A 12-joint dexterous hand joint assembly based on linear drive link

Abstract

The utility model provides a kind of 12 joint dexterous hand joint assembly based on linear drive connecting rod, it is related to hand joint technical field, including palm, the surface of palm is provided with thumb structure, the left side of palm is provided with index finger structure, the left side of palm is provided with middle finger structure, the left side of palm is provided with ring finger structure, the left side of palm is provided with little finger structure, improve the dexterous hand's motion flexibility and bionic characteristic, realized the accurate grading control of joint movement, make finger bending angle more close to human natural form, and support complex gripping action, the assembly process of modular design's rotating groove and fixed plate combination simplifies, improve structural stability, linkage mechanism of adjusting lever and mounting plate allows dynamic adjustment joint tension, optimization torque transmission efficiency, while keeping compact layout, overall scheme gives consideration to multiple degree-of-freedom motion demand, provides reliable hardware foundation for fine operation.

Description

Technical Field

[0001] This utility model relates to the field of hand joint technology, and in particular to a 12-joint dexterous hand joint assembly based on a linear drive link. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected tasks. In terms of structure and performance, it combines the advantages of both humans and machines. Robotic arms are good at repeating single operations and have good applications in assembly lines.

[0003] The above-mentioned technology has achieved the effect of allowing multiple people to use it simultaneously, but there are still some shortcomings, specifically: Traditional dexterous hand structures typically rely on a single hinge or rigid link to achieve joint movement. Their limitations are mainly reflected in the limited degrees of freedom, the difficulty in simulating the complex bending trajectory of human fingers with single-axis rotation, resulting in a single grasping posture with poor adaptability, large transmission losses, and the tendency for linear driving force to lag or jam after multiple stages of conversion, especially with a decrease in response speed when the load changes. Utility Model Content

[0004] This invention proposes a 12-joint dexterous hand joint assembly based on a linear drive linkage, which enhances the dexterous hand's mobility and biomimetic characteristics, achieves precise graded control of joint movements, makes finger bending angles closer to the natural shape of the human body, and supports complex grasping actions. The modular design of the rotating groove and fixed plate combination simplifies the assembly process and improves structural stability. The linkage mechanism between the adjusting rod and the mounting plate allows for dynamic adjustment of joint tension and optimizes torque transmission efficiency. The overall solution maintains a compact layout while taking into account the needs of multi-degree-of-freedom movement, providing a reliable hardware foundation for precision operation and solving the problems mentioned in the background technology.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a 12-joint dexterous hand joint assembly based on a linear drive linkage, comprising a palm, wherein a thumb structure is provided on the surface of the palm, an index finger structure is provided on the left side of the palm, a middle finger structure is provided on the left side of the palm, a ring finger structure is provided on the left side of the palm, and a little finger structure is provided on the left side of the palm. The thumb structure includes a proximal thumb segment and a distal thumb segment. The proximal thumb segment rotates on the left side of the palm via a thumb rotating rod A, a thumb rotating groove A, and a thumb fixing plate A. The distal thumb segment rotates on the left side of the proximal thumb segment via a thumb rotating rod B, a thumb rotating groove B, and a thumb fixing plate B. The index finger structure includes a proximal phalanx, a middle phalanx, and a distal phalanx. The proximal phalanx rotates on the left side of the palm via an index finger rotation rod A, an index finger rotation groove A, and an index finger fixing plate A. The middle phalanx rotates on the left side of the proximal phalanx via an index finger rotation rod B, an index finger rotation groove B, and an index finger fixing plate B. The distal phalanx rotates on the left side of the middle phalanx via an index finger rotation rod C, an index finger rotation groove C, and an index finger fixing plate C.

[0006] Preferably, a thumb protrusion A is fixedly installed at the top of the proximal phalanx of the thumb, a thumb rotating rod A is provided in the middle of the thumb protrusion A, the thumb rotating rod A rotates inside the thumb protrusion A through a thumb rotating groove A, a thumb rotating block A is fixedly installed in the middle of the thumb rotating rod A, a thumb adjusting rod A is fixedly installed on the right side of the thumb rotating block A, and the thumb adjusting rod A is fixed to the top of the palm by a thumb mounting plate A. A thumb protrusion B is fixedly installed at the top of the distal phalanx of the thumb, a thumb rotating rod B is provided in the middle of the thumb protrusion B, the thumb rotating rod B rotates inside the thumb protrusion B through a thumb rotating groove B, a thumb rotating block B is installed in the middle of the thumb rotating rod A, a thumb adjusting rod B is fixedly installed on the right side of the thumb rotating block B, and the thumb adjusting rod B is fixed to the top of the proximal phalanx of the thumb by a thumb mounting plate B.

[0007] Preferably, an index finger protrusion A is fixedly installed at the tip of the proximal phalanx of the index finger, and an index finger rotating rod A is provided in the middle of the index finger protrusion A. The index finger rotating rod A rotates inside the index finger protrusion A through an index finger rotating groove A. An index finger rotating block A is fixedly installed in the middle of the index finger rotating rod A, and an index finger adjusting rod A is fixedly installed on the right side of the index finger rotating block A. The index finger adjusting rod A is fixed to the tip of the palm through an index finger mounting plate A. An index finger protrusion B is fixedly installed at the tip of the middle phalanx of the index finger, and an index finger rotating rod B is provided in the middle of the index finger protrusion B. The index finger rotating rod B rotates inside the index finger protrusion B through an index finger rotating groove B. An index finger rotating block B is installed in the middle of the index finger rotating rod B. An index finger adjusting rod B is fixedly installed on the right side of the index finger rotating block B. The index finger adjusting rod B is fixed to the top of the proximal segment of the index finger by an index finger mounting plate B. An index finger protrusion C is fixedly installed at the top of the distal segment of the index finger. An index finger rotating rod C is set in the middle of the index finger protrusion C. The index finger rotating rod C rotates inside the index finger protrusion C through an index finger rotating groove C. An index finger rotating block C is installed in the middle of the index finger rotating rod C. An index finger adjusting rod C is fixedly installed on the right side of the index finger rotating block C. The index finger adjusting rod C is fixed to the top of the middle segment of the index finger by an index finger mounting plate C.

[0008] Preferably, the middle finger structure includes a proximal phalanx, a middle phalanx, and a distal phalanx. The proximal phalanx rotates on the left side of the palm via a middle finger rotating rod A, a middle finger rotating groove A, and a middle finger fixing plate A. The middle phalanx rotates on the left side of the proximal phalanx via a middle finger rotating rod B, a middle finger rotating groove B, and a middle finger fixing plate B. The distal phalanx rotates on the left side of the middle phalanx via a middle finger rotating rod C, a middle finger rotating groove C, and a middle finger fixing plate C. A middle finger protrusion A is fixedly installed at the top of the proximal phalanx. A middle finger rotating rod A is disposed in the middle of the middle finger protrusion A. The middle finger rotating rod A rotates inside the middle finger protrusion A via the middle finger rotating groove A. A middle finger rotating block A is fixedly installed in the middle of the middle finger rotating rod A. A middle finger adjusting rod A is fixedly installed on the right side of the middle finger rotating block A. The middle finger adjusting rod A rotates via the middle finger mounting plate A. A middle finger protrusion B is fixedly installed at the top of the middle phalanx of the middle finger, and a middle finger rotating rod B is provided in the middle of the middle finger protrusion B. The middle finger rotating rod B rotates inside the middle finger protrusion B through the middle finger rotating groove B. A middle finger rotating block B is installed in the middle of the middle finger rotating rod B. A middle finger adjusting rod B is fixedly installed on the right side of the middle finger rotating block B. The middle finger adjusting rod B is fixed to the top of the proximal phalanx of the middle finger through the middle finger mounting plate B. A middle finger protrusion C is fixedly installed at the top of the distal phalanx of the middle finger, and a middle finger rotating rod C is provided in the middle of the middle finger protrusion C. The middle finger rotating rod C rotates inside the middle finger protrusion C through the middle finger rotating groove C. A middle finger rotating block C is installed in the middle of the middle finger rotating rod C. A middle finger adjusting rod C is fixedly installed on the right side of the middle finger rotating block C. The middle finger adjusting rod C is fixed to the top of the middle phalanx of the middle finger through the middle finger mounting plate C.

[0009] Preferably, the ring finger structure includes a proximal phalanx, a middle phalanx, and a distal phalanx. The proximal phalanx rotates on the left side of the palm via a ring finger rotating rod A, a ring finger rotating groove A, and a ring finger fixing plate A. The middle phalanx rotates on the left side of the proximal phalanx via a ring finger rotating rod B, a ring finger rotating groove B, and a ring finger fixing plate B. The distal phalanx rotates on the left side of the proximal phalanx via a ring finger rotating rod C, a ring finger rotating groove C, and a ring finger fixing plate B. The fixed plate C rotates on the left side of the middle phalanx of the ring finger. A ring finger protrusion A is fixedly installed at the top of the proximal phalanx of the ring finger. A ring finger rotating rod A is provided in the middle of the ring finger protrusion A. The ring finger rotating rod A rotates inside the ring finger protrusion A through the ring finger rotating groove A. A ring finger rotating block A is fixedly installed in the middle of the ring finger rotating rod A. A ring finger adjusting rod A is fixedly installed on the right side of the ring finger rotating block A. The ring finger adjusting rod A is installed through the ring finger... Plate A is fixed to the top of the palm. A ring finger protrusion B is fixedly installed at the top of the middle segment of the ring finger. A ring finger rotating rod B is provided in the middle of the ring finger protrusion B. The ring finger rotating rod B rotates inside the ring finger protrusion B through the ring finger rotating groove B. A ring finger rotating block B is installed in the middle of the ring finger rotating rod B. A ring finger adjusting rod B is fixedly installed on the right side of the ring finger rotating block B. The ring finger adjusting rod B is fixed to the proximal end of the ring finger by the ring finger mounting plate B. At the top of the distal phalanx of the ring finger, a ring finger protrusion C is fixedly installed. A ring finger rotating rod C is provided in the middle of the ring finger protrusion C. The ring finger rotating rod C rotates inside the ring finger protrusion C through the ring finger rotating groove C. A ring finger rotating block C is installed in the middle of the ring finger rotating rod C. A ring finger adjusting rod C is fixedly installed on the right side of the ring finger rotating block C. The ring finger adjusting rod C is fixed to the top of the middle phalanx of the ring finger through the ring finger mounting plate C.

[0010] Preferably, the little finger structure includes a proximal little finger joint, a middle little finger joint, and a distal little finger joint. The proximal little finger joint rotates on the left side of the palm via a little finger rotating rod A, a little finger rotating groove A, and a little finger fixing plate A. The middle little finger joint rotates on the left side of the proximal little finger joint via a little finger rotating rod B, a little finger rotating groove B, and a little finger fixing plate B. The distal little finger joint rotates on the left side of the middle little finger joint via a little finger rotating rod C, a little finger rotating groove C, and a little finger fixing plate C. A little finger protrusion A is fixedly installed at the top of the proximal little finger joint. A little finger rotating rod A is provided in the middle of the little finger protrusion A. The little finger rotating rod A rotates inside the little finger protrusion A via the little finger rotating groove A. A little finger rotating block A is fixedly installed in the middle of the little finger rotating rod A. A little finger adjusting rod A is fixedly installed on the right side of the little finger rotating block A. The little finger adjusting rod A rotates via the little finger mounting plate A. Fixed to the top of the palm, a little finger protrusion B is fixedly installed at the top of the middle segment of the little finger. A little finger rotating rod B is provided in the middle of the little finger protrusion B. The little finger rotating rod B rotates inside the little finger protrusion B through a little finger rotating groove B. A little finger rotating block B is installed in the middle of the little finger rotating rod B. A little finger adjusting rod B is fixedly installed on the right side of the little finger rotating block B. The little finger adjusting rod B is fixed to the top of the proximal segment of the little finger through a little finger mounting plate B. A little finger protrusion C is fixedly installed at the top of the distal segment of the little finger. A little finger rotating rod C is provided in the middle of the little finger protrusion C. The little finger rotating rod C rotates inside the little finger protrusion C through a little finger rotating groove C. A little finger rotating block C is installed in the middle of the little finger rotating rod C. A little finger adjusting rod C is fixedly installed on the right side of the little finger rotating block C. The little finger adjusting rod C is fixed to the top of the middle segment of the little finger through a little finger mounting plate C.

[0011] Preferably, a side plate is fixedly installed on the right side of the palm, a fixing block is fixedly installed on the top of the side plate, a retaining plate is provided inside the side plate, a baffle is fixedly installed on the right side of the retaining plate, a threaded rod is provided inside the retaining plate, and a throttle is fixedly installed on the top of the threaded rod.

[0012] Preferably, the card plate is slidably connected to the side plate via a card slot, the threaded rod is rotatably connected to the card plate via a threaded groove, the threaded rod is rotatably connected to the fixed block via a fixed groove, and the throttle is rotatably connected to the fixed block.

[0013] Compared with the prior art, the advantages and positive effects of this utility model are as follows: 1. In this utility model, the following components are included: thumb protrusion A, thumb rotating groove A, thumb rotating rod A, thumb rotating block A, thumb adjusting rod A, thumb mounting plate A, thumb protrusion B, thumb rotating groove B, thumb rotating rod B, thumb rotating block B, thumb adjusting rod B, thumb mounting plate B, index finger protrusion A, index finger rotating groove A, index finger rotating rod A, index finger rotating block A, index finger adjusting rod A, index finger mounting plate A, index finger protrusion B, index finger rotating groove B, index finger rotating rod B, index finger rotating block B, index finger adjusting rod B, index finger mounting plate B, index finger protrusion C, and index finger rotating groove C. Index finger rotating lever C, index finger rotating block C, index finger adjusting lever C, index finger mounting plate C, middle finger protrusion A, middle finger rotating groove A, middle finger rotating rod A, middle finger rotating block A, middle finger adjusting lever A, middle finger mounting plate A, middle finger protrusion B, middle finger rotating groove B, middle finger rotating rod B, middle finger rotating block B, middle finger adjusting lever B, middle finger mounting plate B, middle finger protrusion C, middle finger rotating groove C, middle finger rotating rod C, middle finger rotating block C, middle finger adjusting lever C, middle finger mounting plate C, ring finger protrusion A, ring finger rotating groove A, ring finger rotating rod A, ring finger rotating block A, ring finger adjusting lever A, ring finger mounting plate A. Ring finger protrusion B, ring finger groove B, ring finger rotating rod B, ring finger rotating block B, ring finger adjusting rod B, ring finger mounting plate B, ring finger protrusion C, ring finger groove C, ring finger rotating rod C, ring finger rotating block C, ring finger adjusting rod C, ring finger mounting plate C, little finger protrusion A, little finger groove A, little finger rotating rod A, little finger rotating block A, little finger adjusting rod A, little finger mounting plate A, little finger protrusion B, little finger groove B, little finger rotating rod B, little finger rotating block B, little finger adjusting rod B, little finger mounting plate B, little finger protrusion C, little finger groove C, little finger rotating rod C, little finger The rotating block C, the little finger adjustment rod C, and the little finger mounting plate C enhance the dexterity and bionic characteristics of the hand, enabling precise graded control of joint movements. This allows the finger bending angle to more closely resemble the natural shape of the human body and supports complex grasping actions. The modular design of the rotating groove and the fixed plate simplifies the assembly process and improves structural stability. The linkage mechanism between the adjustment rod and the mounting plate allows for dynamic adjustment of joint tension and optimizes torque transmission efficiency. The overall solution maintains a compact layout while also meeting the needs of multi-degree-of-freedom movement, providing a reliable hardware foundation for precision operation.

[0014] 2. In this utility model, the side plate, slot, fixing block, fixing groove, clamping plate, baffle, threaded groove, threaded rod, and throttle improve the adjustability and ease of operation of the dexterous hand assembly. The sliding connection between the clamping plate and the side plate allows for quick positioning and locking of different working positions. The cooperation between the threaded rod and the throttle enables precise linear displacement adjustment, and the limiting effect of the fixing block and the baffle ensures the stability of the motion trajectory. This structured design makes the fit clearance between the components controllable, reduces the risk of offset caused by vibration or external force, and simplifies the maintenance process. Parameter adjustment can be completed simply by rotating the throttle, without disassembling complex components. Attached Figure Description

[0015] Figure 1 A three-dimensional structural perspective view of a 12-joint dexterous hand joint assembly based on a linear drive linkage is provided for this utility model. Figure 2 An exploded three-dimensional view of the palm structure of a 12-joint dexterous hand joint assembly based on a linear drive linkage is provided for this utility model. Figure 3 This utility model presents an exploded rear-view perspective view of the thumb structure of a 12-joint dexterous hand joint assembly based on a linear drive linkage. Figure 4 The present invention provides a three-dimensional view of the exploded rear view structure of the index finger of a 12-joint dexterous hand joint assembly based on a linear drive linkage. Figure 5 The present invention provides an exploded rear-view perspective view of the middle finger structure of a 12-joint dexterous hand joint assembly based on a linear drive linkage. Figure 6 An exploded rear-view perspective view of the ring finger structure of a 12-joint dexterous hand joint assembly based on a linear drive linkage is provided for this utility model. Figure 7 This invention presents a three-dimensional exploded rear view of the little finger structure of a 12-joint dexterous hand joint assembly based on a linear drive linkage.

[0016] Legend: 1. Hand; 2. Thumb structure; 201. Thumb fixing plate A; 202. Thumb rotating groove A; 203. Thumb rotating rod A; 204. Proximal phalanx of the thumb; 205. Thumb protrusion A; 206. Thumb rotating groove A; 207. Thumb rotating rod A; 208. Thumb rotating block A; 209. Thumb adjusting rod A; 210. Thumb mounting plate A; 211. Thumb fixing plate B; 212. Thumb rotating groove B; 213. Thumb rotating rod B; 214. Distal phalanx of the thumb; 215. Thumb protrusion B; 216. Thumb rotating groove B; 217. Thumb rotating rod B; 218. Thumb rotating block B; 219. Thumb adjusting rod B; 220. Thumb mounting plate B; 3. Index finger structure; 301, Index finger fixing plate A; 302, Index finger rotating groove A; 303, Index finger rotating rod A; 304, Index finger proximal phalanx; 305, Index finger protrusion A; 306, Index finger rotating groove A; 307, Index finger rotating rod A; 308, Index finger rotating block A; 309, Index finger adjusting rod A; 310, Index finger mounting plate A; 311, Index finger fixing plate B; 312, Index finger rotating groove B; 313, Index finger rotating rod B; 314, Index finger middle phalanx; 315, Index finger protrusion B; 316, Index finger rotating groove B; 317, Index finger rotating rod B; 318, Index finger rotating block B; 319, Index finger adjusting rod B; 320, Index finger mounting plate B; 321, Index finger fixing plate C; 322, Index finger rotating groove C; 323, Index finger rotating rod C; 324 325. Index finger distal phalanx; 326. Index finger protrusion C; 327. Index finger rotating groove C; 328. Index finger rotating rod C; 329. Index finger rotating block C; 330. Index finger adjusting rod C; 4. Middle finger structure; 401. Middle finger fixing plate A; 402. Middle finger rotating groove A; 403. Middle finger rotating rod A; 404. Middle finger proximal phalanx; 405. Middle finger protrusion A; 406. Middle finger rotating groove A; 407. Middle finger rotating rod A; 408. Middle finger rotating block A; 409. Middle finger adjusting rod A; 410. Middle finger mounting plate A; 411. Middle finger fixing plate B; 412. Middle finger rotating groove B; 413. Middle finger rotating rod B; 414. Middle finger middle phalanx; 415. Middle finger protrusion B; 416. Middle finger rotating groove B; 417. Middle finger rotating... 418. Middle finger rotating block B; 419. Middle finger adjusting rod B; 420. Middle finger mounting plate B; 421. Middle finger fixing plate C; 422. Middle finger rotating groove C; 423. Middle finger rotating rod C; 424. Middle finger distal phalanx; 425. Middle finger protrusion C; 426. Middle finger rotating groove C; 427. Middle finger rotating rod C; 428. Middle finger rotating block C; 429. Middle finger adjusting rod C; 430. Middle finger mounting plate C; 5. Ring finger structure; 501. Ring finger fixing plate A; 502. Ring finger rotating groove A; 503. Ring finger rotating rod A; 504. Ring finger proximal phalanx; 505. Ring finger protrusion A; 506. Ring finger rotating groove A; 507. Ring finger rotating rod A; 508. Ring finger rotating block A; 509. Ring finger adjusting rod A;510. Ring finger mounting plate A; 511. Ring finger fixing plate B; 512. Ring finger rotating groove B; 513. Ring finger rotating rod B; 514. Ring finger middle section; 515. Ring finger protrusion B; 516. Ring finger rotating groove B; 517. Ring finger rotating rod B; 518. Ring finger rotating block B; 519. Ring finger adjusting rod B; 520. Ring finger mounting plate B; 521. Ring finger fixing plate C; 522. Ring finger rotating groove C; 523. 524. Ring finger rotating rod C; 525. Ring finger distal phalanx; 526. Ring finger protrusion C; 527. Ring finger rotating groove C; 528. Ring finger rotating rod C; 529. Ring finger adjusting rod C; 530. Ring finger mounting plate C; 6. Little finger structure; 601. Little finger fixing plate A; 602. Little finger rotating groove A; 603. Little finger rotating rod A; 604. Little finger proximal phalanx; 605. Little finger protrusion A; 606. Little finger rotating groove A; 607. Little finger rotating rod A; 608. Little finger rotating block A; 609. Little finger adjusting rod A; 610. Little finger mounting plate A; 611. Little finger fixing plate B; 612. Little finger rotating groove B; 613. Little finger rotating rod B; 614. Little finger middle segment; 615. Little finger protrusion B; 616. Little finger rotating groove B; 617. Little finger rotating rod B; 618. Little finger rotating block B; 619. Little finger adjusting rod B; 620. Little finger mounting plate B; 621. Little finger... 622. Little finger rotating groove C; 623. Little finger rotating rod C; 624. Little finger distal phalanx; 625. Little finger protrusion C; 626. Little finger rotating groove C; 627. Little finger rotating rod C; 628. Little finger rotating block C; 629. Little finger adjusting rod C; 630. Little finger mounting plate C; 7. Side plate; 8. Slot; 9. Fixing block; 10. Fixing groove; 11. Clamping plate; 12. Baffle; 13. Threaded groove; 14. Threaded rod; 15. Turning handle. Detailed Implementation

[0017] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0018] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0019] Example 1: As Figures 1-7As shown, this utility model provides a technical solution: a 12-joint dexterous hand joint assembly based on a linear drive linkage, including a palm 1. A thumb structure 2 is provided on the surface of the palm 1. An index finger structure 3, a middle finger structure 4, a ring finger structure 5, and a little finger structure 6 are provided on the left side of the palm 1. The thumb structure 2 includes a proximal thumb phalanx 204 and a distal thumb phalanx 214. The proximal thumb phalanx 204 rotates on the left side of the palm 1 via a thumb rotating rod A203, a thumb rotating groove A202, and a thumb fixing plate A201. The distal thumb phalanx 214 rotates on the left side of the palm 1 via a thumb rotating rod B213, a thumb rotating groove B212, and a thumb fixing plate B211. The left side of the proximal phalanx 204 of the thumb rotates. The index finger structure 3 includes the proximal phalanx 304, the middle phalanx 314, and the distal phalanx 324. The proximal phalanx 304 rotates on the left side of the palm 1 via the index finger rotation rod A303, the index finger rotation groove A302, and the index finger fixing plate A301. The middle phalanx 314 rotates on the left side of the proximal phalanx 304 via the index finger rotation rod B313, the index finger rotation groove B312, and the index finger fixing plate B311. The distal phalanx 324 rotates on the left side of the middle phalanx 314 via the index finger rotation rod C323, the index finger rotation groove C322, and the index finger fixing plate C321. A thumb protrusion A205 is fixedly installed at the top of the proximal phalanx 204, and a [missing information - likely a component or feature] is provided in the middle of the thumb protrusion A205. A thumb rotating rod A207 rotates within a thumb protrusion A205 via a thumb rotating groove A206. A thumb rotating block A208 is fixedly installed in the middle of the thumb rotating rod A207. A thumb adjusting rod A209 is fixedly installed on the right side of the thumb rotating block A208. The thumb adjusting rod A209 is fixed to the top of the palm 1 via a thumb mounting plate A210. A thumb protrusion B215 is fixedly installed at the top of the distal phalanx of the thumb 214. A thumb rotating rod B217 is located in the middle of the thumb protrusion B215 and rotates within the thumb protrusion B215 via a thumb rotating groove B216. A thumb rotating block B218 is installed in the middle of the thumb rotating rod A207. A thumb adjusting rod B219 is fixedly installed on the right side of the thumb rotating block B218. The thumb adjusting rod B219 is fixed to the top of the proximal phalanx 204 of the thumb via a thumb mounting plate B220. An index finger protrusion A305 is fixedly installed at the top of the proximal phalanx 304 of the index finger. An index finger rotating rod A307 is provided in the middle of the index finger protrusion A305. The index finger rotating rod A307 rotates inside the index finger protrusion A305 via an index finger rotating groove A306. An index finger rotating block A308 is fixedly installed in the middle of the index finger rotating rod A307. An index finger adjusting rod A309 is fixedly installed on the right side of the index finger rotating block A308. The index finger adjusting rod A309 is fixed to the top of the palm 1 via an index finger mounting plate A310. An index finger protrusion B315 is fixedly installed at the top of the middle phalanx 314 of the index finger.An index finger rotating rod B317 is provided in the middle of the index finger protrusion B315. The index finger rotating rod B317 rotates inside the index finger protrusion B315 through the index finger rotating groove B316. An index finger rotating block B318 is installed in the middle of the index finger rotating rod B317. An index finger adjusting rod B319 is fixedly installed on the right side of the index finger rotating block B318. The index finger adjusting rod B319 is fixed to the top of the proximal segment 304 of the index finger through the index finger mounting plate B320. An index finger protrusion C325 is fixedly installed at the top of the distal segment 324 of the index finger. An index finger rotating rod C327 is provided in the middle of the index finger protrusion C325. The index finger rotating rod C327 rotates inside the index finger protrusion C325 through the index finger rotating groove C326. An index finger rotating block C328 is installed in the middle of the index finger rotating rod C327. An index finger adjustment rod C329 is fixedly installed on the right side of the finger rotating block C328. The index finger adjustment rod C329 is fixed to the top of the middle segment 314 of the index finger via the index finger mounting plate C330. The middle finger structure 4 includes the proximal segment 404, the middle segment 414, and the distal segment 424. The proximal segment 404 rotates on the left side of the palm 1 via the middle finger rotating rod A403, the middle finger rotating groove A402, and the middle finger fixing plate A401. The middle segment 414 rotates on the left side of the proximal segment 404 via the middle finger rotating rod B413, the middle finger rotating groove B412, and the middle finger fixing plate B411. The distal segment 424 rotates on the left side of the middle segment 414 via the middle finger rotating rod C423, the middle finger rotating groove C422, and the middle finger fixing plate C421. The middle finger is rotated. A middle finger protrusion A405 is fixedly installed at the top of the proximal phalanx 404 of the middle finger. A middle finger rotating rod A407 is set in the middle of the middle finger protrusion A405. The middle finger rotating rod A407 rotates inside the middle finger protrusion A405 through the middle finger rotating groove A406. A middle finger rotating block A408 is fixedly installed in the middle of the middle finger rotating rod A407. A middle finger adjusting rod A409 is fixedly installed on the right side of the middle finger rotating block A408. The middle finger adjusting rod A409 is fixed to the top of the palm 1 through the middle finger mounting plate A410. A middle finger protrusion B415 is fixedly installed at the top of the middle finger phalanx 414 of the middle finger. A middle finger rotating rod B417 is set in the middle of the middle finger protrusion B415. The middle finger rotating rod B417 rotates inside the middle finger protrusion B415 through the middle finger rotating groove B416. A middle finger rotating block B418 is installed in the middle of the middle finger rotating rod B417. A middle finger adjusting rod B419 is fixedly installed on the right side of the middle finger rotating block B418. The middle finger adjusting rod B419 is fixed to the top of the proximal phalanx 404 of the middle finger via the middle finger mounting plate B420. A middle finger protrusion C425 is fixedly installed on the top of the distal phalanx 424 of the middle finger. A middle finger rotating rod C427 is set in the middle of the middle finger protrusion C425. The middle finger rotating rod C427 rotates inside the middle finger protrusion C425 via the middle finger rotating groove C426. A middle finger rotating block C428 is installed in the middle of the middle finger rotating rod C427. A middle finger adjusting rod C429 is fixedly installed on the right side of the middle finger rotating block C428. The middle finger adjusting rod C429 is fixed to the top of the middle phalanx 414 of the middle finger via the middle finger mounting plate C430.The ring finger structure 5 includes a proximal phalanx 504, a middle phalanx 514, and a distal phalanx 524. The proximal phalanx 504 rotates on the left side of the palm 1 via a ring finger rotating rod A503, a ring finger rotating groove A502, and a ring finger fixing plate A501. The middle phalanx 514 rotates on the left side of the proximal phalanx 504 via a ring finger rotating rod B513, a ring finger rotating groove B512, and a ring finger fixing plate B511. The distal phalanx 524 rotates on the left side of the middle phalanx 514 via a ring finger rotating rod C523, a ring finger rotating groove C522, and a ring finger fixing plate C521. A ring finger protrusion A505 is fixedly installed at the top of the proximal phalanx 504. A ring finger rotating rod A507 is provided in the middle. The ring finger rotating rod A507 rotates inside the ring finger protrusion A505 through the ring finger rotating groove A506. A ring finger rotating block A508 is fixedly installed in the middle of the ring finger rotating rod A507. A ring finger adjusting rod A509 is fixedly installed on the right side of the ring finger rotating block A508. The ring finger adjusting rod A509 is fixed to the top of the palm 1 through the ring finger mounting plate A510. A ring finger protrusion B515 is fixedly installed at the top of the middle segment 514 of the ring finger. A ring finger rotating rod B517 is provided in the middle of the ring finger protrusion B515. The ring finger rotating rod B517 rotates inside the ring finger protrusion B515 through the ring finger rotating groove B516. A ring finger is installed in the middle of the ring finger rotating rod B517. A ring finger adjusting rod B519 is fixedly installed on the right side of the ring finger rotating block B518. The ring finger adjusting rod B519 is fixed to the top of the proximal segment 504 of the ring finger via the ring finger mounting plate B520. A ring finger protrusion C525 is fixedly installed on the top of the distal segment 524 of the ring finger. A ring finger rotating rod C527 is provided in the middle of the ring finger protrusion C525. The ring finger rotating rod C527 rotates inside the ring finger protrusion C525 via the ring finger rotating groove C526. A ring finger rotating block C528 is installed in the middle of the ring finger rotating rod C527. A ring finger adjusting rod C529 is fixedly installed on the right side of the ring finger rotating block C528. The ring finger adjusting rod C529 is fixed to the middle segment 504 of the ring finger via the ring finger mounting plate C530. At the top of 14, the little finger structure 6 includes a proximal little finger 604, a middle little finger 614, and a distal little finger 624. The proximal little finger 604 rotates on the left side of the palm 1 via a little finger rotating rod A603, a little finger rotating groove A602, and a little finger fixing plate A601. The middle little finger 614 rotates on the left side of the proximal little finger 604 via a little finger rotating rod B613, a little finger rotating groove B612, and a little finger fixing plate B611. The distal little finger 624 rotates on the left side of the middle little finger 614 via a little finger rotating rod C623, a little finger rotating groove C622, and a little finger fixing plate C621. A little finger protrusion A605 is fixedly installed at the top of the proximal little finger 604, and a little finger rotating rod A607 is provided in the middle of the little finger protrusion A605.The little finger rotating rod A607 rotates within the little finger protrusion A605 via the little finger rotating groove A606. A little finger rotating block A608 is fixedly installed in the middle of the little finger rotating rod A607. A little finger adjusting rod A609 is fixedly installed on the right side of the little finger rotating block A608. The little finger adjusting rod A609 is fixed to the top of the palm 1 via the little finger mounting plate A610. A little finger protrusion B615 is fixedly installed at the top of the little finger middle segment 614. A little finger rotating rod B617 is located in the middle of the little finger protrusion B615. The little finger rotating rod B617 rotates within the little finger protrusion B615 via the little finger rotating groove B616. A little finger rotating block B618 is installed in the middle of the little finger rotating rod B617. A little finger adjusting rod B619 is fixedly installed on the right side of the rotating block B618. The little finger adjusting rod B619 is fixed to the top of the proximal phalanx 604 of the little finger via a little finger mounting plate B620. A little finger protrusion C625 is fixedly installed on the top of the distal phalanx 624 of the little finger. A little finger rotating rod C627 is located in the middle of the little finger protrusion C625. The little finger rotating rod C627 rotates within the little finger protrusion C625 via a little finger rotating groove C626. ​​A little finger rotating block C628 is installed in the middle of the little finger rotating rod C627. A little finger adjusting rod C629 is fixedly installed on the right side of the little finger rotating block C628. The little finger adjusting rod C629 is fixed to the top of the middle phalanx 614 of the little finger via a little finger mounting plate C630.

[0020] In this embodiment, the flexibility and anthropomorphism of the robotic hand are improved. The core improvement lies in the construction of a bionic finger system with 12 independent joints. Each finger forms a composite kinematic pair with a corresponding rotating groove through graded rotating rods such as thumb rotating rod A203, thumb rotating rod B213, index finger rotating rod A303, index finger rotating rod B313, and index finger rotating rod C323. Combined with adjustable rotating blocks and adjusting rods such as thumb rotating rod A203, thumb rotating rod B213, index finger rotating rod A303, index finger rotating rod B313, and index finger rotating rod C323, precise coordinated movement of each joint is achieved. This structure not only allows for a larger finger bending angle and more delicate movements, but also significantly improves assembly efficiency and reliability through standardized protrusion-rotating rod-rotating groove combinations. In particular, the multi-stage transmission design at the fingertip effectively solves the problem of insufficient flexibility of traditional robotic hand end effectors, providing a better solution for complex working conditions such as precision grasping and tool operation.

[0021] Example 2: Figure 1 , Figure 2As shown, a side plate 7 is fixedly installed on the right side of the palm 1, a fixing block 9 is fixedly installed on the top of the side plate 7, a retaining plate 11 is provided inside the side plate 7, a baffle 12 is fixedly installed on the right side of the retaining plate 11, a threaded rod 14 is provided inside the retaining plate 11, a throttle 15 is fixedly installed on the top of the threaded rod 14, the retaining plate 11 is slidably connected to the side plate 7 through a retaining groove 8, the threaded rod 14 is rotatably connected to the retaining plate 11 through a threaded groove 13, the threaded rod 14 is rotatably connected to the fixing block 9 through a fixing groove 10, and the throttle 15 is rotatably connected to the fixing block 9.

[0022] In this embodiment, a highly efficient and convenient dynamic adjustment system is constructed through the sliding fit between the clamping plate 11 and the side plate 7, the threaded transmission between the threaded rod 14 and the clamping plate 11, and the operational linkage of the throttle 15. This design adopts a modular integration approach, utilizing the sliding pair of the clamping slot 8 and the side plate 7 to achieve rapid positioning. Combined with the precision adjustment characteristics of the threaded rod 14, the position of the side plate 7 can be finely adjusted in real time and with precision through the throttle 15, significantly improving assembly efficiency and operational convenience. The limiting design of the baffle 12 and the dual rotation constraint fixing groove 10 of the threaded rod 14 + the throttle 15 enhance structural stability, effectively avoiding the risk of loosening, while simplifying the maintenance process. Under the premise of ensuring mechanical strength, the space utilization rate is optimized, providing a standardized interface for the functional expansion of the dexterous hand, and has higher practical value.

[0023] The working principle of this embodiment is as follows: First, fix the baffle 12 in the desired position. Then, align the side plate 7 on the right side of the palm 1 with the retaining plate 11, and press it against the baffle 12. This causes the side plate 7 to slide to the right through the retaining groove 8 on the surface of the retaining plate 11. Once the side plate 7 is fully inserted into the retaining plate 11 through the retaining groove 8, the handle 15 is then squeezed to pass the threaded rod 14 through the retaining groove 10 into the retaining block 9. Rotation then causes the threaded rod 14 to rotate into the retaining plate 11 through the threaded groove 13. Once the threaded rod 14 is fully inserted into the retaining plate 11 through the threaded groove 13 and the handle 15 is against the top of the retaining block 9, the device is ready for use. During use, the thumb is activated. The thumb adjustment lever A209 at the top of the mounting plate A210 causes the thumb rotating block A208 to rotate inside the thumb protrusion A205 via the thumb rotating rod A207 and the thumb rotating groove A206. The proximal phalanx 204 of the thumb rotates on the surface of the palm 1 via the thumb rotating rod A203, the thumb rotating groove A202, and the thumb fixing plate A201. Then, the thumb adjustment lever B219 at the top of the thumb mounting plate B220 is activated, causing the thumb rotating block B218 to rotate inside the thumb protrusion B215 via the thumb rotating rod B217 and the thumb rotating groove B216. The distal phalanx 214 of the thumb rotates via the thumb rotating rod B213 and the thumb rotating groove B212, and... The thumb fixing plate B211 rotates on the left side of the thumb proximal phalanx 204 to achieve the gripping effect of the thumb structure 2. When using the index finger structure 3, first activate the index finger adjusting rod A309 at the top of the index finger mounting plate A310, causing the index finger rotating block A308 to rotate inside the index finger protrusion A305 via the index finger rotating rod A307 and the index finger rotating groove A306. The index finger proximal phalanx 304 then rotates on the left side of the palm 1 via the index finger rotating rod A303, the index finger rotating groove A302, and the index finger fixing plate A301. Then, activate the index finger adjusting rod B319 at the top of the index finger mounting plate B320, causing the index finger rotating block B318 to rotate on the index finger protrusion B315 via the index finger rotating rod B317 and the index finger rotating groove B316. The index finger rotates internally, and the middle segment 314 rotates on the left side of the proximal segment 304 of the index finger via the index finger rotating rod B313, the index finger rotating groove B312, and the index finger fixing plate B311. Finally, the index finger adjusting rod C329 at the top of the index finger mounting plate C330 is activated, causing the index finger rotating block C328 to rotate inside the index finger protrusion C325 via the index finger rotating rod C327 and the index finger rotating groove C326. The distal segment 324 of the index finger rotates on the left side of the middle segment 314 via the index finger rotating rod C323, the index finger rotating groove C322, and the index finger fixing plate C321, thus completing the gripping effect of the index finger structure 3. When using the middle finger structure 4, the middle finger adjusting rod A409 at the top of the middle finger mounting plate A410 is activated first.The middle finger rotating block A408 rotates within the middle finger protrusion A405 via the middle finger rotating rod A407 and the middle finger rotating groove A406. The proximal phalanx 404 of the middle finger rotates on the left side of the palm 1 via the middle finger rotating rod A403, the middle finger rotating groove A402, and the middle finger fixing plate A401. Then, the middle finger adjusting rod B419 at the top of the middle finger mounting plate B420 is activated, causing the middle finger rotating block B418 to rotate within the middle finger protrusion B415 via the middle finger rotating rod B417 and the middle finger rotating groove B416. The middle phalanx 414 of the middle finger rotates on the left side of the proximal phalanx 404 via the middle finger rotating rod B413, the middle finger rotating groove B412, and the middle finger fixing plate B411. Finally, the top of the middle finger mounting plate C430 is activated. The middle finger adjustment lever C429 at the end causes the middle finger rotating block C428 to rotate inside the middle finger protrusion C425 via the middle finger rotating rod C427 and the middle finger rotating groove C426. The distal phalanx 424 of the middle finger rotates on the left side of the middle phalanx 414 via the middle finger rotating rod C423, the middle finger rotating groove C422, and the middle finger fixing plate C421, thus completing the gripping effect of the middle finger structure 4. When using the ring finger structure 5, first activate the ring finger adjustment lever A509 at the top of the ring finger mounting plate A510, causing the ring finger rotating block A508 to rotate inside the ring finger protrusion A505 via the ring finger rotating rod A507 and the ring finger rotating groove A506. The proximal phalanx 504 of the ring finger rotates with the ring finger via the ring finger rotating rod A503. The groove A502 and the ring finger fixing plate A501 rotate on the left side of the palm 1. Then, the ring finger adjusting rod B519 at the top of the ring finger mounting plate B520 is activated, causing the ring finger rotating block B518 to rotate inside the ring finger protrusion B515 via the ring finger rotating rod B517 and the ring finger rotating groove B516. The middle segment 514 of the ring finger rotates on the left side of the proximal segment 504 of the ring finger via the ring finger rotating rod B513, the ring finger rotating groove B512, and the ring finger fixing plate B511. Finally, the ring finger adjusting rod C529 at the top of the ring finger mounting plate C530 is activated, causing the ring finger rotating block C528 to rotate inside the ring finger protrusion C525 via the ring finger rotating rod C527 and the ring finger rotating groove C526. The ring finger rotates, and the distal phalanx 524 of the ring finger rotates on the left side of the middle phalanx 514 of the ring finger via the ring finger rotating rod C523, the ring finger rotating groove C522, and the ring finger fixing plate C521, thus completing the gripping effect of the ring finger structure 5. When using the little finger structure 6, first activate the little finger adjusting rod A609 at the top of the little finger mounting plate A610, so that the little finger rotating block A608 rotates inside the little finger protrusion A605 via the little finger rotating rod A607 and the little finger rotating groove A606, and the proximal phalanx 604 of the little finger rotates on the left side of the palm 1 via the little finger rotating rod A603, the little finger rotating groove A602, and the little finger fixing plate A601. Then activate the little finger adjusting rod B619 at the top of the little finger mounting plate B620.The little finger rotating block B618 rotates within the little finger protrusion B615 via the little finger rotating rod B617 and the little finger rotating groove B616. The little finger middle phalanx 614 rotates to the left of the little finger proximal phalanx 604 via the little finger rotating rod B613, the little finger rotating groove B612, and the little finger fixing plate B611. Finally, the little finger adjusting rod C629 at the top of the little finger mounting plate C630 is activated, causing the little finger rotating block C628 to rotate within the little finger protrusion C625 via the little finger rotating rod C627 and the little finger rotating groove C626. ​​The little finger distal phalanx 624 rotates to the left of the little finger middle phalanx 614 via the little finger rotating rod C623, the little finger rotating groove C622, and the little finger fixing plate C621, thus completing the gripping effect of the little finger structure 6.

[0024] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A 12-joint dexterous hand joint assembly based on a linear drive linkage, comprising a hand (1), characterized in that: The palm (1) has a thumb structure (2) on its surface, an index finger structure (3) on its left side, a middle finger structure (4) on its left side, a ring finger structure (5) on its left side, and a little finger structure (6) on its left side. The thumb structure (2) includes a proximal thumb segment (204) and a distal thumb segment (214). The proximal thumb segment (204) rotates on the left side of the palm (1) via a thumb rotating rod A (203), a thumb rotating groove A (202), and a thumb fixing plate A (201). The distal thumb segment (214) rotates on the left side of the proximal thumb segment (204) via a thumb rotating rod B (213), a thumb rotating groove B (212), and a thumb fixing plate B (211). The index finger structure (3) includes the proximal segment (304), the middle segment (314), and the distal segment (324). The proximal segment (304) rotates on the left side of the palm (1) via the index finger rotation rod A (303), the index finger rotation groove A (302), and the index finger fixing plate A (301). The middle segment (314) rotates on the left side of the proximal segment (304) via the index finger rotation rod B (313), the index finger rotation groove B (312), and the index finger fixing plate B (311). The distal segment (324) rotates on the left side of the middle segment (314) via the index finger rotation rod C (323), the index finger rotation groove C (322), and the index finger fixing plate C (321).

2. The 12-joint dexterous hand joint assembly based on linear drive linkage according to claim 1, characterized in that: A thumb protrusion A (205) is fixedly installed at the top of the proximal segment (204) of the thumb. A thumb rotating rod A (207) is provided in the middle of the thumb protrusion A (205). The thumb rotating rod A (207) rotates inside the thumb protrusion A (205) through the thumb rotating groove A (206). A thumb rotating block A (208) is fixedly installed in the middle of the thumb rotating rod A (207). A thumb adjusting rod A (209) is fixedly installed on the right side of the thumb rotating block A (208). The thumb adjusting rod A (209) is fixed to the top of the palm (1) through the thumb mounting plate A (210). A thumb protrusion B (215) is fixedly installed at the top of the distal phalanx of the thumb (214). A thumb rotating rod B (217) is provided in the middle of the thumb protrusion B (215). The thumb rotating rod B (217) rotates inside the thumb protrusion B (215) through the thumb rotating groove B (216). A thumb rotating block B (218) is installed in the middle of the thumb rotating rod A (207). A thumb adjusting rod B (219) is fixedly installed on the right side of the thumb rotating block B (218). The thumb adjusting rod B (219) is fixed at the top of the proximal phalanx of the thumb (204) through the thumb mounting plate B (220).

3. The 12-joint dexterous hand joint assembly based on linear drive linkage according to claim 1, characterized in that: An index finger protrusion A (305) is fixedly installed at the top of the proximal segment (304) of the index finger. An index finger rotating rod A (307) is provided in the middle of the index finger protrusion A (305). The index finger rotating rod A (307) rotates inside the index finger protrusion A (305) through the index finger rotating groove A (306). An index finger rotating block A (308) is fixedly installed in the middle of the index finger rotating rod A (307). A [missing information - likely a component or material] is fixedly installed on the right side of the index finger rotating block A (308). An index finger adjustment rod A (309) is fixed to the top of the palm (1) via an index finger mounting plate A (310). An index finger protrusion B (315) is fixedly installed at the top of the middle segment (314) of the index finger. An index finger rotating rod B (317) is provided in the middle of the index finger protrusion B (315). The index finger rotating rod B (317) rotates inside the index finger protrusion B (315) via an index finger rotating groove B (316). An index finger rotating block B (318) is installed in the middle of the index finger rotating rod B (317). An index finger adjusting rod B (319) is fixedly installed on the right side of the index finger rotating block B (318). The index finger adjusting rod B (319) is fixed to the top of the proximal segment (304) of the index finger by the index finger mounting plate B (320). An index finger protrusion C (325) is fixedly installed at the top of the distal segment (324) of the index finger. An index finger rotating rod is provided in the middle of the index finger protrusion C (325). C (327), the index finger rotating rod C (327) rotates inside the index finger protrusion C (325) through the index finger rotating groove C (326), the index finger rotating block C (328) is installed in the middle of the index finger rotating rod C (327), the index finger adjusting rod C (329) is fixedly installed on the right side of the index finger rotating block C (328), and the index finger adjusting rod C (329) is fixed to the top of the middle segment (314) of the index finger through the index finger mounting plate C (330).

4. The 12-joint dexterous hand joint assembly based on linear drive linkage according to claim 1, characterized in that: The middle finger structure (4) includes a proximal phalanx (404), a middle phalanx (414), and a distal phalanx (424). The proximal phalanx (404) rotates on the left side of the palm (1) via a middle finger rotating rod A (403), a middle finger rotating groove A (402), and a middle finger fixing plate A (401). The middle phalanx (414) rotates on the left side of the proximal phalanx (404) via a middle finger rotating rod B (413), a middle finger rotating groove B (412), and a middle finger fixing plate B (411). The distal phalanx (424) rotates on the left side of the proximal phalanx (404) via a middle finger rotating rod C (423), a middle finger rotating groove C (422), and a middle finger fixing plate B (411). The fixing plate C (421) rotates on the left side of the middle joint (414) of the middle finger. A middle finger protrusion A (405) is fixedly installed at the top of the proximal joint (404) of the middle finger. A middle finger rotating rod A (407) is provided in the middle of the middle finger protrusion A (405). The middle finger rotating rod A (407) rotates inside the middle finger protrusion A (405) through the middle finger rotating groove A (406). A middle finger rotating block A (408) is fixedly installed in the middle of the middle finger rotating rod A (407). A middle finger adjusting rod A (409) is fixedly installed on the right side of the middle finger rotating block A (408). The middle finger adjusting rod A (409) is connected to the middle finger mounting plate A. (410) Fixed to the top of the palm (1), the top of the middle finger joint (414) is fixedly installed with a middle finger protrusion B (415), the middle finger protrusion B (415) is provided with a middle finger rotating rod B (417) in the middle, the middle finger rotating rod B (417) rotates inside the middle finger protrusion B (415) through the middle finger rotating groove B (416), the middle finger rotating block B (418) is installed in the middle of the middle finger rotating rod B (417), the right side of the middle finger rotating block B (418) is fixedly installed with a middle finger adjusting rod B (419), the middle finger adjusting rod B (419) is fixed to the proximal joint of the middle finger through the middle finger mounting plate B (420) ( At the top of the middle finger distal phalanx (424), a middle finger protrusion C (425) is fixedly installed at the top of the middle finger protrusion C (425). A middle finger rotating rod C (427) is provided in the middle of the middle finger protrusion C (425). The middle finger rotating rod C (427) rotates inside the middle finger protrusion C (425) through the middle finger rotating groove C (426). A middle finger rotating block C (428) is installed in the middle of the middle finger rotating rod C (427). A middle finger adjusting rod C (429) is fixedly installed on the right side of the middle finger rotating block C (428). The middle finger adjusting rod C (429) is fixed to the top of the middle finger middle phalanx (414) through the middle finger mounting plate C (430).

5. The 12-joint dexterous hand joint assembly based on linear drive linkage according to claim 1, characterized in that: The ring finger structure (5) includes a proximal phalanx (504), a middle phalanx (514), and a distal phalanx (524). The proximal phalanx (504) rotates on the left side of the palm (1) via a ring finger rotating rod A (503), a ring finger rotating groove A (502), and a ring finger fixing plate A (501). The middle phalanx (514) rotates on the left side of the proximal phalanx (504) via a ring finger rotating rod B (513), a ring finger rotating groove B (512), and a ring finger fixing plate B (511). The distal phalanx (524) rotates on the left side of the proximal phalanx (504) via a ring finger rotating rod C (523), a ring finger rotating groove C (522), and a ring finger fixing plate B (511). The ring finger fixing plate C (521) rotates on the left side of the middle segment (514) of the ring finger. A ring finger protrusion A (505) is fixedly installed at the top of the proximal segment (504) of the ring finger. A ring finger rotating rod A (507) is provided in the middle of the ring finger protrusion A (505). The ring finger rotating rod A (507) rotates inside the ring finger protrusion A (505) through the ring finger rotating groove A (506). A ring finger rotating block A (508) is fixedly installed in the middle of the ring finger rotating rod A (507). A ring finger adjusting rod A (509) is fixedly installed on the right side of the ring finger rotating block A (508). The ring finger adjusting rod A (509) is connected to the ring finger mounting plate. A (510) is fixed to the top of the palm (1). A ring finger protrusion B (515) is fixedly installed at the top of the middle segment (514) of the ring finger. A ring finger rotating rod B (517) is provided in the middle of the ring finger protrusion B (515). The ring finger rotating rod B (517) rotates inside the ring finger protrusion B (515) through the ring finger rotating groove B (516). A ring finger rotating block B (518) is installed in the middle of the ring finger rotating rod B (517). A ring finger adjusting rod B (519) is fixedly installed on the right side of the ring finger rotating block B (518). The ring finger adjusting rod B (519) is fixed to the proximal segment of the ring finger through the ring finger mounting plate B (520). At the top of (504), a ring finger protrusion C (525) is fixedly installed at the top of the distal phalanx (524) of the ring finger. A ring finger rotating rod C (527) is provided in the middle of the ring finger protrusion C (525). The ring finger rotating rod C (527) rotates inside the ring finger protrusion C (525) through the ring finger rotating groove C (526). A ring finger rotating block C (528) is installed in the middle of the ring finger rotating rod C (527). A ring finger adjusting rod C (529) is fixedly installed on the right side of the ring finger rotating block C (528). The ring finger adjusting rod C (529) is fixed to the top of the middle phalanx (514) of the ring finger through the ring finger mounting plate C (530).

6. The 12-joint dexterous hand joint assembly based on linear drive linkage according to claim 1, characterized in that: The little finger structure (6) includes a proximal segment (604), a middle segment (614), and a distal segment (624). The proximal segment (604) rotates on the left side of the palm (1) via a little finger rotating rod A (603), a little finger rotating groove A (602), and a little finger fixing plate A (601). The middle segment (614) rotates on the left side of the proximal segment (604) via a little finger rotating rod B (613), a little finger rotating groove B (612), and a little finger fixing plate B (611). The distal segment (624) rotates on the left side of the proximal segment (604) via a little finger rotating rod C (623), a little finger rotating groove C (622), and a little finger fixing plate B (611). The fixing plate C (621) rotates on the left side of the middle segment (614) of the little finger. A little finger protrusion A (605) is fixedly installed at the top of the proximal segment (604) of the little finger. A little finger rotating rod A (607) is provided in the middle of the little finger protrusion A (605). The little finger rotating rod A (607) rotates inside the little finger protrusion A (605) through the little finger rotating groove A (606). A little finger rotating block A (608) is fixedly installed in the middle of the little finger rotating rod A (607). A little finger adjusting rod A (609) is fixedly installed on the right side of the little finger rotating block A (608). The little finger adjusting rod A (609) is connected to the little finger mounting plate A. (610) Fixed to the top of the palm (1), a little finger protrusion B (615) is fixedly installed at the top of the little finger middle segment (614), a little finger rotating rod B (617) is provided in the middle of the little finger protrusion B (615), the little finger rotating rod B (617) rotates inside the little finger protrusion B (615) through the little finger rotating groove B (616), a little finger rotating block B (618) is installed in the middle of the little finger rotating rod B (617), a little finger adjusting rod B (619) is fixedly installed on the right side of the little finger rotating block B (618), and the little finger adjusting rod B (619) is fixed to the proximal segment of the little finger through the little finger mounting plate B (620). At the top of the distal phalanx (624) of the little finger, a little finger protrusion C (625) is fixedly installed. A little finger rotating rod C (627) is provided in the middle of the little finger protrusion C (625). The little finger rotating rod C (627) rotates inside the little finger protrusion C (625) through the little finger rotating groove C (626). A little finger rotating block C (628) is installed in the middle of the little finger rotating rod C (627). A little finger adjusting rod C (629) is fixedly installed on the right side of the little finger rotating block C (628). The little finger adjusting rod C (629) is fixed to the top of the middle phalanx (614) of the little finger through the little finger mounting plate C (630).

7. The 12-joint dexterous hand joint assembly based on linear drive linkage according to claim 1, characterized in that: A side plate (7) is fixedly installed on the right side of the palm (1), a fixing block (9) is fixedly installed on the top of the side plate (7), a clamping plate (11) is provided inside the side plate (7), a baffle (12) is fixedly installed on the right side of the clamping plate (11), a threaded rod (14) is provided inside the clamping plate (11), and a throttle (15) is fixedly installed on the top of the threaded rod (14).

8. The 12-joint dexterous hand joint assembly based on linear drive linkage according to claim 7, characterized in that: The card plate (11) is slidably connected to the side plate (7) through the card slot (8), the threaded rod (14) is rotatably connected to the card plate (11) through the threaded groove (13), the threaded rod (14) is rotatably connected to the fixed block (9) through the fixed groove (10), and the throttle (15) is rotatably connected to the fixed block (9).

Images