Dexterous hand and humanoid robot

Abstract

The utility model discloses nimble hand and humanoid robot belong to humanoid robot field, and the technical scheme of solving this problem mainly includes arm and palm, and the front end of arm is equipped with the wrist support of rotation connection with palm, and the palm includes palm support and a plurality of installation in the finger of palm support, and the arm is fixed with a plurality of finger drive motor and wrist drive motor, and the finger includes finger base and finger body, and is equipped with a plurality of transmission mechanism on finger base, and transmission mechanism includes guide rail, sliding block and towrope, and sliding block is connected with finger base slidingly, and is equipped with guide pulley still on finger base, and towrope is connected with sliding block after passing through guide pulley, and the top of sliding block is transmission connection with finger body, and finger drive motor drives sliding block sliding through towrope, and sliding block slides to control finger body to carry out activity, and then realizes the bending and lateral swing of finger body.

Description

Technical Field

[0001] This utility model demonstrates a dexterous hand and a humanoid robot, belonging to the field of humanoid robot technology. Background Technology

[0002] As a key component for robots to perform functions and interact with humans, dexterous hands have received increasing attention and research. The design inspiration of bionic dexterous hands comes from the morphology, structure and functional characteristics of organisms, achieving a perfect integration of biology, mechanics and engineering technology. Its structural design makes dexterous hands closer to the movement and operation of human hands, which provides the possibility for achieving more natural and efficient human-computer interaction. However, existing bionic dexterous designs still have many shortcomings in the movement of fingers, finger joints, thumb movement, palm movement and power transmission methods.

[0003] Firstly, regarding the fingers, the transmission mechanism of a traditional dexterous hand includes a guide rail slider and a traction rope. The traction rope drives the slider to slide along the guide rail. To position the traction rope, a pulley is rotatably connected to the top of the guide rail. The pulley is located between the guide rail and the finger base, which increases the distance between the guide rail and the finger base. This, in turn, increases the space occupied by the transmission mechanism on the finger base, resulting in increased finger thickness in a dexterous hand. In addition, the guide rail and the finger base are separated by the pulley, resulting in a smaller contact area between the guide rail and the finger base. This reduces the load-bearing capacity of the guide rail and makes it more prone to deformation.

[0004] Secondly, the joints of the fingers also have the phenomenon of excessive backward bending, resulting in unnecessary range of motion of the joints. Since there is no limit to the range of motion between the joints, when the joints rotate excessively backward, the connection between the joints may become loose or even break, which can easily cause damage to the finger itself.

[0005] Regarding hand movement, the finger drive motor drives the slider to slide via the traction rope to control the movement of the finger body. To protect the traction rope, a traction tube is fitted over the traction rope. Since the hand has 5 fingers, about 30 traction tubes are laid between the fingers and the arm, which will occupy most of the space between the fingers and the arm. The two drive motors that drive the hand to move relative to the arm are installed between the hand and the arm, which will also occupy a large space. The hand can swing laterally and bend forward and backward relative to the arm. During the hand movement, the traction tubes will also bend. When the traction tubes bend, due to the large space occupied by the traction tubes and drive motors, the traction tubes will squeeze each other, affecting the normal range of motion of the hand, thus preventing the hand from moving to the designated position.

[0006] In addition, regarding the movement of the thumb, the existing third drive component in dexterous hands is installed on the palm. The third drive component occupies a large space on the palm and will interfere with the traction ropes of other fingers. In addition, the second drive component drives the thumb to rotate through the connecting rod. The movement of the connecting rod will also be interfered with by the traction ropes of other fingers, and there is a possibility that the connecting rod and the traction rope will become entangled. Furthermore, using the connecting rod for transmission will cause the thumb to not respond quickly, thus affecting the movement speed of the thumb.

[0007] In terms of power transmission, because the projections of the output shafts of the finger actuators on a plane perpendicular to the length of the arm assembly overlap, the traction ropes leading from each output shaft and connecting to the finger joints are on very close or even intersecting paths at the start. When the dexterous hand performs complex movements, these closely spaced traction ropes will experience continuous mutual friction and interference, shortening the lifespan of the dexterous hand and posing a risk of task failure or even safety accidents due to rope breakage. Utility Model Content

[0008] The purpose of this invention is to provide a dexterous hand and a humanoid robot that can at least partially solve the defects of the prior art.

[0009] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0010] The dexterous hand includes an arm and a palm. The arm includes a cable tray, a mounting frame, and several layers of finger drive motors. Each layer of finger drive motors contains at least one finger drive motor. The mounting frame contains at least one wrist drive motor. The output shafts of the finger drive motors are all arranged outwards, and the projections of the output shafts in the plane perpendicular to the length of the arm do not coincide.

[0011] The front end of the cable tray is provided with a wrist support that is connected to the palm for rotation. The mounting bracket is located at the end of the arm away from the wrist support. The wrist drive motor is connected to the palm for transmission via a pull rod.

[0012] The palm includes a palm support and several fingers. Each finger includes a finger base and a finger body. The finger base includes a first mounting plate. Several transmission mechanisms are provided on the finger base. The transmission mechanisms are distributed on both sides of the first mounting plate. A guide wheel is provided at the top of the first mounting plate. The transmission mechanism includes a slider and a traction rope. The traction rope extends on both sides of the first mounting plate after passing around the guide wheel. The finger drive motor drives the slider to slide through the traction rope to realize the movement of the finger body.

[0013] The finger body includes a first phalanx, a second phalanx and a third phalanx. The first phalanx is provided with a first limiting structure for the rearward rotation angle of the first phalanx, and the second phalanx is provided with a second limiting structure for limiting the rearward rotation angle of the second phalanx and the third phalanx.

[0014] One of the fingers of the palm is the thumb. A rotary connection structure is provided between the thumb and the palm support. One of the fingers drives a motor to drive the rotary connection structure to rotate through a traction rope, so as to realize the rotation of the thumb relative to the palm support.

[0015] The cable tray is provided with several cable passage holes, and a guide is movably inserted through the cable passage holes. The guide has a limiting part, and an elastic element is fitted over the guide. The elastic element is located between the cable tray and the limiting part. A cable retractor is fitted over the traction rope. The cable retractor is located between the finger base and the guide. The elastic element causes the cable retractor to abut against the guide.

[0016] The beneficial effects of using this utility model are:

[0017] The non-overlapping output shafts of the finger-driven motors in this invention provide each traction rope with an independent, non-interfering output path in physical space. This ensures that the traction ropes leading from the output shaft of each finger-driven motor have independent, non-interfering spatial positions at their starting points, fundamentally avoiding mutual friction and wear caused by path intersections during movement. This significantly improves the reliability, accuracy, and lifespan of the system. Because the traction ropes are free from interference and additional friction, the extra motion resistance caused by rope friction is eliminated, reducing the loss of driving force. This allows the power output from the finger-driven motor to be transmitted to the finger body more efficiently, improving the overall energy efficiency of the dexterous hand. Simultaneously, the absence of additional resistance interference makes the movement of the finger body more precise and controllable, directly improving the control accuracy of the anthropomorphic dexterous hand when performing fine operations.

[0018] The wrist drive motor is mounted on the end of the arm furthest from the wrist support and is connected to the palm support via a pull rod. The wrist drive motor does not occupy the space between the palm and arm, allowing for greater bending space of the traction rope between the palm and arm, and providing a more ample range of motion for the palm. This prevents the traction rope from squeezing against each other and restricting the movement of the palm support, ensuring the palm support has maximum range of motion. This allows for the simulation of complex movements of the human wrist in multiple directions, enabling the dexterous hand to complete various grasping and manipulation tasks in a more natural and flexible manner, thus enhancing the simulation performance of the dexterous hand. Furthermore, by mounting the wrist drive motor on the arm, maintenance or replacement only requires disassembling the motor, without affecting the connection between the palm and arm, making maintenance and replacement simpler and more convenient, reducing maintenance costs and difficulty. Secondly, the greater space between the palm and arm allows for optimized design of the wrist support, making the connection between the wrist support, arm, and palm more reliable and reasonable, significantly improving the stability and reliability of the connection between the palm and arm.

[0019] The transmission mechanism is distributed on both sides of the first mounting plate, which can make full use of the space of the finger base, making the assembly of the finger base and the transmission mechanism more compact. At the same time, it can also prevent the transmission mechanisms on both sides of the first mounting plate from interfering with each other, giving the finger body more flexibility. In addition, placing the guide wheel at the top of the first mounting plate allows the slider to be closer to the finger base, reducing the distance between the slider and the finger base, thereby significantly reducing the thickness of the finger, making the assembly of the transmission mechanism and the finger base more compact, and the dexterous hand more compact and aesthetically pleasing. Secondly, the number of traction ropes, sliders and guide wheels is the same. After the traction ropes pass around the guide wheels, they extend to both sides of the first mounting plate, making the arrangement of the traction ropes more regular and reducing the possibility of the traction ropes getting tangled, so as to make the movement of the finger body more stable and reliable.

[0020] The first and second limiting structures clearly restrict the range of motion of the first, second, and third phalanges, and also clearly define their activity boundaries, making finger movement more controllable. Operators can precisely control the range of motion of each phalanx, enabling the fingers to perform more delicate tasks and significantly improving the accuracy and success rate of finger operations. In addition, the first and second limiting structures simulate the physiological movement characteristics of real fingers, making the bionic finger more natural and realistic in its movement, better able to imitate human finger movements, and giving the finger a higher simulation effect. Secondly, when the first, second, and third phalanges move backward to their maximum extent, both the first and second limiting structures can play a limiting role. The first and second limiting structures can disperse the force generated when the phalanges rotate excessively backward, reduce the force on the connection parts of each phalanx, prevent the connection parts from loosening or even breaking due to excessive backward rotation of the phalanges, help extend the service life of the connection parts, and keep the connection parts moving accurately and reliably.

[0021] The finger drive motor is mounted on the arm, which avoids occupying space in the palm and interfering with the traction ropes of other fingers. It provides ample deformation space for the traction ropes, ensuring all fingers have maximum range of motion. This allows the entire hand to perform more complex movements, enabling the dexterous hand to complete various grasping and manipulation tasks in a more natural and flexible manner, thus enhancing its simulation performance. It also allows the hand to integrate more complex functional modules. Furthermore, mounting the finger drive motor on the arm reduces the weight of the palm, making its relative movement to the arm lighter and more flexible, and reducing the energy consumed by hand movements. Secondly, the finger drive motor is connected to the thumb via a traction rope, which has good flexibility and bendability, enabling long-distance power transmission between the finger drive motor and the thumb. This makes the layout of the finger drive motor more flexible and reduces the difficulty of installation. Finally, the traction rope pulls the thumb to rotate, allowing the thumb to quickly respond to the power output of the finger drive motor, resulting in faster response speed and higher sensitivity.

[0022] The coiling tube defines the movement trajectory of the traction rope, and the through-hole further positions the traction rope, completely preventing multiple traction ropes from crossing and contacting each other in the transmission path. Structurally, this eliminates the risk of entanglement, ensuring that each traction rope only drives its dedicated joint, guaranteeing precise transmission ratios and eliminating potential malfunctions. Furthermore, utilizing the cooperation of elastic and guiding components, the elastic component continuously pushes the guiding component and the coiling tube it abuts against, moving them together towards the palm, ensuring the traction rope is always safely encased inside the coiling tube. This eliminates the risk of exposure and wear caused by the traction rope lengthening. Regardless of whether the traction rope extends or shortens due to finger-driven motor control, from a fixed... The traction rope between the fixed component and the finger base is completely enclosed within the continuous channel formed by the guide and the coiling tube at all times and under all working conditions. This completely eliminates the wear, jamming, and cross-entanglement problems caused by the traction rope being exposed due to elongation, as is the case in existing technologies. When the traction rope drives the coiling tube to squeeze the guide, the guide can transfer this pressure to the elastic component, causing the elastic component to compress. The guide moves away from the hand components, making room for the coiling tube to move, thus transforming potential rigid interference into flexible elastic buffering. This ensures that the range of motion of the finger body is unrestricted and the transmission process is smooth and unobstructed.

[0023] Preferably, a fixing plate is provided between two adjacent finger drive motor layers. The fixing plate has fixing components on its opposite end faces, the end face of the cable tray facing the finger drive motor, and the end face of the mounting bracket facing the finger drive motor. These fixing components are fixedly connected to the corresponding finger drive motor. By using the aforementioned technical solution, and by setting a fixing plate between adjacent motor layers and connecting the end faces of the cable tray, fixing plate, and mounting bracket to the finger drive motor through unified fixing components, the potentially loose multi-layered structure is integrated into a robust three-dimensional frame. This frame effectively resists the reaction forces and vibrations generated during the operation of each finger drive motor, ensuring the structural stability of the entire finger drive motor and thus laying the foundation for precise force transmission.

[0024] Preferably, the arm includes at least two drive components connected sequentially along the length of the arm, with the diameter of the drive component closer to the palm being larger than the diameter of the drive component farther from the palm; each drive component has at least one layer of finger drive motors. Using the aforementioned technical solution, the arm is no longer a simple cylinder in shape, but rather a cone shape that is thicker towards the near end and thinner towards the far end. This closely matches the physiological structure of the human forearm. This design greatly improves the overall appearance coordination and anthropomorphism of the humanoid robot, solving the problem of clumsy appearance caused by the bulky finger drive motors in traditional designs.

[0025] Preferably, each drive assembly includes a cable tray with several through holes along its edge for the traction ropes to pass through, each through hole corresponding to one traction rope. By employing the aforementioned technical solution, a dedicated cable tray is provided for each drive assembly. This means that at every structural change point, the traction ropes can be effectively organized and isolated. This prevents the traction ropes from becoming tangled, crossing, and rubbing at the connection points between two drive assemblies, extending and ensuring the reliability of the drive assembly to the entire dexterous hand. Furthermore, the through holes distributed along the edge of the cable tray increase the spacing between the traction ropes, giving each traction rope a larger deformation space, reducing the possibility of mutual compression between adjacent traction ropes, and helping to extend the service life of the traction ropes.

[0026] Preferably, each drive assembly includes at least two finger drive motor layers, with a fixing plate between adjacent finger drive motor layers. Fixing components are provided on the opposite end faces of the fixing plate and the end face of the wire harness facing the finger drive motor, and the fixing components are fixedly connected to the corresponding finger drive motor. By employing the aforementioned technical solution, at least two layers of finger drive motors are set within each drive assembly section, enabling the integration of two or more finger drive motors within the same drive assembly section of the arm. This is equivalent to significantly improving the space utilization efficiency and integration density of the drive assembly within a limited lateral (diameter direction) space through longitudinal (axial direction) stacking, making it possible to manufacture a slender and dexterous hand with more degrees of freedom and stronger driving capabilities. Setting fixing plates between adjacent finger drive motor layers is equivalent to establishing a robust skeleton within each drive assembly section. This internal skeleton connects the various finger drive motor layers into a whole, significantly enhancing the ability of the finger drive motor layers to resist bending and torsional loads and ensuring transmission accuracy. Furthermore, through the fixing components within each finger drive motor layer, a unified and standardized mechanical interface and load path are established for each finger drive motor and each fixing plate. The reaction forces generated by all motors can be effectively transmitted to the fixing plates and cable trays through these fixing components, ultimately distributing and balancing them within the entire module. This avoids stress concentration at local weak points, greatly enhancing the load-bearing capacity and dynamic stability of the entire arm.

[0027] Preferably, the fixing component includes a motor fixing member with fixing holes for fixed connection with the finger-driven motor. By employing the aforementioned technical solution, using the motor fixing member as a load-bearing structure and the fixing holes as a standard connection interface, a stable force transmission path is created. This effectively resists the reaction torque and vibration generated during the operation of the finger-driven motor, preventing loosening of the connection points. Compared to relying solely on slots for positioning and load-bearing, this bolted connection method provides stronger rigidity, ensuring the structural integrity and stability of the entire modular structure under long-term dynamic loads.

[0028] Preferably, the fixing component further includes a slot, and each finger drive motor includes a fixing plate that is inserted into the slot; the slot is formed on the end face next to the motor fixing component; or, the slot is formed by a gap between a fixing block disposed next to the motor fixing component and the motor fixing component. Using the aforementioned technical solution, the slot provides each finger drive motor with a highly defined mechanical positioning reference in both the circumferential and axial directions. Before finally tightening the bolts, the operator only needs to insert the fixing plate on the finger drive motor into the corresponding slot, and the finger drive 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, batch installation in multi-layered structures with limited space and poor visibility.

[0029] Preferably, the wrist support has a steering component at its end that is rotatably connected to the palm support. The arm has two wrist drive motors and two pull rods. The pull rods can slide back and forth along the length of the arm. The two ends of the pull rods are respectively connected to the palm support and the wrist drive motors. The two pull rods slide synchronously and in the same direction to drive the palm support to rotate in the front-back direction relative to the wrist support. One of the pull rods slides to drive the palm support to swing laterally relative to the wrist support. Using the aforementioned technical solution, the palm can rotate in the front-back direction and swing laterally relative to the wrist support through the steering component, enabling the palm to achieve multi-angle adjustment, greatly enhancing the flexibility of the palm's movement, allowing the palm to better simulate the complex movements of the human wrist, making the operation of the dexterous hand more natural and realistic, and significantly improving the simulation effect of the dexterous hand. In addition, the cooperation of the two wrist drive motors and the two pull rods allows the front-back rotation and lateral swing of the palm to be coordinated, making the movement of the palm smoother, improving the response speed of the palm, and giving the palm higher sensitivity.

[0030] Preferably, the output end of the wrist drive motor is connected to a transmission rod, and the output end of the wrist drive motor is equipped with a swing element. The two ends of the transmission rod are hinged to a pull rod and the swing element, respectively. The wrist drive motor drives the pull rod to slide along the arm's length direction via the transmission rod. The pull rod is hinged to the back of the hand support facing away from the fingers via a cross link. Using the aforementioned technical solution, the two ends of the transmission rod are hinged to the pull rod and the swing element, respectively. The swing element is connected to the output end of the wrist drive motor. The swing element precisely converts the rotational motion output by the wrist drive motor into the movement of the transmission element, and then converts the movement of the transmission element into the sliding of the pull rod along the arm's length direction. This allows the wrist drive motor to precisely control the rotation angle, direction, and speed of the hand, thereby achieving precise drive of the hand support.

[0031] Preferably, the arm is equipped with a positioning ring, and the cable tray has a sliding hole. The pull rod passes through the positioning ring and the sliding hole along the length of the arm. Using the aforementioned technical solution, the positioning ring and the sliding hole provide a precise guiding channel for the pull rod. Under the constraint of the positioning ring and the sliding hole, the pull rod can only slide along a predetermined straight trajectory, effectively preventing lateral deviation or wobbling during movement, thus significantly improving the precise driving of the palm. Furthermore, the stable movement trajectory of the pull rod reduces the accumulation of errors during its movement. When the pull rod controls repeated palm movements, it can always move along the same path, thereby improving the operational reliability and repeatability of the dexterous hand.

[0032] Preferably, the mounting bracket includes a first fixing plate, a second fixing plate, and a third fixing plate. The third fixing plate is fixed between the first and second fixing plates. The second fixing plate is located on the side of the first fixing plate away from the cable tray. The side of the third fixing plate facing the back of the arm has a positioning groove for the wrist drive motor to be inserted. A partition is provided between the two positioning grooves. Both the third fixing plate and the partition have heat dissipation holes, and the heat dissipation holes of the third fixing plate are connected to the positioning grooves. Using the aforementioned technical solution, the positioning groove can restrict the movement and shaking of the wrist drive motor, reducing displacement caused by vibration during operation and helping to improve the positioning stability of the wrist drive motor. Furthermore, the wrist drive motor being located between the first and second fixing plates makes disassembly and installation very convenient, facilitating maintenance and replacement. Secondly, the heat dissipation holes can dissipate heat from the wrist drive motor, keeping its temperature within a reasonable range and ensuring stable operation.

[0033] Preferably, the finger base is provided with three transmission mechanisms, two of which are first transmission components and one is a second transmission component. The first transmission components are located on the front side of the first mounting plate, and the second transmission component is located on the rear side of the first mounting plate. The guide wheel includes a first guide wheel, a second guide wheel, and a third guide wheel. The second guide wheel is located between the first guide wheel and the third guide wheel. The traction rope connected to the slider of the second transmission component passes around the second guide wheel. The sliders of the two first transmission components are parallel and spaced apart. The traction ropes connected to the two sliders pass around the first guide wheel and the third guide wheel, respectively. By employing the aforementioned technical solution, the three transmission mechanisms are distributed on both sides of the first mounting plate, allowing them to fully utilize the space of the finger base. This reduces the width of the finger base and makes the three transmission mechanisms more compact in the width direction of the finger base. The sliders of the two first transmission components correspond to the first and third guide wheels, respectively, while the slider of the second transmission component corresponds to the second guide wheel between the first and third guide wheels. The three sliders are arranged in a triangular pattern on the finger base, effectively improving the utilization rate of the finger base space and making the assembly of the transmission mechanisms on the finger base more compact, thus reducing the overall volume of the finger. In addition, the arrangement of the three sliders also reduces the spacing between the three guide wheels, making the guide wheels more compact. At the same time, the correspondence between the guide wheels and the sliders also keeps the three traction ropes as parallel as possible, making the arrangement of the traction ropes more neat and orderly, further reducing the possibility of the traction ropes tangling together, and making the finger movement more stable and reliable.

[0034] Preferably, the bottom of the first mounting plate is provided with a support base, which extends to the front and rear sides of the first mounting plate respectively. The support base is provided with three wire holes on both the front and rear sides of the first mounting plate. The traction rope passes through the wire holes from top to bottom and extends to the finger drive motor. After the traction rope passes around the guide wheel, it extends to the wire hole along the sliding direction of the slider. Using the aforementioned technical solution, the threaded hole can guide and limit the traction rope. Firstly, the threaded hole can guide the traction rope to extend towards the finger drive motor, making the arrangement of the traction rope more neat and orderly. Secondly, the threaded hole can also separate the three traction ropes on the same side of the first mounting plate. At the same time, the threaded hole can also limit the swing amplitude of the traction rope, reducing the possibility of the traction ropes on the same side of the first mounting plate coming into contact with each other or even getting tangled, and also reducing the possibility of the traction rope leaving the guide wheel. Thirdly, the extension direction of the traction rope between the guide wheel and the threaded hole is parallel to the sliding direction of the slider. The force of the traction rope on the slider coincides with the sliding direction of the slider, thereby making greater use of the pulling force of the traction rope on the slider, reducing the force required for the slider to slide, making the slider slide more smoothly, and reducing the possibility of the slider getting stuck.

[0035] Preferably, the finger base further includes a second mounting plate and two mounting side plates connected to both sides of the second mounting plate. The first mounting plate, the second mounting plate, and the two mounting side plates form a receiving cavity. The second transmission assembly is located within the receiving cavity. The transmission mechanism also includes a guide rail. The guide rail of the second transmission assembly is fixedly mounted on the mounting side plate, and the guide rail of the first transmission assembly is fixedly mounted on the side of the first mounting plate facing away from the receiving cavity. Using the aforementioned technical solution, the guide rail is directly fixed to the first mounting plate, allowing it to fit snugly against the first mounting plate, increasing the contact area between the guide rail and the first mounting plate. The first mounting plate provides reliable support for the guide rail, reducing the possibility of deformation and helping to extend its service life. Furthermore, the guide rail of the transmission mechanism within the receiving cavity is fixed to the mounting side plate, which reduces the distance between the first and second mounting plates, thereby reducing the thickness of the finger base and making the finger structure of the dexterous hand more compact and aesthetically pleasing.

[0036] Preferably, the bottom of the first mounting plate is provided with a support base, which extends to the front and rear sides of the first mounting plate respectively. The support base supports the guide rail. Two protrusions are spaced apart at the top of the front side of the first mounting plate, and a rotating shaft is provided between the two protrusions. The guide wheel is rotatably mounted on the rotating shaft, and the guide rail is located between the protrusions and the support base. Using the aforementioned technical solution, the support base provides reliable support to the bottom end of the guide rail, reducing the possibility of downward displacement of the guide rail and making the fixation between the guide rail and the finger base more stable and secure. In addition, the support base can also form a limiting structure at the bottom end of the guide rail, preventing the slider from detaching from the bottom end of the guide rail, making the assembly of the slider and the guide rail more stable and reliable. Secondly, the protrusions can increase the thickness of the top end of the first mounting plate, providing a stronger mounting position for the rotating shaft, reducing the possibility of the rotating shaft detaching from the first mounting plate, and providing an effective and reliable mounting foundation for the stable operation of the guide wheel. Furthermore, the protrusions can also form a limiting structure at the top end of the guide rail, preventing the slider from detaching from the top end of the guide rail, making the assembly of the slider and the guide rail more stable and reliable.

[0037] Preferably, the first phalanx includes a lateral swing link and a first phalanx link. The lateral swing link is hinged to the finger base, and the first phalanx link is hinged to both the lateral swing link and the transmission mechanism. The middle part of the lateral swing link is rotatably connected to the finger base, and both ends of the lateral swing link extend toward the first phalanx link and are hinged to it. The lateral swing link rotates relative to the finger base to achieve lateral swing of the finger body, and the first phalanx link rotates relative to the lateral swing link to achieve rotation of the first phalanx. The first limiting structure is a first limiting block disposed on the first phalanx link and the lateral swing link. The two first limiting blocks abut against each other to limit the angle of rotation of the first phalanx toward the rear of the finger base. Using the aforementioned technical solution, the lateral swing link and the first finger joint link are restricted by two abutting first limiting blocks to limit the rearward rotation angle of the first finger joint link. This reduces the possibility of stress concentration at the hinge point between the first finger joint link and the lateral swing link due to excessive rearward rotation, ensuring a stable and reliable hinge connection. Furthermore, without the first limiting structure, the first finger joint may experience motion errors due to inertia, wear, and other factors during repeated movements, resulting in inconsistent rotation angles. The first limiting structure clearly defines the movement boundary of the first finger joint, ensuring it stops at the same extreme position each time, reducing motion errors and improving the repeatability and consistency of the first finger joint's movement. Secondly, when abutting against the two first limiting blocks, the blocks provide a stable support point for the first finger joint link, allowing it to remain stably in this state, thus improving the positioning accuracy and stability of the first finger joint.

[0038] Preferably, the second phalanx includes a second phalanx link, with its two ends hinged to the first phalanx and the third phalanx respectively. A transmission mechanism is connected to the second phalanx link to drive the second phalanx link to rotate relative to the first phalanx. A third link is rotatably connected between the first phalanx and the third phalanx, and the third link is arranged crosswise with the second phalanx link. The second limiting structure is a second limiting block disposed on the second phalanx link or the third link. By adopting the aforementioned technical solution, the second limiting block can restrict the crossing angle between the second phalanx link and the third link, thereby simultaneously restricting excessive backward rotation of the second and third phalanges. The second limiting block not only clarifies the range of motion of the second and third phalanges, but also keeps the overall structure of the second phalanx simple, with almost no impact on its overall weight. In addition, the second limiting block can also reduce the possibility of stress concentration at both ends of the second phalanx link and the third link due to excessive backward rotation of the second and third phalanges, reducing the possibility of loosening or even breakage at the connection between the second and third phalanges and between the second and first phalanges, thus giving the overall structure of the finger better integrity and reliability.

[0039] Preferably, the transmission mechanism includes a first transmission component and a second transmission component. Both the first and second transmission components include a cross link. The first transmission component is connected to the first phalanx via the cross link to drive the first phalanx to rotate and / or swing laterally. The second transmission component is connected to the second phalanx via the cross link to drive the second phalanx to rotate. The cross link of the first transmission component is provided with a third limiting structure to restrict the lateral swing angle of the finger body. Using the aforementioned technical solution, the cross link enables the first phalanx to move flexibly in multiple directions, allowing the finger to perform complex operations. The first phalanx can better adjust its posture through rotation and lateral swing, thereby better conforming to the surface of the object and achieving stable grasping by a dexterous hand.

[0040] Preferably, the cross link includes a link body and an upper cross shaft and a lower cross shaft connected to both ends of the link body. The upper cross shaft and the lower cross shaft each include a first bushing and a second bushing with mutually perpendicular rotation axes. The first bushing of the upper cross shaft is hinged to the link body, and the second bushing of the upper cross shaft is hinged to the first phalanx. The rotation axis of the first bushing is parallel to the swing axis of the first phalanx. The third limiting structure includes a third limiting block, which is disposed on the outer periphery of the first bushing. The third limiting block abuts against the link body to limit the swing range of the finger body.

[0041] Preferably, the rotary connection structure includes a rotary support and a rotary disk that are rotatably connected. One of the rotary support and the rotary disk is fixed to the palm support, and the other is fixed to the thumb. The rotary support is provided with a rotary shaft, and the rotary disk is annular. The rotary disk is rotatably connected to the rotary support through the rotary shaft. The outer periphery of the rotary disk is provided with a winding groove, and the traction rope is embedded in the winding groove. Using the aforementioned technical solution, the traction rope is wound around the outer periphery of the rotating disk. The rotation of the disk is driven by the tightening and loosening of the traction rope. The friction between the traction rope and the rotating disk effectively converts the motion of the traction rope into the rotational motion of the rotating disk. Utilizing the traction rope for power transmission results in a simple transmission structure and higher energy transfer efficiency, enabling faster transmission of power from the finger-driven motor to the thumb, thus improving thumb response speed. Furthermore, when the rotating disk or traction rope malfunctions or wears out, the maintenance and replacement of the traction rope are relatively simple, significantly reducing maintenance costs and time for dexterous hands. Secondly, the winding groove provides a fixed embedding position for the traction rope, constraining it and effectively reducing the possibility of slippage during rotating disk rotation, ensuring the continuity and stability of power transmission. Additionally, by precisely controlling the tightening and loosening length of the traction rope embedded in the winding groove, the rotation angle of the rotating disk can be precisely controlled, thereby driving precise thumb movement and improving thumb control accuracy.

[0042] Preferably, the palm support has a wire hole that runs through the palm in the front-back direction. The rotating connection structure is located on the front side of the palm support. The rotating bracket is fixed to the palm support. The rotating disk is fixed to the thumb. The rotating bracket has a guide hole on the side near the palm support. After the traction rope is wound around the rotating disk, one end of the traction rope passes through the guide hole and extends into the wire hole. Both ends of the traction rope pass through the wire hole from the front side of the palm support and extend to the finger drive motor. By adopting the aforementioned technical solution, the wire hole provides a relatively fixed path for the traction rope, making the traction rope's path between the thumb and finger drive motor more regular and orderly. This reduces the possibility of random tangling between multiple traction ropes, decreases the risk of malfunctions caused by messy wiring, and ensures the normal operation of the thumb. In addition, since the thumb rotates relative to the palm, the wire hole also provides support and positioning for the traction rope after it passes through. During the thumb's rotation, the portion of the traction rope in front of the palm does not experience significant swaying, which helps maintain stable tension in the traction rope and improves the accuracy and reliability of power transmission. Furthermore, the guide hole guides the traction rope, allowing it to extend along a predetermined route to the wire hole and winding groove, reducing the possibility of the traction rope slipping out of the winding groove and ensuring the continuity and stability of power transmission.

[0043] Preferably, the wrist support has a steering component at its end that is rotatably connected to the palm support. The wire hole passes through both the steering component and the palm support. The steering component includes a first steering end and a second steering end. The first steering end is rotatably connected to the palm support, and the second steering end is rotatably connected to the wrist support. The rotation axis of the first steering end is perpendicular to the rotation axis of the second steering end, and the rotation axis of the first steering end is perpendicular to the palm support. The wire hole passes through both the steering component and the palm support along the rotation axis of the first steering end. Using the aforementioned technical solution, the steering mechanism allows the palm to rotate flexibly relative to the wrist support, enabling multi-angle adjustment and greatly enhancing the hand's movement flexibility. This allows the hand to better simulate the complex movements of the human wrist, making dexterity hand operations more natural and realistic, and significantly improving the simulation effect of dexterity hands. Furthermore, the wire hole passes through both the steering component and the palm, and the traction rope passes through the palm from the steering component. During the rotation of the palm relative to the wrist support, the traction rope is less likely to be caught at the connection between the palm and the wrist support, ensuring normal release and retraction of the traction rope. Secondly, the rotation axes of the first and second steering ends are perpendicular to each other, allowing the palm support to rotate more flexibly relative to the wrist support in three-dimensional space. Through the steering component, the palm support can quickly and accurately adjust the rotation angle and direction, enabling the palm to complete more refined and complex operational tasks and improving the hand's dexterity.

[0044] Preferably, the guide includes a tubular body passing through the wire hole and a limiting part connected to one end of the tubular body. The size of the limiting part is larger than the diameter of the wire hole. The guide also includes a frustum-shaped transition part. The smaller end of the transition part is connected to the tubular body and the two transition smoothly. The larger end of the transition part is connected to the limiting part, and its outer diameter is smaller than the outer diameter of the limiting part. Using the aforementioned technical solution, the tubular body can limit the traction rope throughout its entire length from inside the wire passage hole, preventing the traction rope from shifting or swaying within the wire passage hole and completely eliminating direct contact between the traction rope and the inner wall of the wire passage hole. The size of the limiting part is larger than the diameter of the wire passage hole, which not only prevents the guide from sliding out from one side of the wire passage hole, but also provides an anchor point for the elastic element, effectively converting the potential energy of the elastic element into a continuous thrust on the coiling tube. Secondly, when the elastic element needs to be fitted onto the guide, the frustum-shaped transition part acts as a natural guiding funnel, which can tolerate minor alignment deviations. This transition part structure ensures that the end of the elastic element can smoothly and steadily transition to contact the pressure-bearing surface of the limiting part.

[0045] Preferably, the end of the tubular body away from the limiting part extends through the wire hole towards the finger drive motor, and the length of the tubular body extending through the wire hole is greater than the maximum stroke of the elastic element pushing the guide member towards the palm. By adopting the aforementioned technical solution, the design of the tubular body extending through the wire hole to a length greater than the maximum stroke of the elastic element pushing the guide member ensures that regardless of the guide member's position (including the maximum stroke state of the elastic element), the end of the tubular body away from the limiting part always protrudes from the wire hole towards the finger drive motor. The traction rope only contacts the inner wall of the tubular body throughout the entire process, without any friction with the wire hole, completely avoiding the potential wear point of friction between the traction rope and the wire hole, and further strengthening the protection of the traction rope.

[0046] This utility model also demonstrates a humanoid robot, including a torso and an upper limb connected to the torso, the upper limb having a dexterous hand as described in any of the above.

[0047] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0048] The present invention will be further described below with reference to the accompanying drawings:

[0049] Figure 1 This is a schematic diagram of the structure of the dexterous hand of this utility model. Figure 1 ;

[0050] Figure 2 This is a schematic diagram of the structure of the dexterous hand of this utility model. Figure 2 ;

[0051] Figure 3This is a schematic diagram of the mechanism of the dexterous hand arm of this utility model;

[0052] Figure 4 This is an exploded view of the dexterous arm in the present invention;

[0053] Figure 5 This is a schematic diagram of the structure of the hand in the dexterous hand of this utility model;

[0054] Figure 6 This is a schematic diagram of the structure of the dexterous hand mounting bracket of this utility model;

[0055] Figure 7 This is a schematic diagram of the structure of the fingers in the dexterous hand of this utility model;

[0056] Figure 8 This is a schematic diagram of the structure of the finger base and transmission assembly in the dexterous hand of this utility model;

[0057] Figure 9 This is a schematic diagram of the structure of the finger base in the dexterous hand of this utility model;

[0058] Figure 10 This is a schematic diagram of the structure of the finger body in the dexterous hand of this utility model;

[0059] Figure 11 This is a schematic diagram of the structure of the first finger joint in the dexterous hand of this utility model;

[0060] Figure 12 This is a schematic diagram of the structure of the first, second, and third phalanges in the dexterous hand of this utility model;

[0061] Figure 13 This utility model relates to a cleverly designed cross-shaped linkage in hand;

[0062] Figure 14 This is a schematic diagram of the hand support and thumb in the dexterous hand of this utility model;

[0063] Figure 15 This is a schematic diagram of the structure of the dexterous steering component of this utility model;

[0064] Figure 16 This is a schematic diagram of the dexterous hand in Embodiment 2 of this utility model;

[0065] Figure 17 This is a schematic diagram of the arm structure in Embodiment 2 of this utility model;

[0066] Figure 18 This is an exploded view of the arm in Embodiment 2 of this utility model;

[0067] Reference numerals: 10. Mounting bracket; 101. First fixing plate; 102. Second fixing plate; 103. Third fixing plate; 1031. Positioning groove; 104. Partition plate; 105. Heat dissipation hole; 12. Wrist drive motor; 121. Swing component; 122. Transmission component; 123. Pull rod; 131. Wrist support; 133. Steering component; 1331. First steering end; 1332. Second steering end; 1333. Wire hole; 2. Palm; 21. Palm support; 22. Rotary connection structure; 221. Rotary support; 2211. Shaft hole; 2 212. Guide hole; 222. Rotary disk; 2221. Winding groove; 3. Finger; 30. Thumb; 31. Finger base; 310. Receiving cavity; 311. First mounting plate; 312. Second mounting plate; 313. Mounting side plate; 314. Support base; 3141. Threading hole; 315. Protrusion; 32. Transmission mechanism; 321. Slider; 322. Guide rail; 323. Traction rope; 33. Cross linkage; 330. Linkage body; 331. Lower cross shaft; 332. Upper cross shaft; 3321. First bushing; 3322. Second shaft 333, Third limiting block; 34, Guide wheel; 341, First guide wheel; 342, Second guide wheel; 343, Third guide wheel; 4, Finger body; 41, First knuckle; 411, First knuckle connecting rod; 4111, First hinge end; 4112, Second hinge end; 4113, Third hinge end; 4114, Fourth hinge end; 412, Side swing connecting rod; 4121, Side swing pivot; 413, First connecting rod; 414, Second connecting rod; 415, First limiting block; 42, Second knuckle; 421, Second knuckle connecting rod; 4211, Perforation ; 422, Third Link; 423, Second Limiting Block; 43, Third Finger Joint; 6, Arm; 60, Drive Assembly; 601, Finger Drive Motor Layer; 61, Finger Drive Motor; 611, Fixing Plate; 612, Motor Body; 63, Cable Tray; 631, Cable Through Hole; 632, Sliding Hole; 633, Positioning Ring; 64, Guide Member; 641, Limiting Part; 642, Tubular Body; 644, Elastic Member; 65, Fixing Assembly; 651, Motor Fixing Member; 652, Fixing Hole; 653, Slot; 66, Cable Retractor; 67, Fixing Plate. Detailed Implementation

[0068] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0069] 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", "clockwise", "counterclockwise", etc., 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.

[0070] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0071] Example 1:

[0072] like Figures 1 to 15 As shown, this embodiment demonstrates a dexterous hand, including an arm 6 and a palm 2. The arm 6 includes a cable tray 63, a mounting frame 10, and several layers of finger drive motors 601. Each layer of finger drive motors 601 contains at least one finger drive motor 61. The mounting frame 10 contains at least one wrist drive motor 12. The output shafts of the finger drive motors 61 are all arranged outwards, and the projections of the output shafts in the plane perpendicular to the length direction of the arm 6 do not coincide.

[0073] The front end of the cable tray 63 is provided with a wrist support 131 that is rotatably connected to the palm 2. The mounting bracket 10 is located at the end of the arm 6 away from the wrist support 131. The wrist drive motor 12 is connected to the palm 2 through the pull rod 123.

[0074] The palm 2 includes a palm support 21 and several fingers 3. Each finger 3 includes a finger base 31 and a finger body 4. The finger base 31 includes a first mounting plate 311. Several transmission mechanisms 32 are provided on the finger base 31. The transmission mechanisms 32 are distributed on both sides of the first mounting plate 311. A guide wheel 34 is provided at the top of the first mounting plate 311. The transmission mechanism 32 includes a slider 321 and a traction rope 323. The traction rope 323 extends on both sides of the first mounting plate 311 after passing around the guide wheel 34. The finger drive motor 61 drives the slider 321 to slide through the traction rope 323 to realize the movement of the finger body 4.

[0075] The finger body 4 includes a first phalanx 41, a second phalanx 42 and a third phalanx 43. The first phalanx 41 is provided with a first limiting structure for the rearward rotation angle of the first phalanx 41, and the second phalanx 42 is provided with a second limiting structure for limiting the rearward rotation angle of the second phalanx 42 and the third phalanx 43.

[0076] One of the fingers 3 of the palm 2 is the thumb 30. A rotary connection structure 22 is provided between the thumb 30 and the palm support 21. One of the fingers drives the motor 61 to drive the rotary connection structure 22 to rotate through the traction rope 323, so as to realize the rotation of the thumb 30 relative to the palm support 21.

[0077] The cable tray 63 is provided with a plurality of cable passage holes 631, and a guide member 64 is movably inserted through the cable passage holes 631. The guide member 64 has a limiting part 641, and an elastic member 644 is fitted over the guide member 64. The elastic member 644 is located between the cable tray 63 and the limiting part 641. The traction rope 323 is covered with a gathering tube 66, which is located between the finger base 31 and the guide member 64. The elastic member 644 causes the gathering tube 66 to abut against the guide member 64.

[0078] In this embodiment, the layout of the output shafts of the finger drive motors 61, which do not overlap on the projection plane, allocates an independent and non-interfering outgoing path for each traction rope 323 in physical space. This ensures that the traction ropes 323 leading from the output shaft of each finger drive motor 61 have an independent and non-interfering spatial position at the starting end, fundamentally avoiding mutual friction and wear caused by path intersection during movement, and significantly improving the reliability, accuracy, and lifespan of the system. Since the traction ropes 323 do not interfere or have additional friction, the additional motion resistance caused by rope friction is eliminated, reducing the loss of driving force, and enabling the power output of the finger drive motors 61 to be transmitted to the finger body 4 more efficiently, improving the energy efficiency of the entire dexterous hand. At the same time, the absence of additional resistance interference also makes the movement of the finger body 4 more precise and controllable, directly improving the control accuracy of the humanoid dexterous hand when performing fine operations.

[0079] The wrist drive motor 12 is installed at the end of the arm 6 away from the wrist support 131 and is connected to the palm support 21 via the pull rod 123. The wrist drive motor 12 does not occupy the space between the palm 2 and the arm 6, allowing the traction rope 323 to have greater bending space between the palm 2 and the arm 6. It also provides the palm 2 with a more ample range of motion, preventing the traction ropes 323 from squeezing each other and restricting the movement of the palm support 21. This ensures that the palm support 21 has the maximum range of motion, thereby simulating the complex movements of the human wrist in multiple directions. This allows the dexterous hand to complete various grasping and manipulation tasks in a more natural and flexible manner. This design allows for higher simulation performance of the dexterous hand. Furthermore, by mounting the wrist drive motor 12 on the arm 6, maintenance or replacement of the wrist drive motor 12 is only required by disassembling it, without affecting the connection between the palm 2 and the arm 6. This simplifies maintenance and replacement, reducing costs and complexity. Secondly, the larger space between the palm 2 and the arm 6 allows for optimized design of the wrist support 131, making the connection between the wrist support 131, the arm 6, and the palm 2 more reliable and efficient, significantly improving the stability and reliability of the connection between the palm 2 and the arm 6.

[0080] The transmission mechanism 32 is distributed on both sides of the first mounting plate 311, which can make full use of the space of the finger base 31, making the assembly of the finger base 31 and the transmission mechanism 32 more compact. At the same time, it can also prevent the transmission mechanisms 32 on both sides of the first mounting plate 311 from interfering with each other, giving the finger body 4 more flexibility. In addition, the guide wheel 34 is set at the top of the first mounting plate 311, which can make the slider 321 closer to the finger base 31, reducing the distance between the slider 321 and the finger base 31, thereby significantly reducing the thickness of the finger 3, making the assembly of the transmission mechanism 32 and the finger base 31 more compact, and making the dexterous hand more compact and beautiful. Secondly, the number of the traction rope 323, the slider 321 and the guide wheel 34 are the same. The traction rope 323 extends on both sides of the first mounting plate 311 after passing around the guide wheel 34, making the arrangement of the traction rope 323 more regular and reducing the possibility of the traction rope 323 getting tangled, so as to make the movement of the finger body 4 more stable and reliable.

[0081] The first and second limiting structures clearly restrict the range of motion of the first phalanx 41, the second phalanx 42, and the third phalanx 43, and also clearly define the boundaries of their movement. This makes the movement of finger 3 more controllable, allowing operators to precisely control the range of motion of each phalanx, enabling finger 3 to perform more precise tasks and significantly improving the accuracy and success rate of finger 3 operations. Furthermore, the first and second limiting structures simulate the physiological movement characteristics of a real finger 3, making the bionic finger 3 more natural and... The lifelike design allows for better imitation of human finger movements, resulting in a more realistic finger design. Furthermore, when the first phalanx 41, second phalanx 42, and third phalanx 43 move backward to their maximum extent, both the first and second limiting structures act as limiters. These structures disperse the force generated when the phalanx rotates excessively backward, reducing the force on the connecting parts of each phalanx and preventing loosening or even breakage due to excessive backward rotation. This helps extend the lifespan of the connecting parts and ensures precise and reliable movement.

[0082] The finger drive motor 61 is mounted on the arm 6, which avoids occupying space in the palm 2 and prevents interference with the traction ropes 323 of other fingers 3. It provides ample deformation space for the bending of the traction ropes 323, ensuring that all fingers 3 have maximum range of motion. This allows the entire palm 2 to perform more complex movements, enabling the dexterous hand to complete various grasping and manipulation tasks in a more natural and flexible manner, thus improving the dexterous hand's simulation performance. It also allows the palm 2 to integrate more complex functional modules. Furthermore, mounting the finger drive motor 61 on the arm 6 reduces the size of the palm 2. The weight makes the movement of the palm 2 relative to the arm 6 more agile and flexible, and also reduces the energy consumed by the movement of the palm 2; secondly, the finger drive motor 61 is connected to the thumb 30 through the traction rope 323. The traction rope 323 has good flexibility and bendability, which enables long-distance power transmission between the finger drive motor 61 and the thumb 30, making the layout of the finger drive motor 61 more flexible and reducing the difficulty of installing the finger drive motor 61; furthermore, the traction rope 323 is used to pull the thumb 30 to rotate, so that the thumb 30 can quickly respond to the power output of the finger drive motor 61, so that the thumb 30 has a faster response speed and higher sensitivity.

[0083] The coiling tube 66 defines the movement trajectory of the traction rope 323, and the wire hole 631 further positions the traction rope 323, completely avoiding cross contact between multiple traction ropes 323 in the transmission path, structurally eliminating the risk of entanglement, ensuring that each traction rope 323 only corresponds to its dedicated joint, ensuring accurate transmission ratio, and eliminating the risk of malfunction; in addition, by utilizing the cooperation of the elastic element 644 and the guide element 64, the elastic element 644 will continuously push the guide element 64 and the coiling tube 66 it abuts against, moving together towards the palm 2, so that the traction rope 323 is always safely wrapped inside the coiling tube 66, thereby eliminating the risk of exposure and wear caused by the extension of the traction rope 323; regardless of whether the traction rope 323 is extended or not due to the control of the finger-driven motor 61 The traction rope 323 between the fixing member and the finger base 31 is shortened and is completely enclosed within the continuous channel formed by the guide member 64 and the coiling tube 66 at all times and under all working conditions. This completely eliminates the wear, jamming, and cross-entanglement problems caused by the extension of the traction rope 323 and exposure in the prior art. When the traction rope 323 drives the coiling tube 66 to squeeze the guide member 64, the guide member 64 can transfer this pressure to the elastic member 644, causing the elastic member 644 to compress. The guide member 64 moves away from the hand component, making room for the coiling tube 66 to move. This transforms the possible rigid interference into a flexible elastic buffer, thereby ensuring that the range of motion of the finger body 4 is unrestricted and the transmission process is smooth and unobstructed.

[0084] like Figure 2 and Figure 3As shown, in this embodiment, the arm 6 includes at least one layer of finger drive motors 601. Each layer of finger drive motors 601 contains multiple finger drive motors 61, with no more than four finger drive motors in each layer, thus avoiding an excessive number of finger drive motors 61 in a single layer. Furthermore, the output shafts of all finger drive motors 61 face outwards, and the projections of the output shafts of all finger drive motors 61 onto a plane perpendicular to the length direction of the arm 6 do not overlap. Specifically, in this embodiment, the arm 6 has four layers of finger drive motors 601, with four finger drive motors 61 in each layer. These four finger drive motors 61 are arranged around the length axis of the arm 6. To ensure that the projections of the output shafts of all finger drive motors 61 onto a plane perpendicular to the length direction of the arm 6 do not overlap, each finger drive motor 61 in each layer of finger drive motors 601 is rotated circumferentially by a certain angle relative to the layer above it. This allows the drive motors to be distributed along the axial direction (length direction) of the arm 6, rather than stacked radially or densely arranged circumferentially. This axially elongated and circumferentially simplified layout is the core of minimizing the radial dimension (i.e., diameter) of the arm 6, making the overall shape of the robot arm 6 closer to the thickness of a real human arm 6, improving the biomimicry of the humanoid robot's appearance and its flexibility in working in narrow spaces.

[0085] like Figure 3 In this embodiment, the edge of the cable tray 63 has cable holes 631 for the traction rope 323 to pass through. Each cable hole 631 corresponds to one end of the traction rope 323 passing through. The two ends of the traction rope 323 of the same transmission mechanism 32 are wound in opposite directions on the output shaft of the finger drive motor 61. That is, one transmission mechanism 32 corresponds to one finger drive motor 61, and each finger drive motor 61 requires two cable holes 631. The cable tray 63 provides a dedicated, physically isolated cable hole 631 as a channel for each traction rope 323. This ensures that the traction rope 323 is immediately guided and fixed on its independent path after leaving the motor, preventing them from contacting each other or rubbing against other components due to shaking or vibration during subsequent travel. This is an active path management, rather than relying solely on the initial layout. Without the regularity of the cable tray 63, even if the initial positions do not coincide, multiple traction ropes 323 may still experience unpredictable swinging and slapping due to the flexibility of the ropes during long-term high-speed reciprocating motion. The cable reel 63 eliminates this uncertainty, ensuring that the transmission path of each traction rope 323 remains consistent. This reduces transmission errors and force fluctuations caused by path variations, guarantees the stability of control accuracy during long-term use, and further extends the lifespan of the traction rope 323.

[0086] like Figure 4 As shown, in this embodiment, a fixing plate 67 is provided between two adjacent finger drive motor layers 601. Fixing components 65 are provided on the opposite end faces of the fixing plate 67, the end face of the cable tray 63 facing the finger drive motor 61, and the end face of the mounting bracket 10 facing the finger drive motor 61. The fixing components 65 are fixedly connected to the corresponding finger drive motor 61. By setting the fixing plate 67 between adjacent motor layers and connecting the end faces of the cable tray 63, fixing plate 67, and mounting bracket 10 to the finger drive motor 61 through a unified fixing component 65, the originally potentially loose multi-layered structure is integrated into a robust three-dimensional frame. This frame can effectively resist the reaction force and vibration generated by each finger drive motor 61 during operation, ensuring the structural stability of the entire finger drive motor 61, thus laying the foundation for precise force transmission. Each finger drive motor layer 601, fixing plate 67, and mounting bracket 10 is a prefabricated standard module. During assembly, simply insert the motor's fixing plate 611 into the corresponding fixing component 65 and lock it in place. This design greatly simplifies the assembly process, ensures the accuracy and consistency of the positions of all motor shaft centers, and avoids accumulated errors. This is crucial for achieving the core design of "non-overlapping output shaft projections." It should be noted that each finger drive motor 61 can correspond to one fixing component 65 or multiple fixing components 65, which can be adjusted according to the size of the finger drive motor 61 and the structural mechanical properties of the fixing components 65.

[0087] In this embodiment, the fixing component 65 includes a motor fixing member 651. The motor fixing member 651 has a fixing hole 652 for fixed connection with the finger-driven motor 61. By using the motor fixing member 651 as a load-bearing structure and the fixing hole 652 as a standard connection interface, a stable force transmission path is created, which can effectively resist the reaction torque and vibration generated by the finger-driven motor 61 during operation and prevent the connection point from loosening. Compared with relying solely on the slot 653 for positioning and load bearing, this bolt connection method provides stronger rigidity and ensures the structural integrity and stability of the entire modular structure under long-term dynamic loads. It should be noted that the motor fixing member 651 can be integrally set with the corresponding end face, or it can be processed and then bonded or welded to the end face. By using the motor fixing member 651 as a load-bearing structure and connecting through the fixing hole 652, a stable force transmission path is created, which can effectively resist the reaction torque and vibration generated by the motor during operation and prevent the connection point from loosening.

[0088] like Figure 4As shown, the fixing component 65 in this embodiment also includes a slot 653. Each finger drive motor 61610 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 653. The length direction of the slot 653 is generally set from the center of the corresponding end face to the outer periphery. The slot 653 provides a very clear mechanical positioning reference for each finger drive motor 61 in both the circumferential and axial directions. Before finally tightening the bolts, the operator only needs to insert the fixing plate 611 on the finger drive motor 61 into the corresponding slot 653, and the finger drive motor 61 will be automatically guided to the precise preset position. This completely eliminates the tedious adjustment and alignment process during assembly, and is particularly suitable for rapid and batch installation in multi-layer structures with limited space and poor visibility.

[0089] It should be noted that, in this embodiment, the slot 653 is formed by the spacing between the fixing block located next to the motor fixing member 651 and the motor fixing member 651. By adding an independent fixing block to form the slot 653, 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 key parts.

[0090] Of course, it is understandable that in other embodiments, the slot 653 may also be formed on the end face next to the motor fixing member 651, that is, the slot 653 is formed by directly slotting on the end face. This method is simple and can be formed directly on the product shell or fixing plate 67 body by one-time machining (such as milling), which reduces the number of parts and reduces manufacturing costs and assembly complexity.

[0091] Specifically, such as Figure 2 and Figure 5As shown, in this embodiment, the arm 6 is generally elongated. A cable tray 63 is located at the front end of the arm 6. The two ends of the traction rope 323 on the fingers 3 pass through the cable tray 63 and extend towards the finger drive motor 61. A mounting bracket 10 for mounting the wrist drive motor 12 is located at the rear end of the arm 6. A wrist support 131 is fixed to the side of the cable tray 63 facing away from the mounting bracket 10 and extends along the length of the arm 6. The end of the wrist support 131 is equipped with a steering component 133 that is rotatably connected to the palm support 21. The palm support 21 can rotate back and forth and / or swing laterally relative to the wrist support 131 via the steering component 133. The traction rope 323 passes through the cable tray 63 and is wound around the finger drive motor 61. The cable tray 63 can gather and position the traction rope 323, making the direction of the traction rope 323 clearer and more orderly, and preventing the traction rope from... The random arrangement of the traction ropes 323 reduces the possibility of them becoming tangled, facilitating subsequent inspection and maintenance. Furthermore, the cable reel 63 limits the movement of the traction ropes 323, significantly reducing their sway. When the hand 2 moves relative to the wrist support 131, this reduces the likelihood of the traction ropes 323 obstructing the movement of the hand 2, minimizing interference and ensuring the smoothness and accuracy of the hand's movements. Secondly, the hand 2 can rotate forward and backward and swing laterally relative to the wrist support 131 via the steering component 133, allowing for multi-angle adjustment and greatly enhancing its flexibility. This enables the hand 2 to better simulate the complex movements of the human wrist, making dexterity hand operation more natural and realistic, and significantly improving the simulation effect of dexterity hand simulation.

[0092] Specifically, in this embodiment, the mounting bracket 10 is equipped with two wrist drive motors 12. Each wrist drive motor 12 has a pull rod 123 connected to its output end. The two pull rods 123 are parallel to each other, and their length directions are parallel to the length direction of the arm 6. The pull rods 123 can slide back and forth along the length direction of the arm 6. The end of the pull rod 123 away from the wrist drive motor 12 is connected to the back of the wrist support 131. When the palm 2 needs to rotate relative to the wrist support 131 in the forward and backward direction, the two wrist drive motors 12 start synchronously. 2. Control the two levers 123 to slide synchronously and in the same direction, thereby driving the palm support 21 to rotate in the front-back direction relative to the wrist support 131; when the palm 2 needs to swing laterally relative to the wrist support 131, one of the wrist drive motors 12 is pneumatically activated, and the wrist drive motor 12 drives the corresponding lever 123 to slide so as to drive the palm support 21 to swing laterally relative to the wrist support 131; it should be noted that when the two levers 123 slide at different speeds or in different directions, the palm 2 can rotate in both the front-back and lateral directions relative to the wrist support 131 at the same time.

[0093] Specifically, such as Figure 3 As shown, in this embodiment, the output end of the wrist drive motor 12 is provided with a swing member 121. The swing member 121 has a disc-shaped structure, and a convex shaft is provided on the edge of the swing member 121. After the wrist drive motor 12 is started, it drives the swing member 121 to rotate, so that the convex shaft rotates along the output shaft of the wrist drive motor 12. The convex shaft is rotatably connected to the transmission member 122. The other end of the transmission member 122 is hinged to the pull rod 123. During the rotation of the convex shaft around the output shaft, the transmission member 122 drives the pull rod 123 to slide along the length direction of the arm 6. The end of the pull rod 123 away from the wrist drive motor 12 is connected to a cross link 33. The pull rod 123 is hinged to the back of the fingers 3 of the palm support 21 via the cross link 33. The two ends of the transmission rod are respectively hinged to the pull rod 123 and the swing member 121. The swing member 121 is connected to the output end of the wrist drive motor 12. The swing member 121 accurately converts the rotational motion output by the wrist drive motor 12 into the movement of the transmission member 122, and then converts the movement of the transmission member 122 into the sliding of the pull rod 123 along the length of the arm 6, so that the wrist drive motor 12 can accurately control the rotation angle, rotation direction and rotation speed of the palm 2, thereby achieving precise drive of the palm support 21.

[0094] In this embodiment, the arm 6 is provided with a positioning ring 633 on its rear side, and the cable tray 63 is provided with a sliding hole 632. The pull rod 123 passes through the positioning ring 633 and the sliding hole 632 along the length of the arm 6. The positioning ring 633 and the sliding hole 632 can provide a precise guiding channel for the pull rod 123. Under the constraint of the positioning ring 633 and the sliding, the pull rod 123 can only slide on a predetermined straight trajectory, which effectively prevents the pull rod 123 from lateral deviation or shaking during the movement, thereby significantly improving the precise driving of the palm 2. In addition, the pull rod 123 has a stable movement trajectory, which can reduce the accumulation of errors during the movement of the pull rod 123. When the pull rod 123 controls the palm 2 to move repeatedly, the pull rod 123 can move along the same path each time, thereby improving the operational reliability and repeatability of the dexterous hand.

[0095] like Figure 6As shown, the mounting bracket 10 in this embodiment includes a first fixing plate 101, a second fixing plate 102, and a third fixing plate 103. The first fixing plate 101 and the second fixing plate 102 are parallel to the cable tray 63 and are spaced apart. The second fixing plate 102 is located on the side of the first fixing plate 101 away from the cable tray 63. The third fixing plate 103 is fixed between the first fixing plate 101 and the second fixing plate 102, so that a motor fixing groove is formed between the first mounting plate 311 and the second mounting plate 312. The third fixing plate 103 has a positioning groove 1031 on the side facing the back of the arm 6 for the wrist drive motor 12 to be inserted. A partition 104 is provided between the two positioning grooves 1031. After the wrist drive motor 12 is installed in the motor fixing groove, the outer shell of the wrist drive motor 12 is... Embedded into the positioning groove 1031, both the third fixing plate 103 and the partition plate 104 are provided with heat dissipation holes 105. The heat dissipation holes 105 of the third fixing plate 103 are connected to the positioning groove 1031. The positioning groove 1031 can restrict the movement and shaking of the wrist drive motor 12, reduce the displacement of the wrist drive motor 12 due to vibration during operation, and help improve the positioning stability of the wrist drive motor 12. In addition, the wrist drive motor 12 is located between the first fixing plate 101 and the second fixing plate 102, which makes the disassembly and installation of the wrist drive motor 12 very convenient, which is conducive to the maintenance and replacement of the wrist drive motor 12. Secondly, the heat dissipation holes 105 can dissipate heat from the wrist drive motor 12, so that the temperature of the wrist drive motor 12 can be kept within a reasonable range, which can ensure the stable operation of the wrist drive motor 12.

[0096] In addition, in this embodiment, at least part of the finger drive motor layer 601 is located between the mounting bracket 10 and the cable tray 63. The finger drive motor 61 is closer to the palm 2 than the wrist drive motor 12, which can reduce the length of the traction rope 323, shorten the transmission distance between the finger drive motor 61 and the finger 3, reduce the failure rate of the traction rope 323, and enable the finger 3 to respond to the command of the finger drive motor 61 more quickly and accurately. In addition, the wrist drive motor 12 is farther away from the palm 2 than the finger drive motor 61, which can prevent the traction rope 323 from passing through the output end of the wrist drive motor 12, prevent the possibility of the traction rope 323 getting tangled with the swinging part 121 and the transmission rod of the wrist drive motor 12, avoid the traction rope 323 interfering with the power output of the wrist drive motor 12, ensure that the wrist drive motor 12 can accurately transmit power to the palm 2, and improve the accuracy of the palm 2's movement.

[0097] like Figure 7 and Figure 8As shown, in this embodiment, the finger base 31 is provided with three transmission mechanisms 32, two of which are first transmission components and the other is a second transmission component. A first mounting plate 311 is formed on the front side of the finger base 31. The slider 321 of the first transmission component is slidably mounted on the front side of the first mounting plate 311, and the slider 321 of the second transmission component is slidably mounted on the rear side of the first mounting plate 311. The first mounting plate 311 is provided with three independent and coaxially arranged guide wheels 34, namely a first guide wheel 341, a second guide wheel 342, and a third guide wheel 343. The second guide wheel 342 is located between the first guide wheel 341 and the third guide wheel 343. The traction rope 323 connected to the slider 321 of the second transmission component passes around the second guide wheel 342. The sliders 321 of the component are parallel and spaced apart. The traction ropes 323 connected to the two sliders 321 pass over the first guide wheel 341 and the third guide wheel 343 respectively. The three sliders 321 are arranged in a triangular pattern on the finger base 31, which can effectively improve the utilization rate of the space of the finger base 31 by the sliders 321, making the assembly of the transmission mechanism 32 on the finger base 31 more compact and reducing the overall volume of the finger 3. In addition, the arrangement structure of the three sliders 321 can also reduce the distance between the three guide wheels 34, making the arrangement of the guide wheels 34 more compact. At the same time, the correspondence between the guide wheels 34 and the sliders 321 can also keep the three traction ropes 323 as parallel as possible, making the arrangement of the traction ropes 323 more neat and orderly, further reducing the possibility of the traction ropes 323 getting tangled together, and making the movement of the finger 3 more stable and reliable.

[0098] like Figure 9 As shown, the finger base 31 in this embodiment includes a first mounting plate 311, a second mounting plate 312, and two mounting side plates 313. The two mounting side plates 313 are connected to both sides of the second mounting plate 312. The first mounting plate 311 is fixedly connected to the second mounting plate 312 through the two mounting side plates 313. The first mounting plate 311, the second mounting plate 312, and the two mounting side plates 313 form a receiving cavity 310. The finger base 31 is a hollow tubular structure. The first transmission mechanism 32 and the third transmission mechanism 32 are installed on the side of the first mounting plate 311 facing away from the receiving cavity 310. The second transmission mechanism 32 is installed inside the receiving cavity 310. The two mounting side plates 313 are fixed between the first mounting plate 311 and the second mounting plate 312. The mounting side plates 313 can improve the strength and stability of the first mounting plate 311 and provide reliable support for the two transmission mechanisms 32 on the front side of the first mounting plate 311.

[0099] It should be noted that in this embodiment, the first mounting plate 311, the second mounting plate 312, and the two mounting side plates 313 are all integral structures. The integral structure can enhance the overall strength of the finger base 31 and provide reliable mounting support for the transmission mechanism 32.

[0100] To reduce the weight of the finger base 31, at least one through hole is provided on the first mounting plate 311, the second mounting plate 312, and the mounting side plate 313 in this embodiment. By providing through holes, the weight of the first mounting plate 311, the second mounting plate 312, and the mounting side plate 313 can be reduced, thereby significantly reducing the overall weight of the finger base 31, making the overall structure of the dexterous hand lighter, which helps to reduce the energy consumption of the dexterous hand and improve the endurance of the humanoid robot. It should be noted that in this embodiment, the through hole in the first mounting plate 311 divides the first mounting plate 311 into two parts. That is, the through hole penetrates the first mounting plate 311 along the length direction of the first mounting plate 311, and the two parts of the first mounting plate 311 are respectively fixed to the ends of the two mounting side plates 313 away from the second mounting plate 312. The first transmission mechanism 32 and the third transmission mechanism 32 are respectively located on both sides of the through hole.

[0101] like Figure 8 As shown, in this embodiment, the transmission mechanism 32 further includes a guide rail 322 fixed to the finger base 31. The guide rail 322 is laid along the length of the finger base 31. The slider 321 is slidably connected to the guide rail 322. The traction rope 323 drives the slider 321 to slide along the guide rail 322. The guide rails 322 of the first transmission mechanism 32 and the third transmission mechanism 32 are both installed on the front side of the first mounting plate 311, and the guide rails 322 of the first transmission mechanism 32 and the third transmission mechanism 32 are respectively located on both sides of the through hole. The guide rail 322 of the second transmission mechanism 32 is installed on the mounting side plate 313, and the guide rail 322 of the second transmission mechanism 32 is located in the accommodating cavity 310. The guide rail 322 is directly fixed to the first mounting plate 311, so that the guide rail 322 can fit tightly against the first mounting plate 311, increasing the contact area between the guide rail 322 and the first mounting plate 311. The first mounting plate 311 can provide reliable support for the guide rail 322, reducing the possibility of deformation of the guide rail 322 and helping to extend the service life of the guide rail 322. In addition, the guide rail 322 of the transmission mechanism 32 located in the accommodating cavity 310 is fixed to the mounting side plate 313, which can reduce the distance between the first mounting plate 311 and the second mounting plate 312, thereby reducing the thickness of the finger base 31, making the structure of the dexterous hand finger 3 more compact and the shape more small and beautiful.

[0102] like Figure 9As shown, in this embodiment, the bottom of the first mounting plate 311 is provided with a support base 314. The support base 314 extends to the front and rear sides of the first mounting plate 311 respectively. The support base 314 is provided with three wire holes 3141 on both the front and rear sides of the first mounting plate 311. The traction rope 323 extends from top to bottom through the wire holes 3141 to the finger drive motor 61. The wire holes 3141 are located below the guide wheels 34, and the three wire holes 3141 correspond to the three guide wheels 34 respectively. The wire holes 3141 can guide the traction rope 323. The guiding and limiting effects are as follows: First, the threading hole 3141 can guide the traction rope 323 to extend towards the finger drive motor 61, making the arrangement of the traction rope 323 more neat and orderly; secondly, the threading hole 3141 can also separate the three traction ropes 323 on the same side of the first mounting plate 311. At the same time, the threading hole 3141 can also limit the swing amplitude of the traction rope 323, reduce the possibility of the traction ropes 323 on the same side of the first mounting plate 311 coming into contact with each other or even getting tangled, and also reduce the possibility of the traction rope 323 leaving the guide wheel 34.

[0103] In addition, in this embodiment, the traction rope 323 extends along the sliding direction of the slider 321 after passing over the guide wheel 34 to the thread hole 3141. The slider 321 is located between the guide wheel 34 and the support base 314. The connection position between the slider 321 and the traction rope 323 is between the guide wheel 34 and the thread hole 3141. During the movement of the finger body 4, the finger drive motor 61 outputs in both directions and drives the slider 321 to slide through the traction rope 323. The extension direction of the traction rope 323 between the guide wheel 34 and the thread hole 3141 is parallel to the sliding direction of the slider 321. The force exerted by the traction rope 323 on the slider 321 coincides with the sliding direction of the slider 321. This allows for greater utilization of the tension of the traction rope 323 on the slider 321, reducing the force required for the slider 321 to slide, making the slider 321 slide more smoothly, and reducing the possibility of the slider 321 getting stuck.

[0104] In this embodiment, the bottom end of the guide rail 322 abuts against the upper surface of the support base 314, and the support base 314 provides support for the guide rail 322. Two protrusions 315 are spaced apart at the top of the front side of the first mounting plate 311, and a rotating shaft is provided between the two protrusions 315. The guide wheel 34 is rotatably mounted on the rotating shaft. The top end of the guide rail 322 abuts against the lower surface of the protrusions 315, and the guide rail 322 is located between the protrusions 315 and the support base 314. In this embodiment, the support base 314 provides reliable support for the bottom end of the guide rail 322, reducing the possibility of downward displacement of the guide rail 322 and making the fixation of the guide rail 322 to the finger base 31 more stable and secure. Additionally, the support base 314 can also provide support for the guide rail... The bottom end of 322 forms a limiting structure, and the support seat 314 can prevent the slider 321 from detaching from the bottom end of the guide rail 322. The protrusion 315 can also form a limiting structure at the top end of the guide rail 322, which can prevent the slider 321 from detaching from the top end of the guide rail 322, making the assembly of the slider 321 and the guide rail 322 more stable and reliable. In addition, the rotating shaft is set between the two protrusions 315. The protrusions 315 can increase the thickness of the top end of the first mounting plate 311, providing a stronger mounting position for the rotating shaft, reducing the possibility of the rotating shaft detaching from the first mounting plate 311, and providing an effective and reliable mounting foundation for the stable operation of the guide wheel 34.

[0105] like Figure 15 and Figure 16As shown, in this embodiment, the first phalanx 41 includes a lateral swing link 412 and a first phalanx link 411. The lateral swing link is hinged to the finger base 31, and the first phalanx link 411 is simultaneously hinged to the lateral swing link 412 and the transmission mechanism 32. The first phalanx link 411 rotates relative to the lateral swing link 412 to realize the rotation of the first phalanx 41, that is, to realize the bending of the finger body 4. The first limiting structure is a first limiting block 415 disposed on the first phalanx link 411 and the lateral swing link 412. The two first limiting blocks 415 abut against each other to limit the angle of rotation of the first phalanx 41 towards the rear of the finger base 31. The lateral swing link 412 and the first phalanx link 411 limit the angle of rotation of the first phalanx link 411 towards the rear through the two abutting first limiting blocks 415, reducing the excessive rearward rotation of the first phalanx link 411 and the lateral swing link 32. The possibility of stress concentration at the hinge of 412 ensures the stability and reliability of the hinge between the first finger link 411 and the side swing link 412. Furthermore, without the first limiting structure, the first finger 41 might experience motion errors due to inertia, wear, or other factors during repeated movements, resulting in inconsistent rotation angles. The first limiting structure clearly defines the movement boundary of the first finger 41, ensuring it stops at the same extreme position each time, reducing motion errors and improving the repeatability and consistency of the first finger 41's movement. Secondly, when the first finger link 411 abuts against the two first limiting blocks 415, the two blocks provide a stable support point, allowing the first finger 41 to remain stably in this state, thus improving its positioning accuracy and stability.

[0106] like Figure 16As shown, in this embodiment, the lateral swing link 412 has a lateral swing pivot 4121 in the middle. The lateral swing pivot 4121 is hinged to the finger base 31 and is horizontally arranged. Both ends of the lateral swing link 412 extend towards the first phalanx link 411 and are hinged to the first phalanx 41. The lateral swing link 412 is U-shaped and horizontally placed. One end of the first phalanx link 411 is located between the two ends of the lateral swing link 412. The lateral swing link 412 rotates around the lateral swing pivot 4121 to drive the finger body 4 to swing laterally. When the two ends of the lateral swing link 412 are at the same height, the finger body 4 can reach a straight state with the finger base 31. When the two ends of the lateral swing link 412 are not at the same height, the finger body 4 forms an angle with the side of the finger base 31. The first limiting block 415 of the lateral swing link 412 is formed in... On the upper side of the end of the side-swing link 412, the first limiting block 415 of the first knuckle link 411 is formed on the outer side of the first knuckle link 411. When the first knuckle link 411 rotates around the end of the side-swing link 412 toward the rear side of the finger base 31 to a certain angle, the two first limiting blocks 415 abut against each other to restrict the first knuckle link 411 from continuing to rotate backward. The first limiting block 415 is located on the upper side of the end of the side-swing link 412, which can effectively reduce the possibility of stress concentration at the hinge of the first knuckle link 411 and the side-swing link 412 due to excessive rearward rotation of the side-swing link 412. In addition, when the two first limiting blocks 415 abut against each other, the force on the hinge can be distributed to the two first limiting blocks 415, reducing damage to the hinge and helping to extend the service life of the first knuckle 41.

[0107] In this embodiment, the first knuckle link 411 includes a first hinge end 4111 and a second hinge end 4112. The first knuckle link 411 is hinged to the end of the side swing link 412 through the first hinge end 4111, and the first knuckle link 411 is connected to the slider 321 of the first transmission member 122 through the second hinge end 4112. When the sliders 321 of the two first transmission members 122 slide synchronously and in the same direction, the first transmission member 122 drives the first knuckle link 411 to rotate around the first hinge end 4111, thereby realizing the bending of the first knuckle 41. When the sliders 321 of the two first transmission members 122 slide at different speeds or in different directions, the first knuckle link 411 drives the side swing link 412 to rotate around the side swing axis 4121, thereby realizing the lateral swing of the finger body 4.

[0108] like Figure 17As shown, in this embodiment, the second phalanx 42 includes a second phalanx link 421. The top end of the first phalanx link 411 is further provided with a third hinge end 4113 and a fourth hinge end 4114. The second phalanx link 421 is hinged to the third hinge end 4113. A first rotating shaft is provided at the second hinge end 4112 of the first phalanx link 411. The slider 321 of the first transmission member 122 is connected to the first rotating shaft. The slider 321 of the second transmission member 122 is connected to the first rotating shaft. A first connecting rod 413 is provided between them. The top end of the first connecting rod 413 is rotatably connected to a second connecting rod 414. The top end of the second connecting rod 414 is rotatably connected to a second finger joint connecting rod 421. The slider 321 of the second transmission member 122 slides along the guide member 64 to drive the first connecting rod 413 and the second connecting rod 414 to move. The second connecting rod 414 drives the second finger joint connecting rod 421 to rotate around the third hinge end 4113 of the first finger joint connecting rod 411, so as to realize the bending of the second finger joint 42.

[0109] In this embodiment, the third phalanx 43 is rotatably connected to the top end of the second phalanx link 421. A third link 422 is provided between the third phalanx 43 and the first phalanx link 411. The third link 422 is hinged to the fourth hinge end 4114 of the first phalanx link 411. When the second phalanx link 421 rotates around the third hinge end 4113, the second phalanx link 421 will also drive the third phalanx 43 to move. Under the action of the third link 422, the third phalanx 43 will also rotate relative to the second phalanx link 421 to achieve the bending of the third phalanx 43.

[0110] Specifically, in this embodiment, the second knuckle link 421 and the third link 422 are arranged in a cross configuration. The third link 422 has a through hole 4211 through which the second knuckle link 421 passes. The second limiting block 423 is disposed on the outer side of the second knuckle link 421 and is located behind the third link 422. The second limiting block 423 abuts against the third link 422 to limit the minimum included angle between the second knuckle link 421 and the third link 422. The second limiting block 423 can limit the crossing angle between the second knuckle link 421 and the third link 422, thereby simultaneously limiting the second knuckle 42 and the third knuckle 42. 3. Excessive rearward rotation: The second limiting block 423 not only clearly defines the range of motion of the second phalanx 42 and the third phalanx 43, but also keeps the overall structure of the second phalanx 42 simple, with almost no impact on the overall weight of the second phalanx 42. In addition, the second limiting block 423 can also reduce the possibility of stress concentration at both ends of the second phalanx link 421 and the third link 422 due to excessive rearward rotation of the second phalanx 42 and the third phalanx 43, and reduce the possibility of loosening or even breakage at the connection between the second phalanx 42 and the first phalanx 41, so that the overall structure of the finger 3 has better integrity and reliability.

[0111] like Figure 18 As shown, in this embodiment, the transmission mechanism 32 further includes a cross link 33, which is rotatably connected to the top of the slider 321. The cross link 33 of the first transmission member 122 is hinged to the second hinge end 4112 of the first finger joint link 411. The first transmission member 122 drives the first finger joint 41 to rotate and / or swing laterally through the cross link 33. The cross link 33 of the second transmission member 122 is hinged to the end of the first link 413. The second transmission member 122 adjusts the rotation of the second finger joint 42 through the cross link 33. The cross link 33 of the first transmission member 122 is provided with a third limiting structure, which limits the angle of lateral swing of the finger body 4. The third limiting block 333 defines the swing edge of the finger body 4 on both sides. The third limiting block 333 makes the movement of finger 3 more controllable, allowing the operator to precisely control the swing angle of finger body 4, which can significantly improve the accuracy and success rate of finger 3 operation; in addition, the third limiting block 333 can also limit the collision of finger body 4 with adjacent fingers 3 due to excessive swing amplitude, and can also reduce the possibility of two adjacent fingers 3 getting entangled, so that each finger 3 of the dexterous hand can have a stable and safe range of movement; secondly, the cross linkage 33 enables the first phalanx 41 to move flexibly in multiple directions, so that the finger 3 can perform complex operations. The first phalanx 41 can better adjust its posture through rotation and lateral swing, and thus better fit with the surface of the object, so as to achieve stable grasping by the dexterous hand.

[0112] Specifically, in this embodiment, the cross link 33 includes a link body 330, an upper cross shaft 332, and a lower cross shaft 331. The upper cross shaft 332 is rotatably connected to the top end of the link body 330, and the lower cross shaft 331 is rotatably connected to the bottom end of the link body 330. Both the top and bottom ends of the link body 330 are provided with hinge grooves. Both the upper cross shaft 332 and the lower cross shaft 331 include two bushings with mutually perpendicular rotation axes. The two bushings are a first bushing 3321 and a second bushing 3322, respectively. The first bushing 3321 is inserted into the hinge groove and hinged to the link body 330. A third limiting block 333 is disposed on the outer periphery of the first bushing 3321. The third limiting block 333 abuts against the link body 330 to limit the swing range of the finger body 4.

[0113] Specifically, in this embodiment, the third limiting block 333 is disposed on the outside of the first bushing 3321 of the upper cross shaft 332 of the first transmission member 122. The first bushing 3321 of the first transmission member 122 is hinged to the connecting rod body 330, and the second bushing 3322 of the first transmission member 122 is hinged to the first finger joint connecting rod 411. The rotation axis of the first bushing 3321 is parallel to the swing axis of the first finger joint 41. There are two third limiting blocks 333, which are respectively disposed on opposite sides of the first bushings 3321 of the two first transmission members 122. Of course, it can be understood that the two third limiting blocks 333 can also be disposed on opposite sides of the first bushings 3321 of the two first transmission members 122. Of course, it can be understood that in other embodiments, two third limiting blocks 333 can also be disposed on both sides of the same first bushing 3321.

[0114] In this embodiment, the rotating connection structure 22 includes a rotating bracket 221 and a rotating disk 222 that are rotatably connected. The rotating bracket 221 is fixed to the palm support 21, and the rotating disk 222 is fixed to the side of the thumb 30. The rotating bracket 221 is provided with a rotating shaft, and the rotating disk 222 can rotate around the rotating shaft. During the rotation of the rotating disk 222, it drives the thumb 30 to move relative to the palm support 21. A traction rope 323 is wound around the outer periphery of the rotating disk 222. The two ends of the traction rope 323 are wound in opposite directions on the output shaft of one of the finger drive motors 61. The finger drive motor 61 drives the traction rope 323 to retract and extend. The retraction and extension of the traction rope 323 causes the rotating disk 222 to rotate relative to the rotating bracket 221, thereby realizing... The thumb 30 rotates relative to the palm support 21. The traction rope 323 is wrapped around the outer periphery of the rotating disk 222. By tightening and loosening the traction rope 323, the rotating disk 222 is driven to rotate. The friction between the traction rope 323 and the rotating disk 222 can effectively convert the motion of the traction rope 323 into the rotational motion of the rotating disk 222. The traction rope 323 is used for power transmission. Its transmission structure is simple and the energy transmission efficiency is higher. It can transmit the power of the finger drive motor 61 to the thumb 30 more quickly and improve the response speed of the thumb 30. In addition, when the rotating disk 222 or the traction rope 323 malfunctions or wears out, the maintenance and replacement of the traction rope 323 is relatively simple, which can greatly reduce the maintenance cost and maintenance time of the dexterous hand.

[0115] In this embodiment, the rotating disk 222 is generally annular and is mounted on a rotating shaft. A winding disc is provided on the outer periphery of the rotating disk 222. The traction rope 323 is embedded in the winding groove 2221, which provides a fixed embedding position for the traction rope 323. The winding groove 2221 also constrains the traction rope 323, effectively reducing the possibility of slippage during the rotation of the rotating disk 222 and ensuring the continuity and stability of power transmission. Furthermore, by precisely controlling the length of the traction rope 323 embedded in the winding groove 2221, the rotation angle of the rotating disk 222 can be precisely controlled, thereby driving the thumb 30 to perform precise movements and improving the control accuracy of the thumb 30.

[0116] It should be noted that, in this embodiment, the palm 2 is equipped with a total of five fingers 3, one of which is the thumb 30, and the other four fingers 3 are the index finger, middle finger, ring finger and little finger. The finger base 31 of the above four fingers 3 is fixed on the palm support 21, and the rotating support 221 is fixed below the index finger. The rotating shaft is provided with a shaft hole 2211 that passes through in the axial direction. The shaft hole 2211 allows the traction rope 323 of the index finger on the upper side of the rotating shaft to pass smoothly without bending the path of the traction rope 323, reducing the possibility of wear between the traction rope 323 and the rotating shaft, and helping to improve the service life of the traction rope 323.

[0117] In this embodiment, the wrist support 131 has a steering component 133 at its end that is rotatably connected to the palm support 21. The palm support 21 can rotate in the front-back direction and / or swing laterally relative to the wrist support 131 via the steering component 133. The steering component 133 includes a first steering end 1331 and a second steering end 1332, wherein the first steering end 1331 is rotatably connected to the wrist support 131, and the second steering end 1332 is rotatably connected to the palm support 21. The rotation axis of the first steering end 1331 is perpendicular to the rotation axis of the second steering end 1332, and the rotation axis of the first steering end 1331 is parallel to the surface of the palm support 21. The palm support 21 rotates in the front-back direction around the first steering end 1331; the rotation of the second steering end 1332... The axis is perpendicular to the surface of the palm support 21, and the second steering end 1332 is inserted into the palm support 21. The palm support 21 swings the palm 2 in the lateral direction around the second steering end 1332. The rotation axis of the first steering end 1331 is perpendicular to the rotation axis of the second steering end 1332, so that the palm support 21 can rotate more flexibly in three-dimensional space relative to the wrist support 131. Through the steering component 133, the palm support 21 can quickly and accurately adjust the rotation angle and rotation direction, so that the palm 2 can complete more delicate and complex operation tasks, improve the flexibility of the palm 2, enable the palm 2 to better simulate the complex movement of the human wrist, make the operation of the dexterous hand more natural and realistic, and significantly improve the simulation effect of the dexterous hand.

[0118] In this embodiment, the steering component 133 is provided with a wire hole 1333. The wire hole 1333 passes through both the steering component 133 and the palm support 21 along the axis of the second steering end 1332. After the traction rope 323 is wound around the rotating disk 222, both ends of the traction rope 323 pass through the wire hole 1333 from the front side of the palm support 21 and extend to the finger drive motor 61. The wire hole 1333 provides a relatively fixed path for the traction rope 323, making the path of the traction rope 323 between the thumb 30 and the finger drive motor 61 more regular and orderly, reducing the possibility of random entanglement between multiple traction ropes 323, reducing the risk of failure caused by messy wiring, and ensuring the normal operation of the thumb 30; in addition, because the thumb The thumb 30 rotates relative to the palm 2. After the traction rope 323 passes through the wire hole 1333, the wire hole 1333 can also support and position the traction rope 323. During the rotation of the thumb 30, the part of the traction rope 323 on the front side of the palm 2 will not have a large swaying amplitude, which helps to maintain the tension stability of the traction rope 323 and make the power transmission more accurate and reliable. Secondly, the wire hole 1333 passes through both the steering component 133 and the palm 2. The traction rope 323 passes through the palm 2 from the steering component 133. During the rotation of the palm 2 relative to the wrist support 131, the traction rope 323 is not easily clamped at the connection between the palm 2 and the wrist support 131, ensuring that the traction rope 323 can be properly extended and retracted.

[0119] In this embodiment, the rotating bracket 221 has a guide hole 2212 on the side near the palm bracket 21. One end of the traction rope 323 extends into the wire hole 1333 after passing through the guide hole 2212. The guide hole 2212 guides the traction rope 323, allowing it to extend along a predetermined route to the wire hole 1333 and the winding groove 2221, reducing the possibility of the traction rope 323 slipping off the winding groove 2221 and ensuring the continuity and stability of power transmission.

[0120] like Figure 3 and Figure 4As shown, in this embodiment, the guide member 64 includes a tubular body 642 passing through the wire hole 631 and a limiting part 641 connected to one end of the tubular body 642. The size of the limiting part 641 is larger than the diameter of the wire hole 631, and the limiting part 641 forms a mechanical stop, effectively preventing the guide member 64 from completely dislodging from the wire hole 631 in the direction away from the palm 2 (the direction of the guide member 64 towards the palm 2 is limited by the gathering tube 66), ensuring the integrity of the wire harness 63 during movement. Furthermore, the limiting part 641 can also provide a stable axial contact plane for the elastic member 644, ensuring that the elastic force can act evenly and perpendicularly on the guide member 64, thereby enabling it to respond sensitively and consistently to changes in the length of the traction rope 323. The tubular body 642 and the wire hole 631 of the fixing member form a tight radial fit, which eliminates the possibility of the guide member 64 shaking during the movement, and ensures that the axis of the traction rope 323 is always consistent with the center line of the wire hole 631, which greatly reduces unnecessary friction and wear.

[0121] In this embodiment, the guide member 64 further includes a frustum-shaped transition portion. The smaller end of the transition portion connects smoothly to the tubular body 642, while the larger end connects to the limiting portion 641, with its outer diameter being smaller than that of the limiting portion 641. The transition portion eliminates stress concentration issues that easily occur at right-angle connections. During the dynamic process of repeated pushing of the elastic member 644 and contact with the converging tube 66, this structure can distribute and transmit forces more evenly, thereby significantly improving the structural strength and fatigue resistance of the guide member 64 and extending its service life. When the elastic member 644 needs to be fitted onto the guide member 64, the frustum-shaped transition portion acts as a natural guiding funnel, tolerating minor alignment deviations. This transition portion structure ensures that the end of the elastic member 644 can smoothly and steadily transition to contact the pressure-bearing surface of the limiting portion 641.

[0122] In this embodiment, the end of the tubular body 642 away from the limiting part 641 extends through the wire hole 631 towards the drive mechanism. The length of the tubular body 642 extending through the wire hole 631 is greater than the maximum stroke of the elastic element 644 pushing the guide element 64 towards the palm 2, so as to avoid friction between the traction rope 323 and the wire hole 631. The design that the length of the tubular body 642 extending through the wire hole 631 is greater than the maximum stroke of the elastic element 644 pushing the guide element 64 ensures that no matter what position the guide element 64 is in (including the maximum stroke state of the elastic element 644 pushing), the end of the tubular body 642 away from the limiting part 641 always protrudes from the side of the wire hole 631 facing the finger drive motor 61. The traction rope 323 only contacts the inner wall of the tubular body 642 throughout the entire process, without any friction with the wire hole 631, completely avoiding the potential wear point of friction between the traction rope 323 and the wire hole 631, and further strengthening the protection of the traction rope 323.

[0123] In this embodiment, the elastic element 644 is a spring sleeved on the tubular body 642. The tubular body 642 acts as a guide shaft for the spring, effectively constraining its radial movement and preventing bending, deflection, or jamming during compression and rebound. This ensures that the spring force always acts axially, avoiding wear, abnormal noise, or functional failure caused by the instability of the elastic element 644, and greatly improving the reliability and durability of the operation.

[0124] In this embodiment, the condenser tube 66 is a flexible tube with excellent bending properties, capable of flexibly bending and deforming with the complex movements of the various joints of the humanoid dexterous hand. This characteristic ensures that when the arm 6 and the palm 2 rotate relative to each other, the condenser tube 66 can always fit snugly around and guide the traction rope 323, without causing motion interference, hindering joint movement, or applying additional bending stress to the traction rope 323, as a rigid tube would, thus ensuring the continuity and smoothness of the dexterous hand.

[0125] Example 2:

[0126] like Figures 16 to 18 As shown, the main difference between this embodiment and Embodiment 1 is that the arrangement of the drive components 60 in the arm 6 is different. In this embodiment, the arm 6 includes at least two drive components 60 connected sequentially along the length of the arm 6. The diameter of the drive component 60 closer to the palm 2 is larger than the diameter of the drive component 60 farther away from the palm 2, thereby making the shape of the arm 6 closer to the shape of a real human forearm. Each drive component 60 is provided with at least one layer of finger drive motor 601, and each layer of finger drive motor 601 is provided with at least one finger drive motor 61. Each finger drive motor 61 is connected to the corresponding finger body 4 of the palm 2 through a traction rope 323.

[0127] In this embodiment, there are two sets of drive components 60. The set of drive components 60 closer to the palm 2 has two layers of finger drive motor layers 601. Each layer of finger drive motor layers 601 has four finger drive motors 61 according to the size of the finger drive motors 61. The four finger drive motors 61 are arranged around the length axis of the arm 6 component. In order to ensure that the projections of the output shafts of all finger drive motors 61 in the plane perpendicular to the length direction of the arm 6 do not coincide, the finger drive motors 61 in each layer of finger drive motor layers 601 are rotated at a certain angle in the circumferential direction relative to the previous layer of finger drive motor layers 601.

[0128] A layer of finger drive motors 601 is provided in the set of drive components 60 located away from the palm 2. According to the structure of the human forearm, the circumference of the forearm away from the palm 2 is larger than that of the forearm closer to the palm 2. Therefore, the set of drive components 60 located away from the palm 2 has a larger diameter space. Although there is only one layer of finger drive motors 601, six finger drive motors 61 are provided in this layer of finger drive motors 601. Similarly, the output shafts of all finger drive motors 61 in this layer of finger drive motors 601 are also arranged outward and do not coincide with the projection of the output shafts of all finger drive motors 61 in the set of drive components 60 closer to the palm 2.

[0129] In this embodiment, each drive assembly 60 includes a cable tray 63 with cable guide holes 631 for the traction rope 323 to pass through. Each cable guide hole 631 corresponds to one end of the traction rope 323 passing through. Since the diameter of each drive assembly 60 is different, a separate cable tray 63 is configured for each drive assembly 60, allowing the traction ropes 323 to be staggered in the radial direction, thus increasing the flexibility of the traction rope arrangement. The design that "each drive assembly 60 includes a cable tray 63" also means that cable management is carried out in sections and segments. Each cable tray 63 is responsible for managing the traction ropes 323 corresponding to all motors within its drive assembly 60. This modular design makes the wiring of the traction ropes 323 clear and orderly, greatly simplifying the assembly, debugging, and maintenance process. When it is necessary to inspect or replace a specific traction rope 323, its path can be clearly traced, making operation convenient and reducing maintenance costs.

[0130] Example 3:

[0131] This embodiment illustrates a humanoid robot, including a torso and limbs connected to the torso, the limbs having dexterous hands as described in Embodiment 1 or Embodiment 2.

[0132] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. Dexterous hand, characterized in that, The arm includes an arm and a hand. The arm includes a cable tray, a mounting frame, and several layers of finger drive motors. Each layer of finger drive motors contains at least one finger drive motor. The mounting frame contains at least one wrist drive motor. The output shafts of the finger drive motors are all oriented outwards, and the projections of the output shafts in the plane perpendicular to the length of the arm do not overlap. The front end of the cable tray is provided with a wrist support that is connected to the palm for rotation. The mounting bracket is located at the end of the arm away from the wrist support. The wrist drive motor is connected to the palm for transmission via a pull rod. The palm includes a palm support and several fingers. Each finger includes a finger base and a finger body. The finger base includes a first mounting plate. Several transmission mechanisms are provided on the finger base. The transmission mechanisms are distributed on both sides of the first mounting plate. A guide wheel is provided at the top of the first mounting plate. The transmission mechanism includes a slider and a traction rope. The traction rope extends on both sides of the first mounting plate after passing around the guide wheel. The finger drive motor drives the slider to slide through the traction rope to realize the movement of the finger body. The finger body includes a first phalanx, a second phalanx and a third phalanx. The first phalanx is provided with a first limiting structure for the rearward rotation angle of the first phalanx, and the second phalanx is provided with a second limiting structure for limiting the rearward rotation angle of the second phalanx and the third phalanx. One of the fingers of the palm is the thumb. A rotary connection structure is provided between the thumb and the palm support. One of the fingers drives a motor to drive the rotary connection structure to rotate through a traction rope, so as to realize the rotation of the thumb relative to the palm support. The cable tray has several cable passage holes, and a guide is movably inserted through the cable passage holes. The guide has a limiting part, and an elastic element is fitted over the guide. The elastic element is located between the cable tray and the limiting part. The traction rope is covered with a cable tube, which is located between the finger base and the guide. The elastic element causes the cable tube to abut against the guide.

2. The dexterous hand of claim 1, wherein, A fixing plate is provided between two adjacent finger drive motor layers. The fixing plate has fixing components on its opposite end faces, the end face of the wire harness facing the finger drive motor, and the end face of the mounting bracket facing the finger drive motor. The fixing components are fixedly connected to the corresponding finger drive motor.

3. The dexterous hand of claim 1, wherein, The arm includes at least two drive components connected sequentially along the length of the arm, with the diameter of the drive component closer to the palm being larger than the diameter of the drive component farther away from the palm; each drive component is provided with at least one layer of the finger drive motor.

4. The dexterous hand of claim 3, wherein, Each drive assembly includes a cable tray with several through holes along its edge for the traction rope to pass through, each through hole corresponding to one traction rope.

5. The dexterous hand of claim 4, wherein, Each drive assembly includes at least two layers of finger drive motors. A fixing plate is provided between adjacent finger drive motor layers. Fixing components are provided on the opposite end faces of the fixing plate and the end face of the wire harness plate facing the finger drive motor. The fixing components are fixedly connected to the corresponding finger drive motor.

6. The dexterous hand of claim 2 or 5, wherein, The fixing component includes a motor fixing part, which has a fixing hole for fixing connection with the finger drive motor.

7. The dexterous hand of claim 6, wherein, The fixing component also includes a slot, and each finger drive motor includes a fixing plate that is inserted into the slot; the slot is formed on the end face next to the motor fixing component; or, the slot is formed by a spaced arrangement between a fixing block disposed next to the motor fixing component and the motor fixing component.

8. The dexterous hand of claim 1, wherein, The wrist support has a steering component at its end that is rotatably connected to the palm support. The arm has two wrist drive motors and two pull rods. The pull rods can slide back and forth along the length of the arm. The two ends of the pull rods are respectively connected to the palm support and the wrist drive motors. The two pull rods slide synchronously and in the same direction to drive the palm support to rotate in the front and back direction relative to the wrist support. One of the pull rods slides to drive the palm support to swing laterally relative to the wrist support.

9. The dexterous hand of claim 8, wherein, The output end of the wrist drive motor is connected to a transmission rod, and the output end of the wrist drive motor is equipped with a swinging component. The two ends of the transmission rod are respectively hinged to the pull rod and the swinging component. The wrist drive motor drives the pull rod to slide along the length of the arm through the transmission rod. The pull rod is hinged to the back of the palm support facing away from the fingers through a cross link.

10. The dexterous hand of claim 8, wherein, The arm is equipped with a positioning ring, the cable tray is equipped with a sliding hole, and the pull rod passes through the positioning ring and the sliding hole along the length of the arm.

11. The dexterous hand of claim 8, wherein, The mounting bracket includes a first fixing plate, a second fixing plate, and a third fixing plate. The third fixing plate is fixed between the first fixing plate and the second fixing plate. The second fixing plate is located on the side of the first fixing plate away from the cable tray. The side of the third fixing plate facing the back of the arm has a positioning groove for the wrist drive motor to be embedded. A partition is provided between the two positioning grooves. Both the third fixing plate and the partition have heat dissipation holes. The heat dissipation holes of the third fixing plate are connected to the positioning grooves.

12. The dexterous hand of claim 1, wherein, The finger base is provided with three transmission mechanisms, two of which are first transmission components and one is a second transmission component. The first transmission components are located on the front side of the first mounting plate, and the second transmission component is located on the rear side of the first mounting plate. The guide wheel includes a first guide wheel, a second guide wheel, and a third guide wheel. The second guide wheel is located between the first guide wheel and the third guide wheel. The traction rope connected to the slider of the second transmission component passes around the second guide wheel. The sliders of the two first transmission components are parallel and spaced apart. The traction ropes connected to the two sliders pass around the first guide wheel and the third guide wheel, respectively.

13. The dexterous hand of claim 12, wherein, The bottom of the first mounting plate is provided with a support base, which extends to the front and rear sides of the first mounting plate respectively. The support base is provided with three wire holes on both the front and rear sides of the first mounting plate. The traction rope passes through the wire holes from top to bottom and extends to the finger drive motor. After the traction rope passes around the guide wheel, it extends to the wire hole along the sliding direction of the slider.

14. The dexterous hand of claim 12, wherein, The finger base also includes a second mounting plate and two mounting side plates connected to both sides of the second mounting plate. The first mounting plate, the second mounting plate, and the two mounting side plates surround a receiving cavity. The second transmission assembly is located in the receiving cavity. The transmission mechanism also includes a guide rail. The guide rail of the second transmission assembly is fixedly installed on the mounting side plate, and the guide rail of the first transmission assembly is fixedly installed on the side of the first mounting plate facing away from the receiving cavity.

15. The dexterous hand of claim 14, wherein, The bottom of the first mounting plate is provided with a support base, which extends to the front and rear sides of the first mounting plate respectively. The support base supports the guide rail. The top of the front side of the first mounting plate is provided with two protrusions spaced apart, and a rotating shaft is provided between the two protrusions. The guide wheel is rotatably mounted on the rotating shaft, and the guide rail is located between the protrusions and the support base.

16. The dexterous hand of claim 1, wherein, The first phalanx includes a lateral swing link and a first phalanx link. The lateral swing link is hinged to the finger base, and the first phalanx link is hinged to both the lateral swing link and the transmission mechanism. The middle part of the lateral swing link is rotatably connected to the finger base, and both ends of the lateral swing link extend toward the first phalanx link and are hinged to it. The lateral swing link rotates relative to the finger base to achieve lateral swing of the finger body, and the first phalanx link rotates relative to the lateral swing link to achieve rotation of the first phalanx. The first limiting structure is a first limiting block disposed on the first phalanx link and the lateral swing link. The two first limiting blocks abut against each other to limit the angle of rotation of the first phalanx toward the rear of the finger base.

17. The dexterous hand of claim 1, wherein, The second phalanx includes a second phalanx link, the two ends of which are hinged to the first phalanx and the third phalanx respectively. A transmission mechanism is connected to the second phalanx link to drive the second phalanx link to rotate relative to the first phalanx. A third link is rotatably connected between the first phalanx and the third phalanx. The third link is arranged crosswise with the second phalanx link. The second limiting structure is a second limiting block set on the second phalanx link or the third link.

18. The dexterous hand of claim 1, wherein, The transmission mechanism includes a first transmission component and a second transmission component. Both the first and second transmission components include a cross link. The first transmission component is connected to the first phalanx via the cross link to drive the first phalanx to rotate and / or swing laterally. The second transmission component is connected to the second phalanx via the cross link to drive the second phalanx to rotate. The cross link of the first transmission component is provided with a third limiting structure to restrict the lateral swing angle of the finger body.

19. The dexterous hand of claim 18, wherein, The cross link includes a link body and an upper cross shaft and a lower cross shaft connected to both ends of the link body. The upper cross shaft and the lower cross shaft each include a first bushing and a second bushing with mutually perpendicular rotation axes. The first bushing of the upper cross shaft is hinged to the link body, and the second bushing of the upper cross shaft is hinged to the first phalanx. The rotation axis of the first bushing is parallel to the swing axis of the first phalanx. The third limiting structure includes a third limiting block, which is disposed on the outer periphery of the first bushing. The third limiting block abuts against the link body to limit the swing range of the finger body.

20. The dexterous hand of claim 1, wherein, The rotating connection structure includes a rotating bracket and a rotating disk that are rotatably connected. One of the rotating bracket and the rotating disk is fixed to the palm support, and the other is fixed to the thumb. The rotating bracket is provided with a rotating shaft, and the rotating disk is annular. The rotating disk is rotatably connected to the rotating bracket through the rotating shaft. The outer circumference of the rotating disk is provided with a winding groove, and the traction rope is embedded in the winding groove.

21. The dexterous hand of claim 20, wherein, The palm support has a wire hole that runs through the palm in the front-back direction. The rotating connection structure is located on the front side of the palm support. The rotating bracket is fixed to the palm support. The rotating disk is fixed to the thumb. The rotating bracket has a guide hole on the side near the palm support. After the traction rope is wound around the rotating disk, one end of the traction rope passes through the guide hole and extends into the wire hole. Both ends of the traction rope pass through the wire hole from the front side of the palm support and extend to the finger drive motor.

22. The dexterous hand of claim 21, wherein, The wrist support has a steering component at its end that is rotatably connected to the palm support. The wire hole passes through both the steering component and the palm support. The steering component includes a first steering end and a second steering end. The first steering end is rotatably connected to the palm support, and the second steering end is rotatably connected to the wrist support. The rotation axis of the first steering end is perpendicular to the rotation axis of the second steering end, and the rotation axis of the first steering end is perpendicular to the palm support. The wire hole passes through both the steering component and the palm support along the rotation axis of the first steering end.

23. The dexterous hand of claim 1, wherein, The guide includes a tubular body passing through the wire hole and a limiting part connected to one end of the tubular body. The size of the limiting part is larger than the diameter of the wire hole. The guide also includes a frustum-shaped transition part. The smaller end of the transition part is connected to the tubular body and the two transition smoothly. The larger end of the transition part is connected to the limiting part, and its outer diameter is smaller than the outer diameter of the limiting part.

24. The dexterous hand of claim 23, wherein, The end of the tubular body away from the limiting part extends through the wire hole toward the finger drive motor, and the length of the tubular body extending through is greater than the maximum stroke of the elastic element that pushes the guide member toward the palm.

25. A humanoid robot, characterized by It includes a torso and an upper limb connected to the torso, the upper limb having a dexterous hand as described in any one of claims 1 to 24.

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