CN216180600U

CN216180600U - Multi-finger dexterous hand of robot

Info

Publication number: CN216180600U
Application number: CN202122581261.5U
Authority: CN
Inventors: 林楠
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-10-26
Filing date: 2021-10-26
Publication date: 2022-04-05
Anticipated expiration: 2031-10-26

Abstract

The utility model discloses a multi-finger dexterous hand of a robot, which comprises a palm part, a thumb structure and a plurality of auxiliary finger structures, wherein the thumb structure comprises a first thumb part, a second thumb part, a folding and unfolding mechanism, a bending mechanism I and a bending and stretching mechanism; the first thumb part is rotatably arranged on the base block, a gear I of the bending mechanism I is coaxially connected with a driving wheel I, a driver II is in transmission connection with the gear I, a second thumb part is in transmission connection with the first thumb part, the driving wheel II is in transmission connection with the second thumb part, and the driving wheel I is in transmission connection with the driving wheel II through a transmission belt I; the gear II of the bending and stretching mechanism is rotatably arranged on the base block, the gear II is connected to the first thumb part through the link mechanism, and the driver III is in transmission connection with the gear II.

Description

Multi-finger dexterous hand of robot

Technical Field

The utility model relates to the technical field of manipulators, in particular to a multi-finger dexterous hand of a robot.

Background

The bionic multi-finger manipulator is a necessary part for realizing the dexterous operation of the robot. The multi-finger dexterous manipulator has more controllable degrees of freedom to ensure flexibility, and the bionic design needs to ensure the similarity with the human hand as high as possible, which means that drivers need to be placed in the limited space of the palm or the forearm as much as possible. Therefore, the multi-finger dexterous hand has extremely compact mechanical structure design and extremely high integration level. During decades of development, some representative dexterity hands, such as DLR/HIT (german space center and hayman co-research and development manipulator), NASA (american space station manipulator), Shadow (uk Shadow company manipulator), etc., have appeared. The integration requirement of the robot described above, however, leads to a complex assembly and manufacturing process, which directly results in high costs. How to design modularized dexterous hand parts and reliable transmission mechanisms to realize batch production and be convenient for assembly and disassembly, adopting the existing mature technology and standard parts to reduce cost is a problem to be solved urgently in the field at present.

Disclosure of Invention

The utility model aims to provide a multi-finger dexterous hand of a robot, which adopts a mode of combining an orthogonal bevel gear with a transmission belt, on one hand, reduces the requirement on the installation size of a finger part of a manipulator, and ensures a reliable and convenient assembly process, and on the other hand, ensures that the internal transmission of the finger structure of the utility model is more compact and the integration level is higher.

The technical purpose of the utility model is realized by the following technical scheme: a multi-finger dexterous hand of a robot comprises a palm part, a thumb structure and a plurality of auxiliary finger structures, wherein the thumb structure comprises a first thumb part, a second thumb part, a folding and unfolding mechanism, a bending mechanism I and a bending and stretching mechanism,

the folding and unfolding mechanism comprises a base block and a driver I, the base block is rotationally connected to the palm part, and the driver I drives the base block to rotate relative to the palm part;

the bending mechanism I comprises a gear I, a transmission wheel II and a driver II, a first thumb part is rotatably arranged on the base block, the gear I and the transmission wheel I which are coaxially connected are rotatably arranged at the position of the first thumb part corresponding to the rotation axis of the first thumb part, the driver II is in transmission connection with the gear I, a second thumb part is rotatably connected with the first thumb part, the transmission wheel II is rotatably arranged at the position of the second thumb part corresponding to the rotation axis of the second thumb part, and the transmission wheel I is in transmission connection with the transmission wheel II through a transmission belt I;

it includes gear II and driver III to bend to stretch the mechanism, II rotations of gear are installed in the base block, gear II passes through link mechanism and connects in first thumb portion, driver III is connected with II transmissions of gear.

Furthermore, the thumb structure further comprises a third thumb part, the other end of the second thumb part, which is opposite to the first thumb part, is rotatably connected with the third thumb part, and the third thumb part is in linkage arrangement with a transmission wheel II of the second thumb part.

Further, third thumb fixedly connected with linkage wheel I, linkage wheel I sets up with the rotation axis of third thumb is coaxial, linkage wheel I is connected with the transmission of I drive belt, be equipped with the tensioning roller of stretch-draw drive belt I in the thumb structure.

Furthermore, a linkage wheel I is fixedly connected to the third thumb part, the linkage wheel I and the rotation axis of the third thumb part are coaxially arranged, and the linkage wheel I is in transmission connection with a transmission wheel II through a linkage belt I.

Furthermore, a first linkage rod is hinged in the second thumb part and rotates synchronously with the driving wheel II, a second linkage rod is hinged to the third thumb part, and the first linkage rod and the second linkage rod are hinged.

Furthermore, the base block is provided with transmission teeth at positions corresponding to the output ends of the driver II and the driver III respectively, the transmission teeth are correspondingly meshed with the gear I and the gear II in a transmission manner, the driver II and the driver III are provided with driving teeth meshed with the corresponding transmission teeth respectively, and the driving teeth, the transmission teeth, the gear I and the gear II are all helical gears.

Furthermore, the auxiliary finger structure comprises a first auxiliary finger part, a second auxiliary finger part, a side swinging mechanism and a bending mechanism II,

the first auxiliary finger part is rotationally connected with the palm part through a finger root block which is rotationally connected with the palm part, the finger root block performs lateral swinging motion relative to the palm part through a lateral swinging mechanism,

bending mechanism II includes gear III, gear IV, gear V and driver IV, indicate that the position that the piece corresponds its axis of rotation rotates and installs coaxial coupling's gear III and gear IV, driver IV is connected with the transmission of gear III, gear V rotates and installs in the cavity of first subsidiary finger portion and is connected with the transmission of gear IV, be equipped with rather than synchronous pivoted drive wheel III on gear V's the axis of rotation, the second is assisted finger portion and is connected with the rotation of first subsidiary finger portion, the position that the second is assisted finger portion and is corresponding its axis of rotation rotates and installs drive wheel IV, drive wheel III passes through II transmissions in drive belt with drive wheel IV and is connected.

Further, the side swing mechanism comprises a side swing gear and a driver V, the side swing gear is fixedly connected to the finger root block, and the driver V is fixedly installed in the palm portion and is in transmission connection with the side swing gear.

Further, the gear IV and the gear V are mutually meshed helical gears.

Further, supplementary finger structure still includes the third and assists finger portion, the second is assisted finger portion and is rotated with the third and assist finger portion for the other end of first assistance finger portion and be connected, the transmission wheel IV linkage setting of finger portion is assisted with the second in the third.

In conclusion, the utility model has the following beneficial effects:

1. the utility model adopts the mode of combining the orthogonal bevel gear with the transmission belt, on one hand, the requirement of the installation size of the finger part of the manipulator is reduced, and the reliable and convenient assembly process is ensured, on the other hand, the internal transmission of the finger structure of the utility model is more compact, and the integration level is higher;

2. the utility model adopts related components and a transmission principle, the realized manufacturing process is mature, the components are standardized, meanwhile, the transmission structural form of the fingers and the thumb is the same, the reuse of the components can be realized, the control of the production cost is facilitated, the batch manufacturing of the components can be facilitated, and meanwhile, compared with the existing dexterous hand, the assembly and the later assembly maintenance of the dexterous hand are more convenient;

3. all drivers of the utility model are integrated in the palm framework, and the relative positions are fixed, thereby improving the reliability, the integration level and the cost of the circuit.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is an exploded view of the present invention.

Fig. 3 is an exploded view of the thumb construction of the present invention.

Fig. 4 is a schematic view of a first embodiment of the thumb structure of the present invention.

Fig. 5 is a schematic view of a second embodiment of the thumb structure of the present invention.

Fig. 6 is a schematic view of a third embodiment of the thumb structure of the present invention.

Fig. 7 is a schematic view of the palm part and the fixing frame II of the present invention.

Fig. 8 is an exploded view of the finger assist structure of the present invention.

Fig. 9 is a schematic view of a first embodiment of the finger assist structure of the present invention.

Fig. 10 is a schematic view of a second embodiment of the finger assist structure of the present invention.

Fig. 11 is a schematic view of a third embodiment of the auxiliary finger structure of the present invention.

In the figure: 1. a palm portion; 11. a fixing frame I; 111. a driver I; 112. a driver II; 1121. a drive tooth; 113. a driver III; 12. a fixing frame II; 121. a driver IV; 122. a driver V; 123. a transmission mechanism; 2. a thumb structure; 21. a first thumb portion; 211. a gear I; 212. a driving wheel I; 213. a transmission belt I; 22. a second thumb portion; 221. a driving wheel II; 222. a first linkage rod; 223. a linkage belt I; 23. a third thumb portion; 231. a linkage wheel I; 232. a tension roller; 233. a second linkage rod; 24. a base block; 241. a gear II; 242. a link mechanism; 243. a transmission gear; 3. an auxiliary finger structure; 31. a first secondary finger portion; 311. a gear III; 312. a gear IV; 313. a gear V; 314. a driving wheel III; 315. a side-swinging gear; 32. a second secondary finger portion; 321. a driving wheel IV; 322. a transmission belt II; 33. a third secondary finger portion; 331. a linkage wheel II; 332. a linkage belt II; 333. a third link lever; 334. a third link lever; 34. refers to a root block.

Detailed Description

The utility model will be further described with reference to the accompanying drawings.

As shown in fig. 1, the multi-finger dexterous hand of the robot comprises a palm part 1, a thumb structure 2 and a plurality of auxiliary finger structures 3, wherein the number of the auxiliary finger structures 3 is four, each auxiliary finger structure 3 is independently arranged, and the number of the auxiliary finger structures 3 can be more than two.

As shown in fig. 2-6, the thumb can perform a retracting motion, a bending motion and a bending motion with respect to the palm portion 1, the thumb structure 2 includes a first thumb portion 21, a second thumb portion 22, a retracting mechanism, a bending mechanism i and a bending mechanism, the retracting mechanism is used for driving the thumb to perform a retracting motion with respect to the palm portion 1 (i.e. the thumb structure 2 rotates up and down with respect to the palm portion 1), the retracting mechanism includes a base block 24 and a driver i 111, the base block 24 is rotatably connected to the palm portion 1 through a rotating shaft, the driver i 111 drives the base block 24 to rotate with respect to the palm portion 1, specifically, an output end of the driver i 111 drives the base block 24 to rotate through a transmission mechanism, the transmission mechanism can be in a gear transmission or belt transmission manner, the base block 24 includes two blocks detachably connected as a whole, and is designed as a split structure, the thumb drive device is convenient to assemble and disassemble internal parts, in the thumb drive device, the driver I111 drives the base block 24 to rotate through gear transmission, a driving wheel is fixedly installed on the base block 24, the fixed connection mode includes but is not limited to sleeving, bolt connection, mortise and tenon connection, pin connection, pressing, thermal expansion and glue connection, a driving wheel meshed with the driving wheel is arranged at the output end of the driver I111, the driving wheel and the driving wheel are helical gears, and by using the helical gears, the driving wheel and the driving wheel can operate stably and have low noise, meanwhile, the thumb structure is more compact, and the integration level is higher.

The bending mechanism I is used for driving a thumb to bend (namely, the thumb structure 2 bends relative to the palm part 1), the bending mechanism I comprises a gear I211, a transmission wheel I212, a transmission wheel II 221 and a driver II 112, the first thumb part 21 is rotatably installed on the base block 24, the gear I211 and the transmission wheel I212 which are coaxially connected are rotatably installed at the position, corresponding to the rotation axis, of the first thumb part 21, specifically, the gear I211 and the transmission wheel I212 are respectively and independently produced, and then the gear I211 and the transmission wheel I212 are fixedly connected into a whole, the fixing mode can be a pressing tight fit mode, a gluing tight fit mode, a welding mode and the like, wherein the gear I211 is a helical gear, the transmission wheel I212 is a pulley, the driver II 112 is in transmission connection with the gear I211, the second thumb part 22 is in rotary connection with the first thumb part 21, the second thumb part 22 is rotatably installed at the position, corresponding to the rotation axis, of the transmission wheel II 221, namely, the transmission wheel II 221 is rotatably connected to the second thumb part 22 and is coaxially arranged with the rotation axis of the second thumb part 22 (the axis of the transmission wheel II 221 is overlapped with the rotation axis of the second thumb part 22), the transmission wheel I212 is in transmission connection with the transmission wheel II 221 through a transmission belt I213, the transmission wheel II 221 is a belt wheel, and the transmission belt I213 is preferably a synchronous belt.

The thumb structure 2 further comprises a third thumb part 23, the other end of the second thumb part 22 opposite to the first thumb part 21 is rotatably connected with the third thumb part 23, the third thumb part 23 is arranged in a linkage manner with a transmission wheel II 221 of the second thumb part 22, namely, when the second thumb part 22 performs bending motion relative to the palm part 1, the third thumb part 23 is also in a linkage manner with the second thumb part 22 to perform bending motion.

The linkage arrangement of the second thumb part 22 and the third thumb part 23 has various embodiments, including but not limited to the following linkage structures:

the first embodiment: the third thumb part 23 is fixedly connected with a linkage wheel I231, the linkage wheel I231 is a belt wheel, the linkage wheel I231 and the rotation axis of the third thumb part 23 are coaxially arranged, the linkage wheel I231 is in transmission connection with a transmission belt I213, a tensioning roller 232 for tensioning the transmission belt I213 is arranged in the thumb structure 2, specifically, the linkage wheel I231 and the transmission wheel I212 are positioned at two ends of the transmission belt I213, the transmission wheel II 221 is positioned between the linkage wheel I231 and the transmission wheel I212 and is in transmission connection with the transmission belt I213, and due to the arrangement of the transmission wheel II 221 and the tensioning roller 232, the track length of the transmission belt I213 is prevented from changing in the transmission process, namely, the length of the transmission belt I213 is ensured to be kept at a constant value during transmission;

the second embodiment: the third thumb part 23 is fixedly connected with a linkage wheel I231, the linkage wheel I231 is in transmission connection with a transmission wheel II 221 through a linkage belt I223, namely a transmission belt I213 and a linkage belt I223 are wound on the transmission wheel II 221, so that in the process that the transmission wheel II 221 is driven to rotate by a gear I211 through the transmission belt I213, the transmission wheel II 221 drives the linkage wheel I231 to perform linkage through the linkage belt I223, the third thumb part 23 and the second thumb part 22 are bent in a linkage manner, the linkage wheel I231 is a belt wheel, the linkage belt I223 is preferably a synchronous belt, and certainly, transmission belts such as V-belts and the like can be selected;

third embodiment: articulated in the second thumb portion 22 have first gangbar 222, first gangbar 222 rotates with drive wheel II 221 is synchronous, third thumb portion 23 articulates there is second gangbar 233, first gangbar 222 sets up with second gangbar 233 is articulated, first gangbar 222 and second gangbar 233 constitute gangbar mechanism, when second thumb portion 22 carries out bending motion through drive belt I213, third thumb portion 23 drives in order to carry out linkage bending motion through gangbar mechanism.

The bending and stretching mechanism is used for driving the thumb structure 2 to rotate relative to the palm part 1 so as to adjust the included angle between the thumb structure 2 and the palm part 1, the bending and stretching mechanism comprises a gear II 241 and a driver III 113, wherein the gear II 241 is rotatably arranged on the base block 24, the gear ii 241 is connected to the first thumb 21 via a link mechanism 242, specifically, the link mechanism 242 includes a first link hinged to the base block 24 and a second link hinged to the first thumb portion 21, the first link and the second link being hinged, wherein the first connecting rod and the gear II 241 synchronously rotate, the driver III 113 is in transmission connection with the gear II 241, namely, the driver iii 113 drives the gear ii 241 to rotate, and the gear ii 241 drives the first thumb part 21 to rotate around the rotation axis thereof through the link mechanism 242, so as to adjust the included angle between the thumb structure 2 and the palm part 1.

The base block 24 is provided with transmission teeth 243 corresponding to the positions of the output ends of the driver II 112 and the driver III 113, the transmission teeth 243 are correspondingly engaged and transmitted on the gear I211 and the gear II 241, the driver II 112 and the driver III 113 are provided with driving teeth 1121 engaged with the corresponding transmission teeth 243, and the driving teeth 1121, the transmission teeth 243, the gear I211 and the gear II 241 are all helical gears.

Driver I111, driver II 112 and driver III 113 pass through I11 fixed mounting of mount in palm portion 1, and I111 of driver, II 112 of driver and the setting of arranging of driver III 113 in mount I11, wherein this mount I11 comprises three installation shell of connecting as an organic whole of dismantling, be equipped with the motion angle inductor in installation shell and the base block 24 respectively, the motion angle inductor is used for the perception to expand, bend and stretch the motion angle or its compound motion angle. In a specific implementation process, the knuckle bending motion angle or any zero to three of three motion degrees of freedom can also be sensed, which is not limited by this example.

As shown in fig. 7 to 11, the auxiliary finger structure 3 includes a first auxiliary finger portion 31, a second auxiliary finger portion 32, a side swing mechanism and a bending mechanism ii, the first auxiliary finger portion 31 is rotatably connected to the palm portion 1, the first subsidiary finger part 31 performs a side swing motion with respect to the palm part 1 by a side swing mechanism, and in the present invention, the first subsidiary finger part 31 is connected to the palm part by a finger base block 34, the finger root block 34 is rotatably connected to the palm part 1, the first finger auxiliary part 31 is rotatably connected to the finger root block 34, the side swing mechanism comprises a side swing gear 315 and a driver V122, the side swing gear 315 is fixedly connected with the finger block 34, the finger root block 34 is located at one end of the first auxiliary finger part 31 close to the palm part 1, the driver v 122 is fixedly installed in the palm part 1 and is in transmission connection with the side swing gear 315, the side swing mechanism is used for driving the auxiliary finger structure 3 to rotate relative to the palm part 1 so as to adjust the included angle between the auxiliary fingers.

The bending mechanism II comprises a gear III 311, a gear IV 312, a gear V313 and a driver IV 121, the first auxiliary finger part 31 is rotatably connected to the finger root block 34, the position of the finger root block 34 corresponding to the rotation axis thereof is rotatably provided with the gear III 311 and the gear IV 312 which are coaxially connected, namely, the gear III 311 is coaxially connected with the gear IV 312, the gear III 311 and the gear IV 312 are rotatably connected to the finger root block 34 and are coaxially arranged with the rotation axis of the finger root block 34, the driver IV 121 is in transmission connection with the gear III 311, the gear V313 is rotatably arranged in a cavity of the first auxiliary finger part 31 and is in transmission connection with the gear IV 312, the rotation axis of the gear V313 is provided with a transmission wheel III 314 which synchronously rotates with the gear V, the transmission wheel III 314 is preferably a belt wheel, the second auxiliary finger part 32 is rotatably connected with the first auxiliary finger part 31, the second auxiliary finger part 32 is rotatably provided with a transmission wheel IV 321 corresponding to the rotation axis thereof, the transmission wheel IV 32 is preferably a belt wheel, and the transmission wheel III 314 is in transmission connection with the transmission wheel IV 32 through a transmission belt II 322.

The output ends of the driver IV 121 and the driver V122 respectively transmit power to the corresponding side swing gear 315 and the corresponding gear III 311 through the transmission mechanism 123, wherein the transmission mechanism 123 is in gear transmission.

The gear III 311 and the gear IV 312 are separately and independently produced firstly and then fixedly connected into a whole, the fixing mode can be in a pressing tight fit mode, a bonding mode, a welding mode and the like, similarly, the gear V313 and the driving wheel III 314 are separately and independently produced firstly and then fixedly connected into a whole, the fixing mode can be in a pressing tight fit mode, a bonding mode, a welding mode and the like, the gear IV 312 and the gear V313 are helical gears which are meshed with each other, specifically, the gear IV 312 and the gear V313 are orthogonal helical gears, and the utility model adopts a mode that the orthogonal helical gears are combined with a driving belt, so that on one hand, the requirement on the installation size of the finger part of a manipulator is reduced, the reliable and convenient assembly process is ensured, and on the other hand, the internal transmission of the finger structure of the utility model is more compact, and the integration degree is higher.

The auxiliary finger structure 3 further comprises a third auxiliary finger portion 33, the second auxiliary finger portion 32 is rotatably connected with the third auxiliary finger portion 33 relative to the other end of the first auxiliary finger portion 31, and the third auxiliary finger portion 33 is in linkage with the transmission wheel iv 321 of the second auxiliary finger portion 32.

There are various embodiments of the linkage arrangement of the second auxiliary finger portion 32 and the third auxiliary finger portion 33, which is the same as the linkage arrangement of the second thumb portion 22 and the third thumb portion 23 in the thumb structure 2, including but not limited to the following linkage structures:

the first embodiment: a linkage wheel II 331 is fixedly installed in the third auxiliary finger part 33, the linkage wheel II 331 is in transmission connection with a transmission belt II 322, and a tensioning roller 232 for tensioning the transmission belt II 322 is arranged in the auxiliary finger structure 3;

the second embodiment: a linkage wheel II 331 is fixedly installed in the third auxiliary finger portion 33, the linkage wheel II 331 is in transmission connection with a transmission wheel IV 321 through a linkage belt II 332, so that in the process that the transmission wheel III 314 drives the transmission wheel IV 321 to rotate through the transmission belt II 322, the transmission wheel IV 321 drives the linkage wheel II 331 to simultaneously rotate through the linkage belt II 332, the linkage of the second auxiliary finger portion 32 and the third auxiliary finger portion 33 is bent, and the linkage belt II is a synchronous belt;

third embodiment: articulated in the second assists finger portion 32 to have a third interlock pole 333, third interlock pole 333 rotates with the synchronous of drive wheel IV 321, third assists finger portion 33 to articulate has a fourth interlock pole 334, third interlock pole 333 sets up with fourth interlock pole 334 is articulated, when second assists finger portion 32 and carries out bending motion through drive belt II 322, third assists finger portion 33 and carries out linkage bending motion through the gangbar structure.

The utility model adopts related components and a transmission principle, the realization manufacturing process is mature, the components are standardized, meanwhile, the transmission structural form of the fingers and the thumb of the utility model is the same, the reuse of the components can be realized, the control of the production cost is facilitated, the batch manufacturing of the components can be facilitated, and simultaneously, compared with the existing dexterous hand, the assembly and the later assembly maintenance of the dexterous hand are more convenient.

The multi-group driver IV 121 and the driver V122 are sequentially fixed in the palm part 1 through a fixing frame II 12, functional devices in the palm part 1 are more reasonable in layout through arrangement of the fixing frame I11 and the fixing frame II 12, the palm part 1 is provided with a control circuit board which is respectively and electrically connected with the driver I111, the driver II 112, the driver III 113, the driver IV 121 and the driver V122, the control circuit board and the drivers are respectively and independently controlled, and the driver I111, the driver II 112, the driver III 113, the driver IV 121 and the driver V122 can adopt rotary driving elements such as motors, rotary air cylinders, hydraulic cylinders and the like.

An angle detection matching element used for sensing and feeding back the rotation angle of the auxiliary finger is further arranged in the auxiliary finger structure 3, and the angle detection matching element comprises but is not limited to a photoelectric encoder, a rotary transformer and a magnetic encoder. Preferably, an absolute magnetic encoder is employed.

The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present invention are included in the scope of the present invention.

Claims

1. The utility model provides a dexterous hand of robot polydactyly, includes palm portion (1), thumb structure (2) and a plurality of supplementary finger structure (3), its characterized in that: the thumb structure (2) comprises a first thumb part (21), a second thumb part (22), a folding and unfolding mechanism, a bending mechanism I and a bending and stretching mechanism,

the folding and unfolding mechanism comprises a base block (24) and a driver I (111), the base block (24) is rotatably connected to the palm part (1), and the driver I (111) drives the base block (24) to rotate relative to the palm part (1);

the bending mechanism I comprises a gear I (211), a transmission wheel I (212) and a driver II (112), a first thumb part (21) is rotatably installed on a base block (24), the position, corresponding to the rotation axis, of the first thumb part (21) is rotatably provided with the gear I (211) and the transmission wheel I (212) which are coaxially connected, the driver II (112) is in transmission connection with the gear I (211), a second thumb part (22) is rotatably connected with the first thumb part (21), the position, corresponding to the rotation axis, of the second thumb part (22) is rotatably provided with the transmission wheel II (221), and the transmission wheel I (212) is in transmission connection with the transmission wheel II (221) through a transmission belt I (213);

the flexion-extension mechanism comprises a gear II (241) and a driver III (113), the gear II (241) is rotatably installed on the base block (24), the gear II (241) is connected to the first thumb part (21) through a connecting rod mechanism (242), and the driver III (113) is in transmission connection with the gear II (241).

2. A robotic multi-fingered dexterous hand according to claim 1, characterized in that: the thumb structure (2) further comprises a third thumb part (23), the other end, relative to the first thumb part (21), of the second thumb part (22) is rotatably connected with the third thumb part (23), and the third thumb part (23) is in linkage with a driving wheel II (221) of the second thumb part (22).

3. A robotic multi-fingered dexterous hand according to claim 2, characterized in that: third thumb portion (23) fixedly connected with linkage wheel I (231), the coaxial setting of axis of rotation of linkage wheel I (231) and third thumb portion (23), linkage wheel I (231) is connected with drive belt I (213) transmission, be equipped with tensioning roller (232) of stretch-draw drive belt I (213) in thumb structure (2).

4. A robotic multi-fingered dexterous hand according to claim 2, characterized in that: third thumb portion (23) fixedly connected with linkage wheel I (231), the coaxial setting of axis of rotation of linkage wheel I (231) and third thumb portion (23), linkage wheel I (231) and drive wheel II (221) are connected through linkage belt I (223) transmission.

5. A robotic multi-fingered dexterous hand according to claim 2, characterized in that: a first linkage rod (222) is hinged in the second thumb part (22), the first linkage rod (222) and the driving wheel II (221) rotate synchronously, a second linkage rod (233) is hinged in the third thumb part (23), and the first linkage rod (222) and the second linkage rod are hinged.

6. A robotic multi-fingered dexterous hand according to claim 1, characterized in that: the base block (24) is provided with transmission teeth (243) corresponding to the positions of the output ends of the driver II (112) and the driver III (113), the transmission teeth (243) are correspondingly engaged and transmitted to the gear I (211) and the gear II (241), the driver II (112) and the driver III (113) are provided with driving teeth (1121) engaged with the corresponding transmission teeth (243), and the driving teeth (1121), the transmission teeth (243), the gear I (211) and the gear II (241) are all helical gears.

7. A robotic multi-fingered dexterous hand according to any one of claims 1-6, characterized in that: the auxiliary finger structure (3) comprises a first auxiliary finger part (31), a second auxiliary finger part (32), a side swing mechanism and a bending mechanism II,

the first auxiliary finger part (31) is rotationally connected with the palm part (1) through a finger root block (34), the finger root block (34) is rotationally connected with the palm part (1), the finger root block (34) performs lateral swinging motion relative to the palm part (1) through a lateral swinging mechanism,

the bending mechanism II comprises a gear III (311), a gear IV (312), a gear V (313) and a driver IV (121), the finger root block (34) is rotatably provided with a gear III (311) and a gear IV (312) which are coaxially connected corresponding to the position of the rotating axis thereof, the driver IV (121) is in transmission connection with a gear III (311), the gear V (313) is rotatably arranged in the cavity of the first auxiliary finger part (31) and is in transmission connection with a gear IV (312), a driving wheel III (314) which synchronously rotates with the gear V (313) is arranged in the cavity of the first auxiliary finger part (31), the second auxiliary finger part (32) is rotationally connected with the first auxiliary finger part (31), a driving wheel IV (321) is rotationally arranged at the position of the second auxiliary finger part (32) corresponding to the rotation axis of the second auxiliary finger part, the driving wheel III (314) is in transmission connection with the driving wheel IV (321) through a transmission belt II (322).

8. A robotic multi-fingered dexterous hand according to claim 7, characterized in that: the side swing mechanism comprises a side swing gear (315) and a driver V (122), the side swing gear (315) is fixedly connected to the finger root block (34), and the driver V (122) is fixedly installed in the palm portion (1) and is in transmission connection with the side swing gear (315).

9. A robotic multi-fingered dexterous hand according to claim 7, characterized in that: the gear IV (312) and the gear V (313) are mutually meshed helical gears.

10. A robotic multi-fingered dexterous hand according to claim 7, characterized in that: supplementary finger structure (3) still include third and assist finger portion (33), finger portion (32) are assisted for the other end of first subsidiary finger portion (31) and third and assist finger portion (33) and rotate to be connected to the second, finger portion (33) are assisted with the second and are assisted transmission wheel IV (321) linkage setting of finger portion (32) to the third.