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. An anthropomorphic dexterous hand, an arm assembly comprises a finger driving mechanism and a wrist driving mechanism, the finger driving mechanism comprises at least two sections of driving assemblies, the diameter of a section of driving assembly close to a hand assembly is greater than the diameter of a section of driving assembly away from the hand assembly, each section of driving assembly is provided with at least one layer of finger driving motor layer provided with at least one finger driving motor, the output shafts of all finger driving motors are outwardly arranged, and the projections in the plane perpendicular to the length direction of the arm assembly do not coincide. The humanoid robot is also disclosed, and the anthropomorphic dexterous hand of any one of the above schemes is adopted. The utility model has the advantages that the mutual friction, winding and even cutting caused by path intersection and contact of multiple traction ropes in a small space are avoided, and the overall form of the robot arm is more close to the thickness of the real human 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 that are rotatably connected. The arm assembly includes a finger driving mechanism and a wrist driving mechanism. The finger driving mechanism includes at least two driving components that are sequentially connected along the length of the arm assembly. The diameter of the driving component closer to the hand assembly is larger than the diameter of the driving component farther away from the hand assembly. Each drive assembly has at least one layer of finger drive motors, and each layer of finger drive motors contains at least one finger drive motor. Each finger drive motor is connected to the finger joint of the corresponding hand assembly via a traction rope. 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 humanoid dexterous hand, each drive assembly includes a cable tray with a cable pass-through hole for the traction rope to pass through, and each cable pass-through hole corresponds to one traction rope.

[0008] In the aforementioned humanoid dexterous hand, each drive assembly includes at least two layers of finger drive motors, with a fixing plate between adjacent finger drive motor layers.

[0009] In the aforementioned anthropomorphic dexterous hand, the two opposite ends of the fixed plate and the end of the wire harness plate facing the finger drive motor are provided with fixing components, and the fixing components are fixedly connected to the corresponding finger drive motor.

[0010] In the aforementioned anthropomorphic dexterous hand, the wrist drive mechanism is located at the end of the arm assembly away from the hand assembly.

[0011] In the aforementioned anthropomorphic dexterous hand, the wrist drive mechanism has a fixing component on the end face facing the finger drive motor.

[0012] In the aforementioned anthropomorphic 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.

[0013] In the aforementioned anthropomorphic dexterous hand, there is a space behind the two wrist drive motors to accommodate the finger drive motors.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] Compared with the prior art, the advantages of this utility model are: By ensuring that the output shafts of all finger-driven motors face outwards and their projections in a plane perpendicular to the length of the arm assembly do not overlap, the inherent problem of spatial layout limitations imposed by traction rope interference is fundamentally solved. This achieves a balance between structural biomimicry and drive integration in the humanoid dexterous arm assembly. Unlike traditional solutions that force a dense circumferential arrangement of motors to avoid friction between traction ropes along the arm's length, sacrificing arm shape to reduce motor layers, this invention creatively uses circumferential misalignment of the finger-driven motor output shafts to plan an independent, non-interfering initial path for each traction rope.

[0019] This structure breaks free from the traditional design constraints that necessitate a high-density circumferential layout to compress the number of layers. It allows designers to freely and modularly incorporate at least two drive components with decreasing diameters and multiple finger drive motor layers along the arm's length, based entirely on the biomimetic shape (i.e., mimicking the shape of a human forearm), without worrying about friction issues caused by increased layer count. This not only gives the entire arm assembly a realistic appearance but also, through its ingenious internal layout, ensures that all traction cables are separated from their source, fundamentally eliminating mutual friction and achieving a dual optimization of form and performance.

[0020] Furthermore, each drive assembly includes a cable tray with 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.

[0021] Furthermore, each drive assembly includes at least two layers of finger drive motors, with a mounting plate between adjacent layers. The mounting plate, located between adjacent motor layers, acts as a standardized structural framework and connection interface. This design allows each motor layer to be manufactured and assembled as an independent module, then stacked and connected via the mounting plate. This significantly simplifies the manufacturing process and assembly flow, improving production efficiency and product consistency.

[0022] Furthermore, both ends of the fixed plate and the end of the cable tray facing the finger drive motor are equipped with fixing components, which are fixedly connected to the corresponding finger drive motors. By directly locking the motors to the fixed plate and cable tray through these fixing components, the motors are no longer simply placed within the structure but become part of the overall structural strength of the drive assembly. This rigid connection effectively suppresses any slight swaying or vibration that may occur during motor start-up, shutdown, and load changes, tightly coupling multiple independent motor units into a robust whole. This directly improves the structural rigidity of the entire arm assembly, providing a stable mechanical basis for the precise transmission of the traction rope and avoiding control errors caused by minor structural changes.

[0023] Furthermore, the wrist drive mechanism is located at the end of the arm assembly away from the hand assembly. Positioning the heavier wrist drive motor at the rear effectively balances the weight of the hand assembly and the front finger drive motor layer, bringing the center of gravity of the entire dexterous hand closer to the robot body. This significantly reduces end-effector torque during movement, thereby improving the response speed, motion accuracy, and operational stability of the wrist and the entire arm.

[0024] Furthermore, the wrist drive mechanism has a fixing component on its end face facing the finger drive motor. This design connects the wrist drive mechanism to the finger drive component in front of it using the same fixing component concept. This allows the force generated from the wrist drive motor at the end to be stably transmitted to the entire finger drive system in front through the fixing component, and vice versa. It eliminates structural weaknesses between different functional modules, prevents micro-movements or deformations at the connection points when the wrist is under force, and ensures that the force transmission path from the shoulder to the fingertip is rigid and reliable.

[0025] 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.

[0026] Furthermore, a space is provided behind the two wrist drive motors to accommodate the finger drive motors. By making full use of the unused space behind the wrist drive motors, the overall length of the arm assembly is shortened.

[0027] 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.

[0028] 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.

[0029] 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. Attached Figure Description

[0030] 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 The three-dimensional arm assembly of this utility model Figure 1 ; Figure 4 The three-dimensional arm assembly of this utility model Figure 2 ; Figure 5 This is an exploded view of the arm assembly in this utility model; Figure 6 This is a perspective view of the cable tray in this utility model; Figure 7 This is a perspective view of the fixed plate in this utility model; Figure 8 This is a perspective view of the finger-driven motor in this utility model.

[0031] Figure label: Hand component 5, arm component 6, finger drive mechanism 61, drive component 601, 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

[0032] 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 finger driving mechanism 61 includes at least two driving components 601 connected sequentially along the length of the arm assembly 6. The diameter of the driving component 601 closer to the hand assembly 5 is larger than the diameter of the driving component 601 farther away from the hand assembly 5. Each drive assembly 601 is provided with at least one layer of finger drive motor 63, and each layer of finger drive motor 63 is provided with at least one finger drive motor 610. Each finger drive motor 610 is connected to the finger joint of the corresponding hand assembly 5 through a traction rope. The output shafts of all finger drive motors 610 are arranged outwards, and their projections in a plane perpendicular to the length direction of the arm assembly 6 do not overlap.

[0033] By ensuring that the output shafts of all finger-driven motors 610 are oriented outwards and their projections in a plane perpendicular to the length of the arm assembly 6 do not overlap, the inherent problem of spatial layout limitations imposed by traction rope interference is fundamentally solved. This achieves a balance between structural biomimicry and drive integration in the humanoid dexterous arm assembly. Unlike traditional solutions that force a dense circumferential arrangement of motors to avoid friction between traction ropes along the arm's length, sacrificing arm shape to reduce the number of motor layers, this invention creatively uses circumferential misalignment of the output shafts of the finger-driven motors 610 to plan an independent, non-interfering initial path for each traction rope.

[0034] This structure breaks free from the traditional design constraints that necessitate a high-density circumferential layout to compress the number of layers. It allows designers to freely and modularly incorporate at least two decreasing diameter drive components 601 and multiple finger drive motor layers 63 along the arm's length, based entirely on the biomimetic shape (i.e., simulating the shape of a human forearm), without worrying about friction issues caused by increased layer count. This not only gives the entire arm assembly 6 a realistic appearance but also, through its ingenious internal layout, ensures that all traction cables are separated from their source, fundamentally eliminating mutual friction and achieving a dual optimization of form and performance.

[0035] The embodiments of the present invention are described in detail below, examples of which are shown 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] See Figures 1 to 8This 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 601. The finger drive mechanism 61 is mainly used to drive the bending of the five fingers, and the wrist drive component 601 is mainly used to drive the rotation of the hand component 5 relative to the arm component 6.

[0040] Since the wrist drive assembly 601 needs to drive the entire hand assembly 5 to rotate relative to the arm assembly 6, its driving force requirement is relatively large. Consequently, the wrist drive assembly 601 occupies a relatively large diameter. In order to better simulate the structure of the human arm, the wrist drive assembly 601 is connected to the end of the finger drive mechanism 61 that is away from the hand assembly 5.

[0041] The arm assembly 6 includes at least two drive assemblies 601 connected sequentially along its length. The diameter of the drive assembly 601 closer to the hand assembly 5 is larger than the diameter of the drive assembly 601 farther away from the hand assembly 5, thus making the shape of the arm assembly 6 more closely resemble the shape of a real human forearm. Each drive assembly 601 has at least one layer of finger drive motors 63, and each layer of finger drive motors 63 contains at least one finger drive motor 610. Each finger drive motor 610 is connected to the corresponding finger joint of the hand assembly 5 via a traction rope.

[0042] In this embodiment, there are two sets of drive components 601. The set of drive components 601 closer to the hand component 5 has two layers of finger drive motor layers 63. Each layer of finger drive motor layers 63 has four finger drive motors 610 according to the size of the finger drive motors 610. The four finger drive motors 610 are arranged around the length axis of the arm component 6. In order to ensure that the projections of the output shafts of all finger drive motors 610 in the plane perpendicular to the length direction of the arm component 6 do not coincide, the finger drive motors 610 in each layer of finger drive motor layers 63 are rotated at a certain angle in the circumferential direction relative to the previous layer of finger drive motor layers 63.

[0043] A layer of finger drive motors 63 is provided in a set of drive components 601 located away from the hand component 5. According to the structure of the human forearm, the circumference of the forearm away from the hand is larger than that of the forearm closer to the hand. Therefore, the set of drive components 601 located away from the hand component 5 has a larger diameter space. Although there is only one layer of finger drive motors 63, six finger drive motors 610 are provided in this layer of finger drive motors 63. Similarly, the output shafts of all finger drive motors 610 in this layer of finger drive motors 63 are also arranged outward and do not coincide with the projection of the output shafts of all finger drive motors 610 in the set of drive components 601 closer to the hand component 5.

[0044] By employing a core design where the projections of the output shafts of all finger-driven motors 610 in the circumferential plane do not overlap, the inherent problem of spatial layout limitations imposed by traction rope interference is fundamentally solved. This achieves a balance between structural biomimicry and drive integration in the humanoid dexterous arm component. Unlike traditional solutions that force a dense circumferential arrangement of motors to avoid friction between traction ropes along the arm's length, sacrificing arm shape to reduce the number of motor layers, this invention creatively uses circumferential misalignment of the motor output shafts to plan an independent, non-interfering initial path for each traction rope.

[0045] Therefore, more layers of finger drive motors 63 can be set in the length direction of the arm component 6, breaking the traditional design constraint that must rely on circumferential high-density layout to compress the number of layers. This allows designers to freely and modularly set at least two sections of drive components 601 with decreasing diameters and multiple motor layers in the length direction of the arm according to the needs of bionic shape (i.e., simulating the shape of the human forearm), without worrying about the friction problem of the traction rope caused by the increase in the number of layers.

[0046] Furthermore, each drive assembly 601 includes a cable tray 630 with cable guide holes 631 for the traction ropes to pass through. Each cable guide 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 via two traction ropes. When the finger drive motor 610 rotates, one traction rope shortens while the other extends, achieving bending control of the finger joint. Therefore, each finger drive motor 610 requires two cable guide holes 631. Since each drive assembly 601 has a different diameter, a separate cable tray 630 is provided for each drive assembly 601, allowing the traction ropes to be staggered in the radial direction, thus increasing the flexibility of the traction rope arrangement. The design, where each drive assembly 601 includes a cable reel 630, means that cable management is done section by section. Each cable reel 630 is responsible for managing the traction ropes corresponding to all motors within its drive assembly 601 section. This modular design makes the traction rope wiring clear and orderly, greatly simplifying the assembly, debugging, and maintenance process. When a specific traction rope needs to be inspected or replaced, its path can be clearly traced, making operation convenient and reducing maintenance costs.

[0047] Furthermore, for a drive assembly 601 comprising at least two layers of finger-driven motors 63, a fixing plate 670 is provided between adjacent finger-driven motor layers 63. When multiple motors are stacked along the length of the arm assembly 6, without a rigid component like the fixing plate 670, the entire drive assembly 601 would become fragile, prone to wobbling or deformation, severely affecting the accuracy of the traction rope transmission. The fixing plate 670, acting as a robust support point, firmly connects all motor layers into a single unit, ensuring sufficient structural strength and stability for the arm assembly 6 during movement and use, thereby guaranteeing the accuracy and reliability of force transmission. The fixing plate 670, located between adjacent motor layers, serves as a standardized structural skeleton and connection interface. This design allows each motor layer to be manufactured and assembled as an independent module, then stacked and connected via the fixing plate 670. This greatly simplifies the manufacturing process and assembly flow, improving production efficiency and product consistency.

[0048] Fixing components 640 are provided on both opposite end faces of the fixing plate 670 and the end face of the cable tray 630 facing the finger drive motor 610. The fixing components 640 are fixedly connected to the corresponding finger drive motor 610. Each finger drive 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 drive motor 610 and the structure of the fixing components 640. By directly locking the finger drive motor 610 to the fixing plate 670 and the cable tray 630 through the fixing components 640, the finger drive motor 610 is no longer simply placed inside the structure, but becomes part of the overall structural strength of the drive assembly 601. This rigid connection effectively suppresses the slight shaking or vibration that may occur when the finger drive motor 610 starts, stops, and changes in load, tightly coupling multiple independent finger drive motor units 610 into a robust whole. This directly improves the structural rigidity of the entire arm assembly 6, providing a stable mechanical basis for the precise transmission of the traction rope and avoiding control errors caused by slight structural changes.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] Based on the above embodiment, the wrist drive mechanism 62 is located at the end of the arm assembly 6 away from the hand assembly 5. Since the wrist drive mechanism 62 needs to drive the entire hand assembly 5 relative to the arm assembly 6 to realize the wrist's range of motion, the diameter of the wrist drive mechanism 62 is relatively large. Positioning the wrist drive mechanism 62 at the end of the arm assembly 6 away from the arm assembly 6 perfectly conforms to the shape of the human forearm, allowing the wrist drive mechanism 62 to occupy a space with a larger radial dimension. This also frees up ample space at the front of the arm assembly 6, allowing for the comfortable arrangement of more finger drive motor layers 63.

[0054] Furthermore, a fixing component 640 is provided on the end face of the wrist drive mechanism 62 facing the finger drive motor 610, connecting the wrist drive mechanism 62 and the finger drive component 601 in front of it via the same fixing component 640 concept. This allows the force generated from the wrist drive motor 650 at the end to be stably transmitted to the entire finger drive system in front via the fixing component 640, and vice versa. It eliminates structural weaknesses between different functional modules, prevents micro-movements or deformations at the connection points when the wrist is under force, and ensures that the force transmission path from the shoulder to the fingertip is rigid and reliable. Specifically, the structure of the fixing component 640 is the same as that of the fixing components 640 provided on the fixing plate 670 and the cable tray 630.

[0055] The wrist drive mechanism 62 comprises two wrist drive motors 650, which are connected to the back of the hand assembly 5 via connecting rods 660. The two wrist drive motors 650 are arranged side-by-side, which, compared to stacking the motors vertically or arranging them front-to-back, more effectively utilizes the cross-sectional width of the end of the arm assembly 6, rather than its height. 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 the wrist is driven to move, 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.

[0056] Furthermore, since the two wrist drive motors 650 are arranged side by side, and the arm assembly 6 where the wrist drive mechanism 62 is located is approximately cylindrical, there is a certain space behind the wrist drive motors 650. If the space is sufficient, the space behind the two wrist drive motors 650 can be configured as a space to accommodate the finger drive motor 610.

[0057] Of course, to achieve the above structure, a hand support 680 is provided on the end face of the cable tray 630 closest to the hand component 5, facing away from the finger drive mechanism 61. The hand support 680 is rotatably connected to the hand component 5. Through the rotatable connection between the hand support 680 and the hand component 5, the hand component 5 achieves the range of motion equivalent to the wrist. Then, the wrist drive motor 650 controls the hand component 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.

[0058] 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.

[0059] 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, characterized in that... ； The finger driving mechanism includes at least two driving components connected sequentially along the length of the arm assembly, wherein the diameter of the driving component closer to the hand assembly is larger than the diameter of the driving component farther away from the hand assembly; Each drive assembly has at least one layer of finger drive motors, and each layer of finger drive motors contains at least one finger drive motor. Each finger drive motor is connected to the finger joint of the corresponding hand assembly via a traction rope. 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, Each drive assembly includes a cable tray with holes for the traction rope to pass through, and each hole corresponds to one traction rope.

3. The anthropomorphic dexterous hand according to claim 2, characterized in that, Each drive assembly includes at least two layers of finger drive motors, with a fixing plate between adjacent finger drive motor layers.

4. The anthropomorphic dexterous hand according to claim 3, characterized in that, The fixed plate has fixed components on both ends of the fixed plate and the end of the wire harness plate facing the finger drive motor. The fixed components are fixedly connected to the corresponding finger drive motor.

5. The anthropomorphic dexterous hand according to claim 1, characterized in that, The wrist drive mechanism is located at the end of the arm assembly away from the hand assembly.

6. The humanoid dexterous hand according to claim 5, characterized in that, The wrist drive mechanism has a fixing component on the end face facing the finger drive motor.

7. A humanoid dexterous hand according to claim 5, 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.

8. A humanoid dexterous hand according to claim 7, characterized in that, Behind the two wrist drive motors is a space for accommodating the finger drive motors.

9. A humanoid dexterous hand according to claim 4 or 6, characterized in that, The fixing component includes a motor fixing part, which has a fixing hole for fixing connection with the finger drive motor.

10. A humanoid dexterous hand according to claim 4 or 6, 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.

11. A humanoid dexterous hand according to claim 10, characterized in that, The slot is formed on the end face next to the motor fixture; or, the slot is formed by a spaced arrangement between the fixing block next to the motor fixture and the motor fixture.

12. A humanoid robot, characterized in that, The humanoid dexterous hand is adopted according to any one of claims 1 to 11.

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