Five-finger bionic hand and humanoid robot

Abstract

The utility model provides a five-finger bionic hand which comprises a palm assembly and a thumb assembly, and the palm assembly comprises a palm base portion, a palm protruding portion and a thumb installation portion. The palm protruding part and the thumb mounting part are arranged on the palm base part, and a containing space is formed between the palm protruding part and the palm base part; the thumb assembly comprises a first driver, a first bevel gear, a second bevel gear and a first bevel gear shaft; the first driver is arranged in the containing space, a first bevel gear is fixedly arranged at the output tail end of the first driver, the second bevel gear is meshed with the first bevel gear, and the second bevel gear is rotationally supported on the thumb mounting part through the first bevel gear shaft. The utility model further provides the humanoid robot. The five-finger bionic hand provided by the utility model can realize multi-degree-of-freedom movement, can complete various complicated hand actions, and is more suitable for being applied to humanoid robots.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a five-finger bionic hand and humanoid robot. BACKGROUND

[0002] The bionic hand has decisive significance for the humanoid robot, so developing the special bionic hand has great economic significance and application prospect.

[0003] The three driving modes above are difficult to directly install the driver between the joints of the bionic hand fingers due to the complex structure. In addition, the electric cylinder screw rod driving mode has the following shortcomings: if the lateral load is large, self-locking phenomenon will occur due to large reduction, the bionic hand cannot be reversely driven, and the bending and stretching movements of the bionic hand need to be driven by the driver; forcibly reversing the drive or encountering a sudden large load will cause damage to the reducer or motor. The rope driving mode has the following shortcomings: it is an indirect driving mode, the performance is greatly limited, and it is not as good as the direct driving mode. The linkage mechanism driving mode has the following shortcomings: all the joints of the bionic hand simultaneously stretch with the designed movement, and the object is grasped like an ordinary actuator. SUMMARY

[0004] In order to solve at least one of the above technical problems, the purpose of the utility model is to provide a five-finger bionic hand and humanoid robot with simple structure and high reliability. At the same time, the five-finger bionic hand and humanoid robot are simple to manufacture, low in cost, high in load and precision, modular in design, and convenient for large-scale production and application.

[0005] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0006] The utility model provides a five-finger bionic hand, including palm assembly and thumb component, the thumb component sets up on the palm assembly, the palm assembly includes palm base, palm convex part and thumb mounting part, the palm convex part and thumb mounting part set up on the palm base, there is accommodating space between the palm convex part and the palm base, the thumb component includes first driver, first bevel gear, second bevel gear and first bevel gear shaft, the first driver sets up in the accommodating space, the output end of the first driver is fixedly provided with the first bevel gear, the second bevel gear is engaged with the first bevel gear, the second bevel gear is rotatably supported on the thumb mounting part through the first bevel gear shaft, and the second bevel gear is fixedly connected with the first bevel gear shaft.

[0007] Furthermore, the thumb assembly also includes a first thumb joint, a second thumb joint, a third bevel gear, a fourth bevel gear, a second bevel gear shaft, and a second driver. One end of the first thumb joint is fixedly connected to the first bevel gear shaft; the other end of the first thumb joint is fixedly connected to the second bevel gear shaft, and the second bevel gear shaft is rotatably supported on one end of the second thumb joint; the third bevel gear is fixedly connected to the second bevel gear shaft; the fourth bevel gear meshes with the third bevel gear, and the fourth bevel gear is fixed to the output end of the second driver, which is disposed on the second thumb joint.

[0008] Furthermore, the thumb assembly also includes a third driver, a fifth bevel gear, a sixth bevel gear, a third bevel gear shaft, and a third thumb joint; the second thumb joint is also provided with the third driver, the output end of the third driver is fixed to the fifth bevel gear, and the sixth bevel gear meshing with the fifth bevel gear is rotatably supported on the other end of the second thumb joint through the third bevel gear shaft; the sixth bevel gear is fixedly connected to the third bevel gear shaft; the third thumb joint is fixedly connected to the third bevel gear shaft.

[0009] Furthermore, the second thumb joint includes a first mounting portion and a second mounting portion arranged in a rotationally symmetrical manner, the second driver is fixedly disposed in the first mounting portion, and the third driver is fixedly disposed in the second mounting portion.

[0010] Furthermore, it also includes an index finger component, a middle finger component, a ring finger component, and a little finger component; the palm component also includes a finger mounting portion; the index finger component, middle finger component, ring finger component, and little finger component are respectively mounted on the palm component through the finger mounting portion; the width of the end of the thumb component is greater than any one of the index finger component, middle finger component, ring finger component, and little finger component.

[0011] Furthermore, the ring finger assembly includes a fourth actuator, which is installed in the finger mounting portion, and a seventh bevel gear is fixedly disposed at one end of the fourth actuator; the other end of the fourth actuator extends toward the base of the palm.

[0012] Further, the eighth bevel gear is engaged with the seventh bevel gear, the eighth bevel gear is rotatably supported on the two side plates of the finger mounting portion through a fourth bevel gear shaft, the eighth bevel gear is fixedly connected with the fourth bevel gear shaft, one end of a second ring finger joint is fixedly connected with the fourth bevel gear shaft, a fifth driver is fixedly installed in the second ring finger joint, a ninth bevel gear is fixedly arranged at an output end of the fifth driver, a tenth bevel gear engaged with the ninth bevel gear is rotatably supported at the other end of the second ring finger joint through a fifth bevel gear shaft, the tenth bevel gear is fixedly connected with the fifth bevel gear shaft, and one end of a third ring finger joint is fixedly connected with the fifth bevel gear shaft.

[0013] Further, the palm protruding portion is arranged at the right side of the palm base portion, the thumb mounting portion is arranged at the left side of the palm base portion, and the five-finger bionic hand is a left hand, or the palm protruding portion is arranged at the left side of the palm base portion, the thumb mounting portion is correspondingly arranged at the right side of the palm base portion, and the five-finger bionic hand is a right hand.

[0014] Further, the end of the thumb assembly is further provided with a light-sensitive sensor, at least one of the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly is provided with a light-sensitive sensor, and at least one of the thumb assembly, the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly is provided with an auxiliary material layer.

[0015] The utility model further provides a humanoid robot, including above-mentioned five-finger bionic hand, five-finger bionic hand is the part of arm of humanoid robot.

[0016] Compared with the prior art, the five-finger bionic hand and the humanoid robot have the beneficial effects that:

[0017] The five-finger bionic hand can realize the movement of at least 11 degrees of freedom through the multiple drivers, can complete various complex hand movements according to actual working conditions, and is more suitable for application to a humanoid robot.

[0018] The multi-degree-of-freedom bionic hand can directly drive the fingers through a group of bevel gears, and has better performance compared with an indirect driving mode.

[0019] The five-finger bionic hand provided by the application can realize various hand shape operations.

[0020] The five-finger bionic hand provided by the application can select different finger sizes and corresponding drivers according to actual needs, thereby adapting to different working scenes. When the left hand and the right hand assembled by the five-finger bionic hand provided by the application are simultaneously installed on a humanoid robot, the appearance of the humanoid robot is closer to that of a human being, and the humanoid robot can replace a human being to complete various work tasks without industry difference, so the application scene is more extensive. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a whole structure schematic view of the five-finger bionic hand provided by the application;

[0022] Figure 2 is another whole structure schematic view of the five-finger bionic hand provided by the application from another perspective;

[0023] Figure 3 is a structure schematic view of a left palm provided by the application;

[0024] Figure 4 is a structure schematic view of a right palm provided by the application;

[0025] Figure 5 is a structure schematic view of a thumb assembly provided by the application;

[0026] Figure 6 is an internal structure schematic view of the five-finger bionic hand provided by the application;

[0027] Among them, the following is the explanation of the reference signs:

[0028] 1 palm assembly, 1-1 palm base, 1-2 connecting part, 1-3 palm protruding part, 1-4 finger mounting part, 1-5 thumb mounting part, 2 thumb assembly, 2-1 first driver, 2-2 first bevel gear, 2-3 second bevel gear, 2-4 first bevel gear shaft, 2-5 first thumb joint, 2-6 second bevel gear shaft, 2-7 second thumb joint, 2-8 third bevel gear, 2-9 fourth bevel gear, 2-10 second driver, 2-11 third driver, 2-12 fifth bevel gear, 2-13 sixth bevel gear, 2-14 third bevel gear shaft, 2-15 third thumb joint, 2-16 photosensitive sensor, 3 index finger assembly, 4 middle finger assembly, 5 ring finger assembly, 5-1 fourth driver, 5-2 seventh bevel gear, 5-3 eighth bevel gear, 5-4 fourth bevel gear shaft, 5-5 second ring finger joint, 5-6 fifth driver, 5-7 ninth bevel gear, 5-8 tenth bevel gear, 5-9 fifth bevel gear shaft, 5-10 third ring finger joint, 6 little finger assembly. DETAILED DESCRIPTION

[0029] In order for those skilled in the art to better understand the technical scheme of the present application, the present application will be further described in detail below in conjunction with specific embodiments. Please note that the embodiments described below are exemplary and are only used to explain the present application, and cannot be understood as a limitation on the present application. If the specific technology or condition is not specified in the embodiments, it is carried out according to the technology or condition described in the literature in the art or according to the product manual.

[0030] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0031] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0032] In the following, the five-finger bionic hand and humanoid robot of the present application will be described in detail through specific embodiments:

[0033] In the present embodiment, asFigures 1-6 As shown, the five-finger bionic hand provided by the embodiment includes a palm assembly 1, a thumb assembly 2, an index finger assembly 3, a middle finger assembly 4, a ring finger assembly 5, and a little finger assembly 6, and the like. The thumb assembly 2, the index finger assembly 3, the middle finger assembly 4, the ring finger assembly 5, and the little finger assembly 6 are installed on the palm assembly 1.

[0034] The palm assembly 1 includes a palm base 1-1, a connecting part 1-2, and a palm protruding part 1-3, and the like. The palm base 1-1 is in a sheet shape similar to a human palm, and the connecting part 1-2 is arranged at the lower end of the palm base 1-1. The connecting part 1-2 can be connected with other power sources in transmission, so as to drive the five-finger bionic hand to rotate. For example, the connecting part 1-2 can be connected with the output shaft of the end of a mechanical arm, and rotates under the driving of the mechanical arm, so as to form an arm part of a humanoid robot together. The palm protruding part 1-3 is arranged at one side of the palm base 1-1, and the palm protruding part 1-3 and the palm base 1-1 form an accommodating space.

[0035] The thumb assembly 2 includes a first driver 2-1, a first bevel gear 2-2, a second bevel gear 2-3, a first bevel gear shaft 2-4, a first thumb joint 2-5, a second bevel gear shaft 2-6, a second thumb joint 2-7, a third bevel gear 2-8, a fourth bevel gear 2-9, a second driver 2-10, a third driver 2-11, a fifth bevel gear 2-12, a sixth bevel gear 2-13, a third bevel gear shaft 2-14, and a third thumb joint 2-15, and the like.

[0036] The first driver 2-1 is arranged in the accommodating space formed by the palm protruding part 1-3 and the palm base 1-1. The output end of the first driver 2-1 is fixed with the first bevel gear 2-2, and the second bevel gear 2-3 engaged with the first bevel gear 2-2 is rotatably supported on the thumb mounting part 1-5 through the first bevel gear shaft 2-4. The second bevel gear 2-3 is fixedly connected with the first bevel gear shaft 2-4, and the first bevel gear shaft 2-4 is fixedly connected with the first thumb joint 2-5. When the first driver 2-1 is driven, the first thumb joint 2-5 is driven to rotate relative to the palm assembly 1 through the bevel gear set, so as to realize the first degree of freedom of the thumb assembly 2.

[0037] The other end of the first thumb joint 2-5 is fixedly connected with a second bevel gear shaft 2-6, and the second bevel gear shaft 2-6 is rotatably supported at one end of a second thumb joint 2-7. The second bevel gear shaft 2-6 is also fixedly connected with a third bevel gear 2-8, and a fourth bevel gear 2-9 engaged with the third bevel gear 2-8 is fixed at the output end of a second driver 2-10. The second thumb joint 2-7 comprises a first mounting portion and a second mounting portion arranged rotationally symmetrically. The second driver 2-10 is fixedly arranged at the first mounting portion. When the second driver 2-10 is driven, the second thumb joint 2-7 is driven to rotate relative to the first thumb joint 2-5 through the bevel gear set, thereby realizing the second degree of freedom of the thumb assembly 2.

[0038] The second mounting portion of the second thumb joint 2-7 is provided with a third driver 2-11, and the output end of the third driver 2-11 is fixed with a fifth bevel gear 2-12. A sixth bevel gear 2-13 engaged with the fifth bevel gear 2-12 is rotatably supported at the other end of the second thumb joint 2-7 through a third bevel gear shaft 2-14. The sixth bevel gear 2-13 is fixedly connected with the third bevel gear shaft 2-14. The third bevel gear shaft 2-14 is also fixedly connected with a third thumb joint 2-15. When the third driver 2-11 is driven, the third thumb joint 2-15 is driven to rotate relative to the second thumb joint 2-7 through the bevel gear set, thereby realizing the third degree of freedom of the thumb assembly 2.

[0039] The palm assembly 1 further comprises four finger mounting portions 1-4 for mounting a forefinger assembly 3, a middle finger assembly 4, a ring finger assembly 5 and a little finger assembly 6 respectively. The forefinger assembly 3, the middle finger assembly 4, the ring finger assembly 5 and the little finger assembly 6 have the same structure.

[0040] Taking the ring finger assembly 5 as an example, the ring finger assembly 5 comprises a fourth driver 5-1, a seventh bevel gear 5-2, an eighth bevel gear 5-3, a fourth bevel gear shaft 5-4, a second ring finger joint 5-5, a fifth driver 5-6, a ninth bevel gear 5-7, a tenth bevel gear 5-8, a fifth bevel gear shaft 5-9 and a third ring finger joint 5-10.

[0041] The fourth driver 5-1 is fixedly arranged at the finger mounting portion 1-4, and the finger mounting portion 1-4 serves as the first ring finger joint of the ring finger assembly 5. Since the other end of the fourth driver 5-1 can extend into the interior of the palm assembly 1, the fourth driver 5-1 has a larger mounting space, which facilitates the selection of a longer size of the fourth driver 5-1, thereby improving the output power.

[0042] The fourth driver 5-1 is fixedly provided with a seventh bevel gear 5-2 at the output end. An eighth bevel gear 5-3 engaged with the seventh bevel gear 5-2 is rotatably supported on the two side plates of the finger mounting portion 1-4 through a fourth bevel gear shaft 5-4. The eighth bevel gear 5-3 is fixedly connected with the fourth bevel gear shaft 5-4. One end of a second ring finger joint 5-5 is fixedly connected with the fourth bevel gear shaft 5-4. When the fourth driver 5-1 is driven, the second ring finger joint 5-5 can be driven to swing relative to the finger mounting portion 1-4 through the bevel gear set, so as to realize the first degree of freedom of the ring finger assembly 5.

[0043] The fifth driver 5-6 is fixedly installed inside the second ring finger joint 5-5. The fifth driver 5-6 is fixedly provided with a ninth bevel gear 5-7 at the output end. A tenth bevel gear 5-8 engaged with the ninth bevel gear 5-7 is rotatably supported on the other end of the second ring finger joint 5-5 through a fifth bevel gear shaft 5-9. The tenth bevel gear 5-8 is fixedly connected with the fifth bevel gear shaft 5-9. One end of a third ring finger joint 5-10 is fixedly connected with the fifth bevel gear shaft 5-9. When the fifth driver 5-6 is driven, the third ring finger joint 5-10 can be driven to swing relative to the second ring finger joint 5-5 through the bevel gear set, so as to realize the second degree of freedom of the ring finger assembly 5.

[0044] In the palm assembly 1 provided in the embodiment, when the palm protruding portion 1-3 is arranged at the right side of the palm base portion 1-1 and the thumb mounting portion 1-5 is correspondingly arranged at the left side of the palm base portion 1-1, i.e. the thumb assembly 2 is mounted at the left side of the palm assembly 1, the five-finger bionic hand of the embodiment can be mounted on a humanoid robot as a left hand.

[0045] Similarly, when the palm protruding portion 1-3 is arranged at the left side of the palm base portion 1-1 and the thumb mounting portion 1-5 is correspondingly arranged at the right side of the palm base portion 1-1, i.e. the thumb assembly 2 is mounted at the right side of the palm assembly 1, the five-finger bionic hand of the embodiment can be mounted on a humanoid robot as a right hand.

[0046] Therefore, the left hand and the right hand assembled by the five-finger bionic hand provided in the embodiment can be simultaneously mounted on a humanoid robot, so that the appearance of the humanoid robot is similar to that of a human being, and the humanoid robot can replace a human being to complete various work tasks without industry difference, and the application scenarios are more extensive.

[0047] In the embodiment, a photosensitive sensor 2-16 is further arranged at the end of at least two fingers, one of which is the thumb assembly 2. When the thumb assembly 2 and the other finger provided with the photosensitive sensor 2-16 complete the pinching action, the two photosensitive sensors 2-16 can generate photosensitive signals. The photosensitive signals can be used to help the five-finger bionic hand to identify objects, avoid obstacles, and obtain parameters of the taken objects, such as whether the cloth or paper is single-layer or multi-layer.

[0048] The second thumb joint 2-7 in the thumb assembly 2 in the embodiment is provided with a first mounting portion and a second mounting portion which are rotationally symmetrical, so that the second driver 2-10 and the third driver 2-11 in the thumb assembly 2 are installed in parallel, which is beneficial to reduce the overall length of the thumb assembly 2, so that it is closer to the human shape. The parallel installation of the second driver 2-10 and the third driver 2-11 makes the installation spaces of the two drivers not interfere with each other, and a longer driver can be selected, so as to improve the output power of the thumb assembly 2. At the same time, the second thumb joint 2-7 is beneficial to the formation of the side hand shape of the entire five-finger bionic hand, that is, it does not affect the space of the side hand shape.

[0049] The third thumb joint 2-15 at the end of the thumb assembly 2 in the embodiment has a wider size compared with the end joints of the other finger assemblies, for example, the width of the third thumb joint 2-15 is twice the width of the third ring finger joint 5-10, so that the thumb assembly 2 can complete the three-finger pinch action with the other two fingers.

[0050] The palm protrusion 1-3 in the embodiment can abut against the taken object when the five-finger bionic hand completes the grabbing action, because the palm protrusion 1-3 is protrudingly arranged relative to the palm base 1-1, and plays an auxiliary grabbing role. The palm protrusion 1-3 can be designed into various shapes according to actual needs, which is not limited herein.

[0051] Each finger tip of each finger in the embodiment is further provided with an auxiliary material layer, which can be rubber or leather and the like having different friction characteristics. The auxiliary material layer can help the five-finger bionic hand to complete the operation of grabbing the object.

[0052] All the drivers in the five-finger bionic hand provided in the embodiment can be selected from the common drivers in the art, and the preferred driver is a bionic gearless harmonic driver. When the bionic gearless harmonic driver in the embodiment is applied to the bionic hand in the humanoid robot, under the condition of small load, for example, the finger is freely bent, stretched or takes a certain object, the power assembly can drive the output flange plate to rotate in the same direction to complete the corresponding action. Under the condition of large load, for example, the finger of the bionic hand is moved by external force or the finger of the bionic hand is subjected to a larger impact, the output flange plate can be reversely rotated relative to the power assembly, so that the bionic gearless harmonic reducer assembly and / or the power assembly can be prevented from being damaged, and the bionic gearless harmonic driver plays a self-protection role.

[0053] The five-finger bionic hand provided in the application can be directly driven by a group of bevel gears through the bionic gearless harmonic driver, and has better performance compared with an indirect driving mode.

[0054] The five-finger bionic hand provided in the application adopts bevel gears to drive between the joints of the fingers, reduces the size of the fingers, and simultaneously, the bionic gearless harmonic driver used by the driver can be reversely actuated, and the internal structure of the multi-degree-of-freedom bionic hand is protected during reverse actuation, so as to avoid damage.

[0055] The five-finger bionic hand provided in the application can select different finger sizes and corresponding drivers according to actual needs, so as to adapt to different working scenes.

[0056] The five-finger bionic hand provided in the application can realize at least 11 degrees of freedom through a plurality of drivers, can complete various complex hand movements according to actual working conditions, and is more suitable for application in humanoid robots.

[0057] The five-finger bionic hand provided in the application can realize various hand operations.

[0058] In the utility model, unless another definite provision and limitation, first feature is on second feature "on" or "under", can be first and second feature direct contact, or first and second feature indirectly contact through intermediate medium. Moreover, first feature is on second feature "on", "above" and "upper side", can be first feature is on second feature directly or obliquely, or only indicate first feature horizontal height is higher than second feature. First feature is on second feature "under", "below" and "under", can be first feature is on second feature directly or obliquely, or only indicate first feature horizontal height is less than second feature.

[0059] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific feature, structure, material or characteristic described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without mutual contradiction.

Claims

1. A five-fingered bionic hand, characterized in that: The application relates to a hand assembly, which comprises a palm assembly and a thumb assembly arranged on the palm assembly; the palm assembly comprises a palm base, a palm protruding part and a thumb mounting part; the palm protruding part and the thumb mounting part are arranged on the palm base, and the palm protruding part is provided with a containing space relative to the palm base; the thumb assembly comprises a first driver, a first bevel gear, a second bevel gear and a first bevel gear shaft; the first driver is arranged in the containing space, the output end of the first driver is fixedly provided with the first bevel gear, the second bevel gear is engaged with the first bevel gear, the second bevel gear is rotatably supported on the thumb mounting part through the first bevel gear shaft, and the second bevel gear is fixedly connected with the first bevel gear shaft.

2. The five-fingered prosthetic hand of claim 1, wherein: The thumb assembly further comprises a first thumb joint, a second thumb joint, a third bevel gear, a fourth bevel gear, a second bevel gear shaft and a second driver; one end of the first thumb joint is fixedly connected with the first bevel gear shaft; the other end of the first thumb joint is fixedly connected with the second bevel gear shaft, the second bevel gear shaft is rotatably supported on one end of the second thumb joint; the third bevel gear is fixedly connected with the second bevel gear shaft; the fourth bevel gear is engaged with the third bevel gear, the fourth bevel gear is fixed on the output end of the second driver, and the second driver is arranged on the second thumb joint.

3. The five-fingered prosthetic hand of claim 2, wherein: The thumb assembly further comprises a third driver, a fifth bevel gear, a sixth bevel gear, a third bevel gear shaft and a third thumb joint; the second thumb joint is further provided with the third driver, the output end of the third driver is fixedly provided with the fifth bevel gear, the sixth bevel gear engaged with the fifth bevel gear is rotatably supported on the other end of the second thumb joint through the third bevel gear shaft; the sixth bevel gear is fixedly connected with the third bevel gear shaft; and the third thumb joint is fixedly connected with the third bevel gear shaft.

4. The five-fingered prosthetic hand of claim 3, wherein: The second thumb joint comprises a first mounting part and a second mounting part arranged in rotational symmetry, the second driver is fixedly arranged on the first mounting part, and the third driver is fixedly arranged on the second mounting part.

5. The five-fingered prosthetic hand of claim 4, wherein: The application further comprises an index finger assembly, a middle finger assembly, a ring finger assembly and a little finger assembly; the palm assembly further comprises a finger mounting part; the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly are respectively arranged on the palm assembly through the finger mounting part, the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly have the same structure; and the width of the end of the thumb assembly is greater than that of any one of the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly.

6. The five-fingered prosthetic hand of claim 5, wherein: The ring finger assembly comprises a fourth driver, the fourth driver is arranged in the finger mounting part, and one end of the fourth driver is fixedly provided with a seventh bevel gear; the other end of the fourth driver extends to the palm base.

7. The five-fingered prosthetic hand of claim 6, wherein: The eighth bevel gear is engaged with the seventh bevel gear, and the eighth bevel gear is rotatably supported on the two side plates of the finger mounting portion through a fourth bevel gear shaft; the eighth bevel gear is fixedly connected with the fourth bevel gear shaft; one end of a second ring finger joint is fixedly connected with the fourth bevel gear shaft; a fifth driver is fixedly installed inside the second ring finger joint; a ninth bevel gear is fixedly arranged at an output end of the fifth driver; a tenth bevel gear engaged with the ninth bevel gear is rotatably supported at the other end of the second ring finger joint through a fifth bevel gear shaft; The tenth bevel gear is fixedly connected with the fifth bevel gear shaft. One end of a third ring finger joint is fixedly connected with the fifth bevel gear shaft.

8. The five-fingered prosthetic hand of claim 7, wherein: The palm protruding portion is arranged at the right side of the palm base portion, the thumb mounting portion is arranged at the left side of the palm base portion, and the five-finger bionic hand is a left hand; or the palm protruding portion is arranged at the left side of the palm base portion, the thumb mounting portion is correspondingly arranged at the right side of the palm base portion, and the five-finger bionic hand is a right hand.

9. The five-fingered prosthetic hand of claim 8, characterized in that it is characterized in that: The end of the thumb assembly is further provided with a photosensitive sensor; at least one of the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly is provided with a photosensitive sensor; at least one of the thumb assembly, the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly is provided with an auxiliary material layer.

10. A humanoid robot comprising the five-fingered bionic hand according to any one of claims 1-9, characterized in that: The five-finger bionic hand is a part of the arm of the humanoid robot.

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