwed into the distal interphalangeal joint 101. When the tendon cord 12 becomes loose after long-term use, remove the fixing screws of the two shells of the distal interphalangeal joint 101, open the distal interphalangeal joint 101, and loosen the hollow screw 19 to tighten the tendon cord 12, so as to prevent the tendon cord 12 from loosening.

[0060] The output encoder 21 can accurately confirm the rotation angle, speed and other states of the helical gear shaft 22, and can realize closed-loop control of the position and speed of the motor and reducer assembly 15;

[0061] For the four-finger joint 2, when the motor and reducer assembly 15 rotates, it drives the output helical gear shaft 23 to rotate, which in turn drives the helical gear shaft 22 to rotate. The helical gear shaft 22 then drives the winch 14 to rotate. The winch 14 pulls the hollow screw 19 through the tendon rope 12, which in turn drives the distal finger joint 101 and proximal finger joint 102 to bend against the torque of the distal finger joint torsion spring 9 and the proximal finger joint torsion spring 10, thus achieving the gripping action of the four fingers. The torque of the proximal finger joint torsion spring 10 inside the four-finger joint 2 is slightly less than that of the distal finger joint torsion spring 9. Therefore, when performing the gripping action, the proximal finger joint torsion spring 10 is triggered first, and the proximal finger joint 102 bends first. When it bends to a certain extent... When the finger bends, the distal interphalangeal joint torsion spring 9 is triggered, and the distal interphalangeal joint 101 begins to bend. This design is intended to ensure that when the bending action is triggered, the proximal interphalangeal joint 102 is triggered first, which can better fit the surface of the object. At the same time, during the bending process of the finger, if either the distal interphalangeal joint 101 or the proximal interphalangeal joint 102 encounters the object being held, the movement of (distal interphalangeal joint 101 or proximal interphalangeal joint 102) will stop due to the obstruction of the object, while the movement of (proximal interphalangeal joint 102 or distal interphalangeal joint 101) will continue until the finger joints are as close as possible to the physical surface and cannot move. This allows for adaptive gripping of objects of different shapes and sizes, which is more conducive to grasping.

[0062] The thumb joint 1 is controlled by two sets of power structures. The bending action of the two joints (distal joint 101 and proximal joint 102) on the thumb joint 1 is also based on the same principle as the four-finger joint 2. The motor and reducer assembly 15 drives the output helical gear shaft 23 to rotate, the output helical gear shaft 23 drives the helical gear shaft 22 to rotate, the helical gear shaft 22 drives the winch 14 to rotate, and the winch 14 pulls the hollow screw 19 through the tendon rope 12, thereby driving the distal joint 101 and proximal joint 102 to bend against the torsion of the distal joint torsion spring 9 and the proximal joint torsion spring 10, so as to realize the adaptive bending and grasping of the thumb.

[0063] For the rotation of the thumb joint 1 toward the inside of the palm 3, the output helical gear shaft 23 is driven to rotate by the motor and reducer assembly 15 of the second power structure 26 of the thumb drive structure 7. The output helical gear shaft 23 drives the helical gear shaft 22 to rotate, the helical gear shaft 22 drives the rotating bracket 17 to rotate, and the rotating bracket 17 drives the thumb joint 1 to rotate. The thumb joint 1 can rotate toward the inside of the palm to achieve adduction.

[0064] Preferably, the motor and reducer assembly 15 and the output encoder 21 are all connected to the control board 5, and can be controlled through the control board 5.

[0065] Taking five fingers as an example (thumb + four fingers), six motors and reducer assemblies 15 are used to provide six active degrees of freedom. Among them, the thumb joint 1 uses two motors and reducer assemblies 15. One motor and reducer assembly 15 realizes the flexion and extension of the two joints of the thumb, and the other motor and reducer assembly 15 realizes the adduction and opening of the thumb joint; for the remaining four fingers, each finger uses one motor and reducer assembly 15 to realize the flexion and extension of two joints on one finger.

[0066] The present invention has the following technical effects:

[0067] 1) The dexterous hand of the present invention can grasp and hold objects of different shapes and sizes. Each finger can bend to conform to the surface of the object according to its shape, achieving adaptive grasping. Furthermore, after the actuator is released, each finger can quickly rebound to the open palm state. In the open state, if the dexterous hand is subjected to external impact, the fingers can bend adaptively, avoiding stress damage to the dexterous hand and preventing damage to external objects.

[0068] 2) The dexterous hand of the present invention adopts the tendon rope 12 driving method. The output helical gear shaft 23 is driven to rotate by the motor and reducer assembly 15. The output helical gear shaft 23 drives the helical gear shaft 22 to rotate for reversal. The helical gear shaft 22 drives the winch 14 to rotate. The winch 14 drives the tendon rope 12 to shorten and lengthen, thereby driving the bending and opening of the finger joints.

[0069] 3) The torque of the proximal interphalangeal joint torsion spring 10 of the dexterous hand of the present invention is slightly less than that of the distal interphalangeal joint torsion spring 9. Therefore, when a gripping action is performed, the proximal interphalangeal joint torsion spring 10 is triggered first, and the proximal interphalangeal joint 102 bends first. When it bends to a certain extent, the distal interphalangeal joint torsion spring 9 is triggered, and the distal interphalangeal joint 101 begins to bend. It can realize adaptive gripping of each finger. When gripping objects of different shapes and sizes, the degree of bending of the distal and proximal interphalangeal joints of each finger will fit the object surface more closely according to the shape and size of the object. This action does not add a new motor. The advantage is that it reduces the complexity of the structure and control of the dexterous hand. It achieves the most ideal gripping posture with fewer motors and reducer components 15 (active degrees of freedom), making it more flexible.

[0070] 4) When the tendon cord 12 of the dexterous hand is first installed, the hollow screw 19 is tightened, that is, the threads of the hollow screw 19 are fully screwed into the distal interphalangeal joint 101. When the tendon cord 12 becomes loose after long-term use, the fixing screws of the two shells of the distal interphalangeal joint 101 are removed, the distal interphalangeal joint 101 is opened, and the hollow screw 19 is loosened to tighten the tendon cord 12, so as to ensure the tension of the tendon cord 12 and solve the problem of the tendon cord 12 becoming loose after long-term use.

[0071] 5) The present invention adds an output encoder 21, which can accurately confirm the rotation angle, speed and other states of the helical gear shaft 22, and can realize closed-loop control of the position and speed of the motor and reducer assembly 15, with higher control accuracy;

[0072] 6) This invention uses a single tendon rope drive, which makes the structure simpler.

[0073] In some embodiments, as a preferred embodiment of the present invention, the five-finger dexterous hand consists of one thumb joint and four four-finger joints. The number of thumb joints and four-finger joints can also be adjusted, correspondingly adjusting the number of matching four-finger drive structures 6 and thumb drive structures 7.

[0074] In some embodiments, as a preferred embodiment of the present invention, the helical gear shaft 22 and the output helical gear shaft 23 can also be replaced by a worm shaft and a worm wheel shaft, and the direction can be reversed by the cooperation of the worm on the worm shaft and the worm wheel on the worm wheel shaft.

[0075] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An adaptive dexterous hand, comprising a set of thumb joints (1), multiple sets of four finger joints (2), a palm (3), and a wrist (4), characterized in that: The thumb joint (1) and the four finger joints (2) each include a distal finger joint (101) and a proximal finger joint (102). The upper end of the proximal finger joint (102) is rotatably connected to the lower end of the distal finger joint (101) through a distal finger joint pin (8). The distal finger joint torsion spring (9) is sleeved on the distal finger joint pin (8). One end of the distal finger joint torsion spring (9) is near the finger joint (102) and the other end of the distal finger joint torsion spring (9) is near the distal finger joint (101). The lower end of the proximal interphalangeal joint (102) of the four finger joints (2) is rotatably connected to the palm (3) through the proximal interphalangeal joint pin (11). The proximal interphalangeal joint torsion spring (10) is sleeved on the proximal interphalangeal joint pin (11). One end of the proximal interphalangeal joint torsion spring (10) is limited by the palm (3), and the other end of the proximal interphalangeal joint torsion spring (10) is limited close to the finger joint (102). The palm (3), thumb joint (1) and four-finger joint (2) are equipped with a control panel (5), a four-finger drive structure (6) and a thumb drive structure (7); The four-finger drive structure (6) includes a first power structure (25) for driving the four-finger joints (2) to grasp and open, and the first power structure (25) is connected to the four-finger joints (2); The thumb drive structure (7) includes a first power structure (25) for driving the thumb joint (1) to grasp and open, and a second power structure (26) for driving the thumb joint (1) to rotate and adduct. The first power structure (25) is connected to the thumb joint (1), and the driving end of the second power structure (26) is fixedly connected to the lower end of the proximal interphalangeal joint (102) of the thumb joint (1).

2. The adaptive dexterous hand according to claim 1, characterized in that, The first power structure (25) includes a tendon cord (12), a proximal phalanx pulley shaft (13), a winch (14), a hollow screw (19), a helical gear shaft (22), an output helical gear shaft (23), a motor and reducer assembly (15), an output encoder (21), and a motor bracket (24). The hollow screw (19) is threadedly fixed inside the distal phalanx (101), the upper end of the tendon cord (12) is fixedly connected to the hollow screw (19), the proximal phalanx pulley shaft (13) is rotatably installed inside the proximal phalanx (102), and the tendon cord (12) passes around the proximal phalanx. The pulley shaft (13), the drive end of the motor and reducer assembly (15) is fixedly connected to the output helical gear shaft (23). The output helical gear on the output helical gear shaft (23) meshes with the helical gear on the helical gear shaft (22) to complete a 90-degree reversal. The two ends of the helical gear shaft (22) are fixedly connected to the output encoder (21) and the winch (14) respectively. The motor and reducer assembly (15) is fixedly mounted on the motor bracket (24). The helical gear shaft (22) is rotatably mounted on the motor bracket (24). The lower end of the tendon rope (12) is wound on the winch (14).

3. The adaptive dexterous hand according to claim 2, characterized in that, The second power structure (26) includes a helical gear shaft (22), an output helical gear shaft (23), a motor bracket (24), a motor and reducer assembly (15), an output encoder (21), and a rotating bracket (17). The drive end of the motor and reducer assembly (15) is fixedly connected to the output helical gear shaft (23). The output helical gear on the output helical gear shaft (23) meshes with the helical gear on the helical gear shaft (22) to complete a 90-degree reversal. The two ends of the helical gear shaft (22) are fixedly connected to the output encoder (21) and the rotating bracket (17), respectively. The motor and reducer assembly (15) is fixedly mounted on the motor bracket (24). The helical gear shaft (22) is rotatably mounted on the motor bracket (24). The rotating bracket (17) is fixedly connected to the lower end of the proximal interphalangeal joint (102) of the thumb joint (1).

4. The adaptive dexterous hand according to claim 3, characterized in that, Both ends of the distal interphalangeal joint pin (8) are fitted with copper sleeves (20) between the distal interphalangeal joint (101) and the distal interphalangeal joint. The copper sleeves (20) are fitted onto the distal interphalangeal joint pin (8).

5. The adaptive dexterous hand according to claim 4, characterized in that, The distal phalanx (101) and proximal phalanx (102) are respectively fixedly covered with distal phalanx silicone (16) and proximal phalanx silicone (18).

6. The adaptive dexterous hand according to claim 5, characterized in that, The palm (3) includes a palm shell (31) and a palm inner cover (32). The palm inner cover (32) is detachably fixedly connected to the palm shell (31) and is covered with soft silicone. The lower end of the proximal interphalangeal joint (102) of the four finger joints (2) is rotatably connected to the palm shell (31) through a proximal interphalangeal joint pin (11).

7. The adaptive dexterous hand according to claim 6, characterized in that, The motor bracket (24) of the first power structure (25) of the four-finger drive structure (6) is fixedly connected to the palm (3).

8. The adaptive dexterous hand according to claim 7, characterized in that, The motor bracket (24) of the first power structure (25) of the thumb drive structure (7) is fixedly connected to the palm (3).

9. The adaptive dexterous hand according to claim 8, characterized in that, The hollow screw (19) has a through hole inside.

10. The adaptive dexterous hand according to claim 9, characterized in that, The motor and reducer assembly (15) and the output encoder (21) are all connected to the control board (5).

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