A humanoid robot employing a humanoid dexterous hand

Abstract

The utility model discloses an anthropomorphic dexterous hand and humanoid robot adopting the anthropomorphic dexterous hand. The utility model discloses an anthropomorphic dexterous hand, and the finger driving mechanism includes at least one layer of finger driving motor layer, is equipped with a plurality of finger driving motors in each layer of finger driving motor layer, and each finger driving motor is connected with the finger joint of corresponding hand component through the traction rope, and the number of finger driving motors in each layer of finger driving motor layer is less than or equal to 4; the output shaft of all finger driving motors is outwardly arranged, and the projection in the plane perpendicular to the length direction of arm component does not coincide. The utility model also discloses a humanoid robot, and the anthropomorphic dexterous hand adopting any of the above schemes. The utility model has the advantages of: avoiding the mutual friction, winding and even cutting caused by the path intersection and contact of multiple traction ropes in the narrow space, so that the overall form of the robot arm is more close to the thickness of real human body arm.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a humanoid dexterous hand and a humanoid robot using the humanoid dexterous hand. Background Technology

[0002] Humanoid dexterous hands are the core component of humanoid robots for achieving fine manipulation and human-robot interaction. Their driving mechanism typically involves multiple motors remotely driving finger joint movements via traction cables. In existing technologies, to accommodate a sufficient number of drive motors within a limited space, multiple motors are often densely arranged circumferentially on the arm assembly. For example, one known approach is to stack multiple motors axially at the same circumferential position on the arm assembly. This results in a significant increase in the radial dimension at that circumferential position, making the arm assembly bulky and deviating from the shape of a real human arm, leading to poor aesthetics and limited flexibility when operating in confined spaces.

[0003] Furthermore, this dense circumferential arrangement causes the projections of all motor output shafts onto the circumferential plane of the arm assembly to be concentrated or even overlap. The multiple traction ropes leading from these output shafts to the hand assembly are very close together at their starting points, making them highly susceptible to crossing, contacting, and even tangling within the limited space inside the arm assembly. When the dexterous hand moves frequently, these closely contacting traction ropes generate continuous friction, which not only increases the drive load and noise but also accelerates rope wear, shortens their lifespan, and affects transmission accuracy and the overall reliability of the dexterous hand.

[0004] Therefore, there is an urgent need in the existing technology to optimize the structure of the arm assembly so that it can accommodate all the drive motors while having a smaller diameter, a more biomimetic shape, and effectively avoiding interference from the traction rope. Utility Model Content

[0005] The purpose of this invention is to overcome the above-mentioned shortcomings of the prior art and provide a humanoid dexterous hand and a humanoid robot using the humanoid dexterous hand. It can effectively reduce the diameter of the arm component, making its shape closer to that of a real human arm, and avoid interference and wear between the traction ropes.

[0006] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution: A humanoid dexterous hand includes a hand assembly and an arm assembly rotatably connected. The arm assembly includes a finger drive mechanism and a wrist drive mechanism. The wrist drive mechanism drives the hand assembly to rotate relative to the arm assembly. The wrist drive mechanism is connected to the end of the finger drive mechanism away from the hand assembly. The finger drive mechanism includes at least one layer of finger drive motors, each layer of finger drive motors is provided with multiple finger drive motors, each finger drive motor is connected to the finger joint of the corresponding hand component through a traction rope, and the number of finger drive motors in each layer of finger drive motors is ≤4. The output shafts of all finger drive motors are positioned outwards, and their projections in a plane perpendicular to the length of the arm assembly do not overlap.

[0007] In the aforementioned anthropomorphic dexterous hand, the finger driving mechanism also includes a wire harness, which has wire holes for traction ropes to pass through, with each wire hole corresponding to a traction rope.

[0008] In the aforementioned humanoid dexterous hand, the finger driving mechanism further includes a fixing plate disposed between two adjacent finger driving motor layers. Fixing components are provided on the opposite end faces of the fixing plate, the end face of the wire harness facing the finger driving motor, and the end face of the wrist driving mechanism facing the finger driving motor. The fixing components are fixedly connected to the corresponding finger driving motor.

[0009] In the aforementioned humanoid dexterous hand, the fixing component includes a motor fixing member, which has a fixing hole for fixing connection with the finger drive motor.

[0010] In the aforementioned anthropomorphic dexterous hand, the fixing component further includes a slot, and each finger drive motor includes a fixing plate that is inserted into the slot.

[0011] In the aforementioned anthropomorphic dexterous hand, the slot is located on the end face next to the motor fixing member; or, the slot is formed by a gap between the fixing block located next to the motor fixing member and the motor fixing member.

[0012] In the aforementioned anthropomorphic dexterous hand, a hand support is provided on the end face of the wire harness facing away from the finger drive mechanism, and the hand support is rotatably connected to the hand assembly.

[0013] In the aforementioned humanoid dexterous hand, the wrist drive mechanism includes two wrist drive motors, each of which is connected to the hand assembly via a linkage and drives the hand assembly to move.

[0014] In the aforementioned humanoid dexterous hand, two wrist drive motors are arranged side by side, and two linkages are spaced apart and respectively connected to both sides of the back of the hand on the hand assembly.

[0015] A humanoid robot was also disclosed, employing the humanoid dexterous hand described in any of the aforementioned solutions. By adopting a dexterous hand with advantages such as no rope interference, high reliability, high control precision, and a slender bionic arm, this humanoid robot gains the ability to perform more complex, delicate, and sustained tasks. Whether performing precision assembly, safe human-machine interaction, or completing service tasks requiring a high degree of biomimicry, its operational level, reliability, and anthropomorphism have been fundamentally improved.

[0016] Compared with the prior art, the advantages of this utility model are: By employing at least one layer of finger drive motors and limiting the number of finger drive motors per layer to ≤4, combined with a specific layout where the output shafts of all finger drive motors face outwards and their projections in a plane perpendicular to the length of the arm assembly do not overlap, this design breaks with the conventional practice of increasing the circumferential size of the arm to accommodate multiple motors. This design allows the drive motors to be distributed along the axial (length) direction of the arm assembly, rather than being stacked radially or densely arranged circumferentially. This "axially elongated, circumferentially streamlined" layout is the core of minimizing the radial size of the arm assembly, making the overall shape of the robot arm closer to the thickness of a real human arm, improving the biomimetic appearance of the humanoid robot and its flexibility in confined spaces.

[0017] With all the output shafts of the finger-driven motors facing outwards and their projections in a plane perpendicular to the length of the arm assembly not overlapping, the starting points of the traction ropes drawn from each motor are completely staggered in space. This establishes a physically isolated path for each traction rope from the source, ensuring a safe distance between them starting from the output shaft. Combined with the limitation of "≤4 motors per layer," sufficient space is ensured within the arm for orderly wiring. This fundamentally avoids mutual friction, entanglement, and even cutting of multiple traction ropes due to path intersections and contacts in a confined space, thereby significantly reducing drive load and operating noise, greatly reducing traction rope wear, extending their service life, and ensuring precise and reliable power transmission.

[0018] Furthermore, the finger-driven mechanism also includes a cable tray with cable guide holes for the traction ropes to pass through, each hole corresponding to one traction rope. The cable tray provides a dedicated, physically isolated channel for each traction rope. This ensures that the traction ropes are immediately guided and secured on their independent paths after leaving the motor, preventing them from re-contacting each other or rubbing against other components during subsequent travel due to shaking or vibration.

[0019] Furthermore, the finger drive mechanism also includes a fixing plate disposed between two adjacent finger drive motor layers. Fixing components are provided on the opposite end faces of the fixing plate, the end face of the cable tray facing the finger drive motor, and the end face of the wrist drive mechanism facing the finger drive motor. These fixing components are fixedly connected to the corresponding finger drive motors. By setting a fixing plate between adjacent motor layers and connecting the end faces of the cable tray, fixing plate, and wrist drive mechanism to the finger drive motors through unified fixing components, the potentially loose multi-layered structure is integrated into a robust three-dimensional frame. This frame effectively resists the reaction forces and vibrations generated during the operation of each drive motor, ensuring the structural stability of the entire drive mechanism and thus laying the foundation for precise force transmission.

[0020] Furthermore, the fixing component includes a motor fixing member with fixing holes for fixed connection to the finger-driven motor. The motor fixing member serves as the load-bearing structure, and the fixing holes act as a standard connection interface. This creates a robust force transmission path, effectively resisting the reaction torque and vibration generated during motor operation and preventing loosening of the connection points. Compared to relying solely on slots for positioning and load-bearing, this bolted connection method provides greater rigidity, ensuring the structural integrity and stability of the entire modular structure under long-term dynamic loads.

[0021] Furthermore, the fixing assembly also includes slots, with each finger drive motor including a fixing plate that inserts into the slot. The slots provide a highly defined mechanical positioning reference for each finger drive motor in both the circumferential and axial directions. Before finally tightening the bolts, the operator simply inserts the fixing plate on the motor into the corresponding slot, and the motor is automatically guided to a precise preset position. This completely eliminates the tedious adjustment and alignment process during assembly, making it particularly suitable for rapid, mass installation in multi-layered structures with limited space and poor visibility.

[0022] Furthermore, the slot is formed on the end face next to the motor fixture; or, the slot is formed by a gap between the fixing block disposed next to the motor fixture and the motor fixture. Two structural forms for forming the slot are provided. Direct slotting is simple and can be formed directly through one-time machining, reducing the number of parts, manufacturing costs, and assembly complexity. Adding an independent fixing block to form the slot provides stronger local load-bearing capacity and impact resistance, and the fixing block can be made of higher-strength materials or undergo special heat treatment, improving the durability of critical parts.

[0023] Furthermore, a hand support is provided on the end face of the cable reel facing away from the finger drive mechanism, and the hand support is rotatably connected to the hand assembly. This eliminates the need for a dedicated wrist connection flange or support component, reducing manufacturing costs and assembly complexity. This design maximizes the use of the axial space of the cable reel, minimizing the distance from the traction cord outlet to the wrist rotation center, greatly compressing the axial dimension of the dexterous hand's "wrist" portion, making the transition from the entire arm to the palm more compact and smooth, and the shape closer to the human body.

[0024] Furthermore, the wrist drive mechanism includes two wrist drive motors, each connected to the hand assembly via a linkage and driving the hand assembly to move. By coordinating the movement of the two motors, a complex and smooth wrist trajectory can be synthesized within a two-dimensional motion space. This design avoids the use of complex structures, simplifies the control model, and simultaneously achieves precise control of wrist posture, providing crucial flexibility for tasks such as adjusting grasping posture and performing fine manipulations.

[0025] Furthermore, two wrist drive motors are arranged side by side, and two linkages are spaced apart and connected to both sides of the back of the hand on the hand assembly. Compared with stacking the motors vertically or arranging them front to back, the side-by-side arrangement can more effectively utilize the cross-sectional width of the arm assembly's end section, rather than its height. This helps control the overall radial dimension of the wrist drive mechanism, allowing it to smoothly connect with the reduced-diameter finger drive mechanism and avoiding local bulges. Attached Figure Description

[0026] Figure 1 This utility model relates to a three-dimensional humanoid dexterous hand. Figure 1 ; Figure 2 This utility model relates to a three-dimensional humanoid dexterous hand. Figure 2 ; Figure 3 This is a perspective view of the arm assembly in this utility model; Figure 4 This is an exploded view of the finger drive mechanism in this utility model; Figure 5 This is a perspective view of the cable tray in this utility model; Figure 6 This is a perspective view of the fixed plate in this utility model; Figure 7 This is a perspective view of the finger-driven motor in this utility model; Figure 8 This is a perspective view of the wrist drive mechanism in this utility model.

[0027] The attached figures are labeled as follows: Hand component 5, arm component 6, finger drive mechanism 61, wrist drive mechanism 62, finger drive motor layer 63; Finger drive motor 610, fixing plate 611, motor body 612, cable tray 630, cable hole 631, fixing component 640, motor fixing part 641, fixing hole 642, slot 643, wrist drive motor 650, connecting rod 660, fixing plate 670, hand support 680. Detailed Implementation

[0028] A humanoid dexterous hand includes a hand assembly 5 and an arm assembly 6 rotatably connected. The arm assembly 6 includes a finger driving mechanism 61 and a wrist driving mechanism 62. The wrist driving mechanism 62 drives the hand assembly 5 to rotate relative to the arm assembly 6. The wrist driving mechanism 62 is connected to the end of the finger driving mechanism 61 that is away from the hand assembly 5. The finger drive mechanism 61 includes at least one layer of finger drive motors 63. Each layer of finger drive motors 63 contains a plurality of finger drive motors 610. Each finger drive motor 610 is connected to the finger joint of the corresponding hand component 5 via a traction rope. The number of finger drive motors 610 in each layer of finger drive motors 63 is ≤ 4. The output shafts of all finger drive motors 610 are arranged outwards, and their projections in a plane perpendicular to the length of the arm assembly 6 do not overlap.

[0029] By employing a specific layout of "at least one layer of finger drive motors 63" and limiting "the number of finger drive motors 610 per layer to ≤ 4," combined with "the output shafts of all finger drive motors 610 facing outwards, and their projections in a plane perpendicular to the length direction of the arm assembly 6 not overlapping," this design breaks with the conventional practice of increasing the circumferential size of the arm to accommodate multiple motors. This design allows the drive motors to be distributed along the axial (length direction) of the arm assembly 6, rather than stacked radially or densely arranged circumferentially. This "axially elongated, circumferentially streamlined" layout is the core of minimizing the radial size of the arm assembly 6, making the overall shape of the robot arm closer to the thickness of a real human arm, improving the biomimetic appearance of the humanoid robot and its flexibility in confined spaces.

[0030] With all the output shafts of the finger drive motors 610 facing outwards and their projections in a plane perpendicular to the length of the arm assembly 6 not overlapping, the starting points of the traction ropes drawn from each motor are completely staggered in space. This establishes a physically isolated path for each traction rope from the source, ensuring a safe distance between them starting from the output shaft. Combined with the limitation of "≤4 motors per layer," sufficient space is ensured inside the arm for orderly wiring. This fundamentally avoids mutual friction, tangling, and even cutting caused by multiple traction ropes crossing paths and contacting each other in a confined space, thereby significantly reducing drive load and operating noise, greatly reducing traction rope wear, extending their service life, and ensuring accurate and reliable power transmission.

[0031] The embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0032] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0034] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0035] See Figures 1 to 8 This invention relates to an embodiment of a humanoid dexterous hand, comprising a hand component 5 and an arm component 6. The hand component 5 is rotatably connected to the arm component 6, simulating the range of motion of a human hand relative to its arm. The hand component 5 includes a palm and five fingers to simulate the structure of a human hand. The arm component 6 includes a finger drive mechanism 61 and a wrist drive component. The finger drive mechanism 61 is mainly used to drive the bending of the five fingers, and the wrist drive component is mainly used to drive the rotation of the hand component 5 relative to the arm component 6.

[0036] Since the wrist drive assembly needs to drive the entire hand assembly 5 to rotate relative to the arm assembly 6, its driving force requirement is relatively large, and the volume of the wrist drive assembly occupies a relatively large diameter. In order to better simulate the structure of the human arm, the wrist drive assembly is connected to the end of the finger drive mechanism 61 away from the hand assembly 5.

[0037] The finger drive mechanism 61 includes at least one layer of finger drive motors 63. Each layer of finger drive motors 63 contains multiple finger drive motors 610. Each finger drive motor 610 is connected to the finger joint of the corresponding hand component 5 via a traction rope. The number of finger drive motors 610 in each layer of finger drive motors 63 is ≤4, thereby avoiding an excessive number of finger drive motors 610 in a single layer of finger drive motors 63.

[0038] All the output shafts of the finger drive motors 610 are arranged outwards, and the projections of the output shafts of all the finger drive motors 610 in the plane perpendicular to the length direction of the arm assembly 6 do not coincide. For example, in this embodiment, there are four layers of finger drive motors 63, and each layer of finger drive motors 63 is provided with four finger drive motors 610. The four finger drive motors 610 are arranged around the length axis of the arm assembly 6. In order to ensure that the projections of the output shafts of all the finger drive motors 610 in the plane perpendicular to the length direction of the arm assembly 6 do not coincide, the finger drive motors 610 in each layer of finger drive motors 63 are rotated circumferentially by a certain angle relative to the previous layer of finger drive motors 63.

[0039] The above design allows the drive motors to be distributed along the axial direction (length direction) of the arm assembly 6, rather than being stacked radially or densely arranged circumferentially. This axially elongated and circumferentially simplified layout is the core of minimizing the radial dimension (i.e., diameter) of the arm assembly 6, making the overall shape of the robot arm closer to the thickness of a real human arm, improving the biomimetic appearance of the humanoid robot and its flexibility in working in confined spaces.

[0040] Because the output shafts project uniformly and coincidentally in the circumferential plane, the starting points of the traction ropes drawn from each motor are completely staggered in space. This establishes a physically isolated path for each traction rope from the source, ensuring a safe distance between them starting from the output shaft. Combined with the limitation of "≤4 motors per layer," this ensures sufficient space inside the arm for orderly wiring, fundamentally avoiding mutual friction, entanglement, or even cutting caused by multiple traction ropes crossing paths and contacting each other in a confined space. This significantly reduces drive load and operating noise, greatly reduces wear on the traction ropes, extends their service life, and ensures accurate and reliable power transmission.

[0041] Furthermore, the finger drive mechanism 61 also includes a cable tray 630, which has cable holes 631 for the traction ropes to pass through. Each cable hole 631 corresponds to a traction rope passing through the cable tray 630. That is, one finger joint corresponds to one finger drive motor 610. Each finger drive motor 610 actually needs to be connected to the corresponding finger joint through two traction ropes. When the finger drive motor 610 rotates, one traction rope shortens and the other extends, achieving bending control of the finger joint. Therefore, each finger drive motor 610 needs to correspond to two cable holes 631.

[0042] The cable reel 630 provides each traction rope with a dedicated, physically isolated cable hole 631 as a channel. This ensures that the traction ropes are immediately guided and secured on their independent paths after leaving the motor, preventing them from re-contacting each other or rubbing against other components due to shaking or vibration during subsequent strokes. This is proactive path management, not just relying on the initial layout. Without the orderly arrangement of the cable reel 630, even if the initial positions are not aligned, unpredictable swaying and slapping may still occur due to the flexibility of the ropes under long-term high-speed, reciprocating motion. The cable reel 630 eliminates this uncertainty, ensuring that the transmission path of each traction rope remains consistent. This reduces transmission errors and force fluctuations caused by path changes, guarantees the stability of control accuracy during long-term use, and further extends the life of the traction ropes.

[0043] like Figures 4 to 8 As shown, the finger driving mechanism 61 further includes a fixing plate 670 disposed between two adjacent finger driving motor layers 63. Fixing components 640 are provided on the opposite end faces of the fixing plate 670, the end face of the wire harness plate 630 facing the finger driving motor 610, and the end face of the wrist driving mechanism 62 facing the finger driving motor 610. The fixing components 640 are fixedly connected to the corresponding finger driving motor 610. Each finger driving motor 610 can correspond to one fixing component 640 or multiple fixing components 640, which can be adjusted according to the size of the finger driving motor 610 and the structure of the fixing components 640.

[0044] By setting a fixing plate 670 between adjacent motor layers and connecting the end faces of the cable tray 630, fixing plate 670, and wrist drive mechanism 62 to the motor via a unified fixing component 640, the originally potentially loose multi-layered structure is integrated into a robust three-dimensional frame. This frame effectively resists the reaction forces and vibrations generated during the operation of each drive motor, ensuring the structural stability of the entire drive mechanism and laying the foundation for precise force transmission. Each motor layer, fixing plate 670, and wrist drive mechanism 62 becomes a prefabricated standard module. During assembly, simply insert the motor's fixing plate 611 into the corresponding end face's fixing component 640 and lock it in place. This design greatly simplifies the assembly process, ensures the accuracy and consistency of the positions of all motor shaft centers, and avoids accumulated errors, which is crucial for achieving the core design of "output shaft projection non-coincidence".

[0045] Specifically, the fixing component 640 includes a motor fixing member 641, which has a fixing hole 642 for fixed connection with the finger drive motor 610. The motor fixing member 641 can be integrally set with the corresponding end face, or it can be bonded or welded to the end face after processing. By using the motor fixing member 641 as a load-bearing structure and connecting it through the fixing hole 642, a stable force transmission path is created, which can effectively resist the reaction torque and vibration generated during motor operation and prevent the connection point from loosening.

[0046] Furthermore, the fixing assembly 640 also includes a slot 643. Each finger drive motor 610 includes a fixing plate 611 and a motor body 612. The motor body 612 is fixedly connected to the fixing plate 611. The radial dimension of the fixing plate 611 along the motor axis is slightly larger than the dimension of the motor body 612. The fixing plate 611 is inserted into the slot 643. The length direction of the slot 643 is generally set from the center of the corresponding end face outward. The slot 643 provides a very clear mechanical positioning reference for each finger drive motor 610 in both the circumferential and axial directions. Before finally tightening the bolts, the operator only needs to insert the fixing plate 611 on the motor into the corresponding slot 643, and the motor is automatically guided to the precise preset position. This completely eliminates the tedious adjustment and alignment process during assembly, and is particularly suitable for rapid, batch installation in multi-layered structures with limited space and poor visibility, while ensuring the accuracy requirement that the projections of all motor output shafts do not overlap.

[0047] The formation of slot 643 includes, but is not limited to, the following two forms: The slot 643 is formed on the end face next to the motor fixing part 641, that is, the slot 643 is formed by directly cutting a groove on the end face. This method is simple and can be formed directly on the product housing or fixing plate 670 body by one-time machining (such as milling), which reduces the number of parts and reduces manufacturing costs and assembly complexity.

[0048] Alternatively, the slot 643 can be formed by a spaced arrangement between the fixing block located next to the motor fixing member 641 and the motor fixing member 641. By adding an independent fixing block to form the slot 643, stronger local load-bearing capacity and impact resistance are provided. Furthermore, the fixing block can be made of higher strength materials or undergo special heat treatment, which improves the durability of critical parts.

[0049] Based on the above embodiments, the wrist movement mechanism includes two wrist drive motors 650, a top connecting plate, and a bottom connecting plate. The two wrist drive motors 650 are disposed between the top connecting plate and the bottom connecting plate, and the connection method between the wrist drive motors 650 and the top and bottom connecting plates can be similar to that of the finger drive motor 610. The top connecting plate is connected to the finger drive mechanism 61, that is, a fixing component 640 is provided on the end face of the top connecting plate facing the finger drive mechanism 61 and is fixedly connected to the finger drive motor 610; the bottom connecting plate is connected to the upper arm mechanism.

[0050] Specifically, the wrist drive motor 650 is connected to the back of the hand assembly 5 via connecting rods 660. Since there are two wrist drive motors 650 arranged side-by-side, this arrangement more effectively utilizes the cross-sectional width of the arm assembly 6's end section, rather than its height, compared to stacking the motors vertically or arranging them front-to-back. This helps control the overall radial dimension of the wrist drive mechanism 62, ensuring a smooth connection with the reduced-diameter finger drive mechanism 61 and avoiding localized bulges. Therefore, the connecting rods 660 are spaced apart and connected to both sides of the back of the hand. The two connecting rods 660 are spatially separated and form an approximately parallelogram-shaped mechanism with their connection points on both sides of the back of the hand. When driving wrist movement, the push / pull force output by the two motors controls the rotation of the hand assembly 5 relative to the arm assembly 6, simulating the range of motion of a human wrist.

[0051] Of course, to achieve the above structure, a hand support 680 is provided on the end face of the cable tray 630 facing away from the finger drive mechanism 61. The hand support 680 is rotatably connected to the hand assembly 5. Through the rotatable connection between the hand support 680 and the hand assembly 5, the hand assembly 5 achieves the range of motion equivalent to the wrist. Then, the wrist drive motor 650 controls the hand assembly 5 to rotate at the corresponding angle. Since the hand support 680 is directly set on the cable tray 630, a separate connecting flange or support part and its matching fasteners are eliminated. This significantly simplifies the bill of materials, reduces manufacturing costs, and reduces assembly steps and accumulated errors.

[0052] This embodiment also discloses a humanoid robot employing the humanoid dexterous hand described in any of the above-mentioned schemes. By adopting a dexterous hand with advantages such as no rope interference, high reliability, high control precision, and a slender bionic arm, the humanoid robot gains the ability to perform more complex, delicate, and sustained tasks. Whether performing precision assembly, safe human-machine interaction, or completing service tasks requiring a high degree of biomimicry, its operational level, reliability, and anthropomorphism are fundamentally improved.

[0053] The above description is only a specific embodiment of the present utility model, but the technical features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A humanoid dexterous hand, comprising a hand assembly and an arm assembly rotatably connected, the arm assembly including a finger driving mechanism and a wrist driving mechanism, the wrist driving mechanism driving the hand assembly to rotate relative to the arm assembly, characterized in that, The wrist drive mechanism is connected to the end of the finger drive mechanism away from the hand assembly; The finger drive mechanism includes at least one layer of finger drive motors, each layer of finger drive motors is provided with multiple finger drive motors, each finger drive motor is connected to the finger joint of the corresponding hand component through a traction rope, and the number of finger drive motors in each layer of finger drive motors is ≤4. The output shafts of all finger drive motors are positioned outwards, and their projections in a plane perpendicular to the length of the arm assembly do not overlap.

2. The anthropomorphic dexterous hand according to claim 1, characterized in that, The finger driving mechanism also includes a cable tray with cable holes for the traction rope to pass through, and each cable hole corresponds to one traction rope.

3. The anthropomorphic dexterous hand according to claim 2, characterized in that, The finger driving mechanism also includes a fixing plate disposed between two adjacent finger driving motor layers. Fixing components are provided on the opposite end faces of the fixing plate, the end face of the wire harness facing the finger driving motor, and the end face of the wrist driving mechanism facing the finger driving motor. The fixing components are fixedly connected to the corresponding finger driving motor.

4. The anthropomorphic dexterous hand according to claim 3, characterized in that, The fixing component includes a motor fixing part, which has a fixing hole for fixing connection with the finger drive motor.

5. A humanoid dexterous hand according to claim 4, characterized in that, The fixing component also includes a slot, and each finger drive motor includes a fixing plate that is inserted into the slot.

6. The humanoid dexterous hand according to claim 5, characterized in that, The slot is formed on the end face next to the motor fixture; or, the slot is formed by a gap between the fixing block disposed next to the motor fixture and the motor fixture.

7. The anthropomorphic dexterous hand according to claim 2, characterized in that, A hand support is provided on the end face of the cable tray facing away from the finger drive mechanism, and the hand support is rotatably connected to the hand assembly.

8. The humanoid dexterous hand according to claim 1, characterized in that, The wrist drive mechanism includes two wrist drive motors, each of which is connected to the hand assembly via a linkage and drives the hand assembly to move.

9. A humanoid dexterous hand according to claim 8, characterized in that, Two wrist drive motors are arranged side by side, and two connecting rods are spaced apart and respectively connected to both sides of the back of the hand on the hand assembly.

10. A humanoid robot, characterized in that, The humanoid dexterous hand is adopted according to any one of claims 1 to 9.

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