Dexterous hands

Abstract

This application provides a dexterous hand, belonging to the field of bionic robotic hands. The dexterous hand includes a palm, two coordinating fingers, an opposing thumb, and a physiotherapy component. The coordinating fingers are located at the distal end of the palm via a first driving mechanism, and the opposing thumb is located on the radial side of the palm via a second driving mechanism, achieving opposing bending relative to the palm. The coordinating fingers include proximal and distal coordinating phalanges. These phalanges, through the cooperation of the first driving mechanism and a first linkage mechanism, perform kneading, squeezing, and pressing actions. Combined with the physiotherapy component, this dexterous hand can be applied to the field of traditional Chinese medicine massage at low cost, promoting intelligent technology in traditional Chinese medicine massage.

Description

Technical Field

[0001] This utility model belongs to the field of prefabricated buildings, and in particular relates to a dexterous hand. Background Technology

[0002] The "Healthy China 2030" Plan clearly defines the leading role of Traditional Chinese Medicine (TCM) in disease prevention, its synergistic role in the treatment of major diseases, and its core role in disease rehabilitation. It calls for developing TCM-based rehabilitation services and improving the TCM healthcare service system covering both urban and rural areas. The plan also mandates the establishment of TCM clinics and traditional Chinese medicine halls in township health centers and community health service centers, promoting appropriate technologies, and ensuring that all primary healthcare institutions can provide TCM services. Furthermore, it encourages the establishment of standardized TCM health and wellness institutions by private entities, accelerating the development of health and wellness services.

[0003] Existing robotic dexterity hands are primarily used for services and research in daily life, with no presence in the vertical field of traditional Chinese medicine (TCM) physiotherapy. Traditional robotic arms can only perform basic pushing and pressing movements, making it difficult to simulate complex techniques such as grasping, kneading, and tapping. Furthermore, the cost of applying the currently popular AI robot series to the TCM physiotherapy field is too high.

[0004] Therefore, this utility model came into being.

[0005] It should be noted that the information disclosed in the background section of this utility model is intended only to enhance the understanding of the general background of this utility model, and should not be regarded as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0006] The purpose of this invention is to propose a dexterous hand that can cover the application of traditional Chinese massage and is cost-effective.

[0007] To achieve one of the above objectives, this utility model first provides a dexterous hand, comprising: palm; The coordinating finger is located at the distal end of the palm via a first driving mechanism. The coordinating finger includes a proximal coordinating phalanx and a distal coordinating phalanx. The proximal coordinating phalanx is mounted to the palm via a first rotation node. The driving end of the first driving mechanism is pivotally connected to the proximal coordinating phalanx, driving it to bend around the first rotation node. The distal coordinating phalanx is mounted to the proximal coordinating phalanx via a second rotation node. The distal coordinating phalanx is connected to the palm via a first linkage mechanism, which drives the distal coordinating phalanx to bend around the second rotation node. The thumb is positioned on the radial side of the palm via a second drive mechanism, enabling a clenching bend relative to the palm. A physiotherapy functional component is disposed on the palm.

[0008] Preferably, the physiotherapy component is a laser physiotherapy component, an infrared thermotherapy component, or an essential oil application component.

[0009] Preferably, the essential oil application assembly includes an essential oil application nozzle, an electromagnetic pump, and an oil reservoir; at least the essential oil application nozzle is located at the center of the palm and is connected to the electromagnetic pump via an air tube, and the oil reservoir is connected to the air tube near the essential oil application nozzle via an oil tube.

[0010] Preferably, the first drive mechanism includes a first push rod motor, the drive end of which is pivotally connected to one end of the proximal cooperating phalanx, driving the proximal cooperating phalanx to bend around the first rotation node as the rotation center.

[0011] Preferably, the first linkage mechanism is a first linkage rod, one end of which is pivotally connected to the palm and the other end is pivotally connected to the distal phalanx, which then bends around the second rotation node as the rotation center.

[0012] Preferably, it also includes a first motor mounting base, which is pivotally connected to the palm, and the first push rod motor is mounted on the first motor mounting base and swings along the bending direction of the cooperating fingers.

[0013] Preferably, the second drive mechanism includes a second push rod motor and a second drive support. The second drive support is mounted on the palm via a third rotary node. The drive end of the second push rod motor is pivotally connected to one end of the second drive support, driving the other end of the second drive support to bend around the third rotary node as the rotation center. The opposing thumb is mounted on the other end of the second drive support.

[0014] Preferably, it also includes a second mounting bracket; the second mounting bracket is disposed on the palm, and the second drive bracket is mounted on the second mounting bracket via the third rotary node.

[0015] Preferably, it also includes a second motor mounting base, which is pivotally connected to the palm, and the second push rod motor is mounted on the second motor mounting base and swings along the gripping direction of the opposing thumb.

[0016] The technical effects achieved by the above-mentioned technical solution of this utility model are derived from one or more of the following combinations: This solution uses a first driving mechanism to drive the cooperating fingers, which, in conjunction with a first linkage mechanism, achieve the bending of the two finger joints. The opposing thumb is positioned on the radial side of the palm via a second driving mechanism, achieving a bend relative to the palm. This allows the cooperating fingers to perform kneading, squeezing, and pressing actions. Combined with physiotherapy functional components, this solution can be applied to the field of traditional Chinese medicine massage at a low cost, promoting intelligent technology in traditional Chinese medicine massage. Compared to existing dexterous hands, this solution is more economical and offers more stable transmission.

[0017] The proximal synergistic phalanx is directly driven by the first push rod motor and rotates around the first rotation node; the distal synergistic phalanx is connected to the palm through a linkage rod, and the distal synergistic phalanx is connected to the proximal synergistic phalanx through the second rotation node, forming a four-bar linkage structure. It passively bends with the proximal synergistic phalanx. Only one drive source is needed to achieve the bending and rotation of two phalanxes. The minimalist design reduces costs and improves reliability.

[0018] The four-bar linkage (proximal joint active drive + distal joint passive linkage) highly simulates the bending trajectory of human fingers, and can reproduce complex massage techniques such as kneading, rolling, and tapping.

[0019] The motor mounting bracket features a swing design to prevent drive jamming and improve reliability.

[0020] The palm integrates therapeutic components (laser, infrared, essential oil spray) to achieve integrated massage and therapy services.

[0021] The essential oil spray unit utilizes the Venturi effect (low-pressure airflow to absorb oil), and has a simple and efficient structure.

[0022] Designed specifically for intelligent TCM massage, it solves the problem that traditional robotic arms cannot simulate complex techniques; it can also be adapted to general robotic arms and enhance the human-computer interaction experience through AI dialogue.

[0023] When used in conjunction with a robotic arm, it can easily perform actions such as kneading, pressing, squeezing, tapping, and pressing. Attached Figure Description

[0024] Figure 1 This is a schematic diagram showing one perspective of the dexterous hand described in this utility model.

[0025] Figure 2 This is a schematic diagram showing another perspective of the dexterous hand described in this utility model.

[0026] Figure 3 This is a bottom view diagram illustrating the dexterous hand described in this utility model.

[0027] Figure 4 This diagram illustrates the explosion of the dexterous hand described in this invention.

[0028] Figure 5This diagram illustrates the structure of the opposing thumb in the dexterous hand described in this invention.

[0029] Figure 6 This diagram illustrates the installation of the first and second drive mechanisms in the dexterous hand described in this utility model.

[0030] Figure 7 The exploded view shows the structure of the first and second drive mechanisms in the dexterous hand described in this utility model.

[0031] Figure 8 This diagram illustrates the linkage of the coordinated fingers in the dexterous hand described in this invention.

[0032] Figure 9 This is a schematic diagram illustrating the principle of the collaborative fingers in the dexterous hand described in this utility model.

[0033] Figure 10 This is a schematic diagram illustrating another principle of the collaborative fingers in the dexterous hand described in this utility model.

[0034] in: 1. Palm; 11. Palm mounting base; 2. Coordinating fingers; 20. First drive mechanism; 201. First push rod motor; 2010. First drive ball; 202. First motor mounting base; 2021. First mounting rod; 21. Proximal coordinating knuckle; 22. Distal coordinating knuckle; 23. First rotary node; 231. First rotary mounting base; 24. Second rotary node; 25. First linkage mechanism; 251. First linkage support; 3. Opposing thumb; 30. Second drive mechanism 301. Second push rod motor; 3010. Second drive ball; 302. Second motor mounting base; 3021. Second mounting rod; 303. Second drive support; 31. Third rotary node; 32. Second mounting support; 4. Electrical control main board; 51. Laser therapy component; 52. Infrared heat therapy component; 53. Essential oil application component; 531. Essential oil application nozzle; 532. Electromagnetic pump; 533. Oil storage bottle; 534. Air pipe; 535. Oil pipe; 6. Arm mounting base. Detailed Implementation

[0035] The following description is provided to enable those skilled in the art to implement and use the present invention and to incorporate it into specific application contexts. Various modifications and uses in different applications will be readily apparent to those skilled in the art, and the general principles defined herein are applicable to a wide range of embodiments. Therefore, the present invention is not limited to the embodiments given herein, but should be granted the broadest scope consistent with the principles and novel features disclosed herein.

[0036] In the following detailed description, numerous specific details are set forth to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that practice of the present invention is not necessarily limited to these specific details. In other words, well-known structures and devices are shown in block diagram form without detailed representation to avoid obscuring the present invention.

[0037] Readers should note all documents and references submitted concurrently with this specification and open to public inspection, the contents of which are incorporated herein by reference. Unless otherwise expressly stated, all features disclosed in this specification (including any appended claims, abstracts, and drawings) may be replaced by alternative features for the same, equivalent, or similar purposes. Therefore, unless explicitly stated otherwise, each disclosed feature is merely one example of a set of equivalent or similar features.

[0038] Note that, where used, the markings left, right, front, back, top, bottom, front, back, clockwise, and counterclockwise are merely for convenience and do not imply any specific fixed direction. In fact, they are used to reflect the relative position and / or orientation between different parts of an object. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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; 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 based on the specific circumstances.

[0040] Note that, in practice, "further," "preferably," "even further," and "more preferably" are simply starting points for describing another embodiment based on the foregoing embodiments. The combination of the content following "further," "preferably," "even further," or "more preferably" with the foregoing embodiments constitutes the complete configuration of another embodiment. Any combination of several "further," "preferably," "even further," or "more preferably" settings following the same embodiment can form yet another embodiment.

[0041] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should be noted that the aspects described below with reference to the accompanying drawings and specific embodiments are merely exemplary and should not be construed as limiting the scope of protection of the present invention in any way.

[0042] Please combine Figures 1-10This embodiment provides a dexterous hand, including a palm 1, cooperating fingers 2, an opposing thumb 3, and a physiotherapy component. The cooperating fingers 2 are located at the distal end of the palm 1 via a first drive mechanism 20, and the opposing thumb 3 is located on the radial side of the palm 1 via a second drive mechanism 30, enabling it to bend relative to the palm 1 in an opposing motion.

[0043] In a preferred embodiment of this invention, the number of cooperating fingers 2 is at least one, preferably two, with the two cooperating fingers 2 arranged side by side with a spacing between them.

[0044] For further details, please refer to Figure 1 , Figure 2 and combined Figure 4 , Figure 7 The coordinating finger 2 includes a proximal coordinating phalanx 21 and a distal coordinating phalanx 22. The proximal coordinating phalanx 21 is mounted on the palm 1 via a first rotary node 23. The drive end of the first drive mechanism 20 (later implemented as...) Figure 8 The first driving ball (2010) is pivotally connected to the proximal coordinating phalanx 21, driving the proximal coordinating phalanx 21 to bend around the first rotation node 23 as the rotation center; the distal coordinating phalanx 22 is installed on the proximal coordinating phalanx 21 through the second rotation node 24, and the distal coordinating phalanx 22 is connected to the palm 1 through the first linkage mechanism 25, which drives the distal coordinating phalanx 22 to bend around the second rotation node 24 as the rotation center.

[0045] In this embodiment, please refer to Figure 4 and Figure 5 The opposing thumb 3 is located on the outer side of the palm 1, corresponding to the biomimetic design position of the hand. Specifically, the opposing thumb 3 is mounted on the palm 1 via a second drive mechanism 30. Furthermore, the palm 1 has at least one mounting cavity inside for mounting the first drive mechanism 20 and the second drive mechanism 30.

[0046] The cooperating fingers 2 are biomimetic to the function and position of the index and middle fingers of the hand, and are located at the distal end of the palm 1. Specifically, the two cooperating fingers 2 are independently located at the distal end of the palm 1 through the first driving mechanism 20, and the distance between them is set.

[0047] Furthermore, please combine Figure 6 , Figure 7 and Figure 8The first driving mechanism 20 includes a first push rod motor 201. The driving end of the first push rod motor 201 is pivotally connected to one end of the proximal cooperating phalanx 21, driving the proximal cooperating phalanx 21 to bend around the first rotation node 23 as the rotation center. That is, the proximal cooperating phalanx 21 of the cooperating finger 2 is pushed by the first push rod motor 201 around the first rotation node 23 to achieve the bending action. Preferably, in this embodiment, the first rotation node 23 is a pivot mounting node. Specifically, this node includes a first rotation mounting seat 231, which is mounted on the palm 1. The proximal cooperating phalanx 21 is mounted on the first rotation mounting seat 231 by screws, pins, or other accessories, thereby realizing that the proximal cooperating phalanx 21 is rotatably mounted on the palm 1. To improve stability, there are two first rotation mounting seats 231, arranged symmetrically.

[0048] To facilitate the installation of the cooperating fingers 2, a palm mounting base 11 is provided at the distal end of the palm 1 for the installation of the two cooperating fingers 2.

[0049] Furthermore, the driving end of the first push rod motor 201 is a first driving ball 2010, which has a through hole in the middle and is installed with the proximal cooperating finger 21 by a pin or rod, thereby realizing the driving of the first push rod motor 201 on the proximal cooperating finger 21 and maintaining its mobility along the bending direction.

[0050] The distal phalanx 22 is connected to the palm 1 (palm mounting base 11) via the first linkage mechanism 25 and pivotally connected to the proximal phalanx 21, thus forming a four-bar linkage structure with the proximal phalanx 21 and the palm mounting base 11. Specifically, the first linkage mechanism 25 is a first linkage rod, one end of which is pivotally connected to the palm 1, and the other end is pivotally connected to the distal phalanx 22, enabling the distal phalanx 22 to bend around the second rotation node 24 (the pivot point between the proximal phalanx 21 and the distal phalanx 22) as the rotation center. Furthermore, both ends of the first linkage rod are pivotally connected to the palm mounting base 11 and the distal phalanx 22 respectively via the first linkage support 251 and screws or pins.

[0051] In this embodiment, each cooperating finger 2 only requires two knuckles and can achieve bending operation with a push rod motor, which greatly reduces the cost and achieves reliability through the first linkage mechanism 25.

[0052] Please see Figure 9 and Figure 10 and cooperate Figure 8The principle is as follows: the first push rod motor 201 is pivotally connected to the proximal cooperating phalanx 21, and the proximal cooperating phalanx 21 is pivotally connected to the first rotation node 23 of the palm mounting base 11. When the first push rod motor 201 pushes the proximal cooperating phalanx 21, the first rotation node 23 forms a movement constraint, realizing the bending and rotation of the proximal cooperating phalanx 21. At the same time, the distal cooperating phalanx 22 and the palm mounting base 11 connected at both ends of the first linkage are pivotally connected. The distal cooperating phalanx 22 is pivotally connected to the proximal cooperating phalanx 21. When the proximal cooperating phalanx 21 bends, it simultaneously drives the first linkage to rotate. Since the first linkage is of fixed length, it drives the distal cooperating phalanx 22 to bend at the second rotation node 24, forming a four-bar linkage structure. Thus, only one first push rod motor 201 is used to achieve the bending and rotation of two phalanxes.

[0053] As a preferred embodiment of this example, please refer to Figure 5 , Figure 6 This embodiment also includes a first motor mounting base 202, which is pivotally connected to the palm 1. A first push rod motor 201 is mounted on the first motor mounting base 202 and swings along the bending direction of the cooperating fingers 2. Further, the first motor mounting base 202 is a mounting ring with first mounting rods 2021 on both sides. The palm 1 has corresponding insertion slots (not shown) for the rods to be inserted, thereby enabling the first motor mounting base 202 to swing along the bending direction of the cooperating fingers 2. However, the range of its swing is limited by the internal space of the palm 1. The swing design of the first push rod motor 201 is to prevent the first drive mechanism 20 from jamming during operation, and the swing amplitude is not limited here; maintaining a 5° swing amplitude on both sides is sufficient.

[0054] The opposing thumb 3 serves as the thumb corresponding to the bionic structure of the palm 1. The opposing thumb 3 is located on the radial side of the palm 1 through the second drive mechanism 30 and achieves opposing bending relative to the palm 1, thereby cooperating with the fingers 2 to perform kneading, pressing, squeezing, tapping, and pressing actions.

[0055] As a preferred embodiment of this example, please refer to... Figure 4 , Figure 5 and Figure 8 The second drive mechanism 30 includes a second push rod motor 301 and a second drive support 303. Specifically, the second drive support 303 is mounted on the palm 1 via a third rotary node 31 (for ease of explanation, ...). Figure 5 The middle part of the shell of the palm 1 is omitted. The driving end of the second push rod motor 301 is pivotally connected to one end of the second drive support 303, driving the other end of the second drive support 303 to rotate around the third rotation node 31 as the rotation center. The thumb 3 is installed on the other end of the second drive support 303 to achieve bending and rotation.

[0056] Furthermore, please combine Figure 1 and Figure 5 In this embodiment, the second driving mechanism 30 further includes a second mounting support 32. Specifically, the second mounting support 32 is located on the palm 1, and the second driving support 303 is mounted on the second mounting support 32 via a third rotation node 31. Thus, when the second push rod motor 301 pushes one end of the second driving support 303, the second driving support 303 rotates and turns around the third rotation node 31. Since the length of the second mounting support 32 is fixed, the opposing thumb 3 at the other end of the second driving support 303 bends and rotates. Preferably, the second mounting support 32 is a mounting rod, and the second driving support 303 has a double T-shaped structure. The top is composed of a support plate, and two rows of vertical plates are connected to the support plate. The ends of the two rows of vertical plates are connected to the driving end of the second push rod motor 301 via screws, rods, or pins. Similarly, the driving end of the second push rod motor 301 is a second driving ball 3010, which has a through hole in the middle. It is installed with the second driving support 303 by a pin or rod, so that the second push rod motor 301 can drive the second driving support 303 and maintain its mobility along the bending direction.

[0057] Similarly to the first push rod motor 201, this embodiment also includes a second motor mounting base 302, which is pivotally connected to the palm 1. The second push rod motor 301 is mounted on the second motor mounting base 302 and swings along the bending direction of the fingers 2. Further, the second motor mounting base 302 is a mounting ring with second mounting rods 3021 on both sides. The palm 1 has corresponding insertion slots for the rods, thereby enabling the first motor mounting base 202 to swing in conjunction with the second motor mounting base 302 swinging along the gripping direction of the fingers. However, the range of its swing is limited by the internal space of the palm 1. The swing design of the second push rod motor 301 is to prevent the second drive mechanism 30 from jamming during operation, and the swing amplitude is not specifically limited here; a 5° swing amplitude on both sides is sufficient.

[0058] To achieve the intelligence of this embodiment, it also includes an electronic control motherboard 4, which controls and connects the first drive mechanism 20 and the second drive mechanism 30. Furthermore, the electronic control motherboard 4 controls and connects at least the first push rod motor 201 and the second push rod motor 301. Even further, the location of the electronic control motherboard 4 is not limited; it can be located on the palm 1 or on other external components of the palm 1.

[0059] In this embodiment, the handshake finger achieves one degree of freedom of movement through the second drive mechanism 30. However, as a basic implementation of this embodiment, nodes of other degrees of freedom can also be combined on the basis of one degree of freedom.

[0060] As a preferred embodiment of this example, please refer to Figure 1 This embodiment also includes some physiotherapy functional components, which can be implemented as at least: laser physiotherapy component 51, infrared heat therapy component 52 or essential oil application component 53, etc.

[0061] Specifically, laser therapy is a type of phototherapy that irradiates biological tissues and utilizes the resulting biological effects to treat diseases. A laser therapy lamp head is installed in the palm of the hand 1 and connected to the electronic control motherboard 4 for control. Similarly, infrared therapy is a non-invasive physical therapy method that uses infrared radiation of a specific wavelength (760nm-400μm) to generate thermal, electromagnetic, and photochemical effects to achieve anti-inflammatory and analgesic effects. An infrared lamp head is set in the palm of the hand 1 and connected to the electronic control motherboard 4 for control.

[0062] Alternatively, please see Figures 1-4 When performing a massage using skillful hands, an essential oil application component 53 is used in conjunction with the essential oil SPA treatment. Specifically, the essential oil application component 53 includes an essential oil application nozzle 531, an electromagnetic pump 532, and an oil reservoir 533. The essential oil application nozzle 531 is positioned in the palm of the hand 1 and is connected to the electromagnetic pump 532 via an air tube 534. The oil reservoir 533 is connected to the air tube 534 near the essential oil application nozzle 531 via an oil tube 535. When the electromagnetic pump 532 operates, it outputs airflow, creating a low pressure (fast flow rate) within the air tube 534. The oil reservoir 533, connected to this, creates a relatively high pressure, thereby forcing the essential oil into the air tube 534 and delivering it to the essential oil application nozzle 531, from where it is sprayed out from the palm.

[0063] It should be noted that the first and second drive mechanisms are implemented as push rod motors, which is a preferred and economical implementation method in this embodiment, but not the only option. They can also be implemented as electric cylinders; or push and pull can be achieved by stepper motors in conjunction with linkage assemblies. These will not be listed one by one here.

[0064] This embodiment provides a method for using a dexterous hand, which is installed on the arm of a robot and controlled by at least the robot's control system. In this case, the electronic control motherboard 4 in Embodiment 1 is implemented as the robot's control system. This, in conjunction with the control and drive of the first push rod motor 201 and the second push rod motor 301, enables the biomimetic function of the palm 1, which grasps the thumb 3 and the assisting fingers 2, achieving at least kneading, squeezing, and pressing actions.

[0065] Specifically, a universal humanoid robot arm mounting base 6 or arm mounting flange is set at the base of the hand 1. The dexterous hand is mounted on the arm of the humanoid robot through the arm mounting base 6. The electronic control motherboard 4 in embodiment 1 is implemented as the robot's control system; or the first drive mechanism 20 and the second drive mechanism 30 are controlled and connected to the robot's control system to realize intelligent operation.

[0066] Furthermore, it can be used in conjunction with the robot's AI dialogue function to conduct human-computer dialogue.

[0067] Furthermore, it is equipped with physiotherapy functional components, which can be implemented as at least: laser physiotherapy component 51, infrared heat therapy component 52, and essential oil application component 53, etc.

[0068] Specifically, laser therapy is a type of phototherapy that uses weak lasers (such as He-Ne lasers, CO2 lasers, etc.) to directly irradiate biological tissues, utilizing the resulting biological effects to treat diseases. A laser therapy lamp head is installed in the palm of the hand 1 and connected to the electronic control motherboard 4 for control. Similarly, infrared therapy is a non-invasive physical therapy method that uses infrared radiation of a specific wavelength (760nm-400μm) to generate thermal, electromagnetic, and photochemical effects to achieve anti-inflammatory and analgesic effects. An infrared lamp head is set in the palm of the hand 1 and connected to the electronic control motherboard 4 for control.

[0069] Alternatively, when performing a massage using skillful hands, an essential oil application component 53 can be used in conjunction with the essential oil SPA treatment. Specifically, the essential oil application component 53 includes an essential oil application nozzle 531, an electromagnetic pump 532, and an oil reservoir 533. The essential oil application nozzle 531 is positioned in the palm of the hand 1 and is connected to the electromagnetic pump 532 via an air tube 534. The oil reservoir 533 is connected to the air tube 534 near the essential oil application nozzle 531 via an oil tube 535. When the electromagnetic pump 532 operates, it outputs airflow, creating a low pressure (fast flow rate) within the air tube 534. The oil reservoir 533, connected to this, creates a relatively high pressure, thereby forcing the essential oil into the air tube 534 and delivering it to the essential oil application nozzle 531, from where it is sprayed out from the palm.

[0070] Through the combination of skillful hands and therapeutic components, traditional Chinese massage techniques are achieved.

[0071] Specifically, during installation, a universal humanoid robot arm mounting base 6 or arm mounting flange is set at the base of the hand 1. The dexterous hand is mounted on the arm of the humanoid robot through the arm mounting base 6. The electronic control motherboard 4 in embodiment 1 is implemented as the robot's control system; or the first drive mechanism 20 and the second drive mechanism 30 are controlled and connected to the robot's control system to achieve intelligent operation.

[0072] Furthermore, it can be combined with the robot's AI dialogue function to conduct human-computer dialogue, realize intelligent dialogue operation and chat during massage, etc. This is AI dialogue technology in the field of humanoid robots or general robots, which will not be described in detail in this embodiment.

[0073] Furthermore, the present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A dexterous hand, characterized in that, include: palm; The coordinating finger is located at the distal end of the palm via a first driving mechanism. The coordinating finger includes a proximal coordinating phalanx and a distal coordinating phalanx. The proximal coordinating phalanx is mounted to the palm via a first rotation node. The driving end of the first driving mechanism is pivotally connected to the proximal coordinating phalanx, driving it to bend around the first rotation node. The distal coordinating phalanx is mounted to the proximal coordinating phalanx via a second rotation node. The distal coordinating phalanx is connected to the palm via a first linkage mechanism, which drives the distal coordinating phalanx to bend around the second rotation node. The thumb is positioned on the radial side of the palm via a second drive mechanism, enabling a clenching bend relative to the palm. A physiotherapy functional component is disposed on the palm.

2. The dexterous hand as described in claim 1, characterized in that: The therapeutic components are laser therapy components, infrared thermotherapy components, or essential oil application components.

3. The dexterous hand as described in claim 2, characterized in that: The essential oil application assembly includes an essential oil application nozzle, an electromagnetic pump, and an oil reservoir; at least the essential oil application nozzle is located in the palm of the hand and is connected to the electromagnetic pump via an air tube, and the oil reservoir is connected to the air tube near the essential oil application nozzle via an oil tube.

4. The dexterous hand as described in claim 1, characterized in that: The first drive mechanism includes a first push rod motor, the drive end of which is pivotally connected to one end of the proximal cooperating phalanx, driving the proximal cooperating phalanx to bend around the first rotation node as the rotation center.

5. The dexterous hand as described in claim 4, characterized in that: The first linkage mechanism is a first linkage rod, one end of which is pivotally connected to the palm and the other end is pivotally connected to the distal phalanx, which is linked to the distal phalanx to bend around the second rotation node as the rotation center.

6. The dexterous hand as described in claim 4, characterized in that: It also includes a first motor mounting base, which is pivotally connected to the palm, and a first push rod motor is mounted on the first motor mounting base and swings along the bending direction of the cooperating fingers.

7. The dexterous hand as described in claim 1, characterized in that: The second drive mechanism includes a second push rod motor and a second drive support. The second drive support is mounted on the palm via a third rotary node. The drive end of the second push rod motor is pivotally connected to one end of the second drive support, driving the other end of the second drive support to bend around the third rotary node as the rotation center. The opposing thumb is mounted on the other end of the second drive support.

8. The dexterous hand as described in claim 7, characterized in that: It also includes a second mounting bracket; the second mounting bracket is disposed on the palm, and the second drive bracket is mounted on the second mounting bracket through the third rotary node.

9. The dexterous hand as described in claim 7, characterized in that: It also includes a second motor mounting base, which is pivotally connected to the palm, and the second push rod motor is mounted on the second motor mounting base and swings along the gripping direction of the opposing thumb.

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