Dexterous hand finger, dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and solves the problem that the dexterous hand finger in the related technology cannot have high degree of freedom, small size and low cost at the same time. The dexterous hand finger comprises a mounting assembly, a side swing base, a first knuckle, an interphalangeal knuckle assembly, a first tendon rope, a second tendon rope and a third tendon rope. According to the dexterous hand finger, the first knuckle is pulled through the first tendon rope and the second tendon rope, so that the first knuckle is bent or swings laterally, the interphalangeal knuckle assembly is pulled through the third tendon rope, so that the interphalangeal knuckles are bent, and therefore three degrees of freedom of the dexterous hand finger are achieved, and the dexterous hand finger has the high degree of freedom. In addition, the three degrees of freedom of the dexterous hand finger are all driven by the tendon rope, so that the dexterous hand finger is simple and compact in structure, small in size and low in cost.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular, to a dexterous hand finger, a dexterous hand, and a robot. Background Art

[0002] With the continuous progress of humanoid robot related technologies, industrial automation technology is gradually changing from performing single repetitive tasks represented by industrial robots to performing complex and variable tasks represented by humanoid robots. In this transformation process, the end effector of the robot changes from the role of a dedicated tool to the role of a general tool similar to a human hand. A dexterous hand is an end effector of a robot similar to a human hand, which is used to perform diverse tasks such as grasping, manipulating, and sensing. In order to enable the dexterous hand to perform the same functions as a human hand, the design requirements for the dexterous hand are higher. It is not only required that the dexterous hand has a high degree of freedom, but also that the size of the dexterous hand is small. In addition, it is also required to save the manufacturing and maintenance costs of the dexterous hand as much as possible.

[0003] However, the dexterous hands in the related technologies cannot have both a high degree of freedom, a small size, and a low cost. Summary of the Invention

[0004] In view of this, the embodiments of the present disclosure provide a dexterous hand finger, a dexterous hand, and a robot, which solve the problem that the dexterous hand fingers in the related technologies cannot have both a high degree of freedom, a small size, and a low cost.

[0005] In a first aspect, an embodiment of the present disclosure provides a dexterous hand finger that can be mounted on a palm substrate and has a back side and a palm side disposed opposite to each other. The dexterous hand finger includes: a mounting component that can be mounted on the palm substrate, and the mounting component has a first guiding hole and a second guiding hole disposed opposite to each other in a first direction; a side-swing base that is rotatably connected to the mounting component about a first axis, and the first axis is located between the first guiding hole and the second guiding hole; a first finger joint that is rotatably connected to the side-swing base about a second axis, and the second axis is perpendicular to the first axis. Wherein, in a direction parallel to the extending direction of the second axis, a surface of the first finger joint close to the palm side has opposite first and second side edges, the first side edge is close to the first guiding hole, and the second side edge is close to the second guiding hole; an interphalangeal finger joint component that is rotatably connected to the first finger joint about a third axis, and the third axis is parallel to the second axis; a first tendon rope, a first end of the first tendon rope can be connected to a first driving component, a second end of the first tendon rope passes through the first guiding hole and is connected to the first side edge; a second tendon rope, a first end of the second tendon rope can be connected to a second driving component, a second end of the second tendon rope passes through the second guiding hole and is connected to the second side edge; a third tendon rope, a first end of the third tendon rope can be connected to a third driving component, a second end of the third tendon rope passes through the first axis, passes through the second axis, bypasses a side of the third axis close to the palm side, and is connected to the interphalangeal finger joint component.

[0006] In some embodiments, both the first guiding hole and the second guiding hole extend in a second direction, the second direction is perpendicular to the first axis and perpendicular to the first direction; and / or, the first side edge of the first finger joint has a third guiding hole extending in a third direction, the second side edge of the first finger joint has a fourth guiding hole extending in the third direction, the third direction is perpendicular to the first axis and perpendicular to the second axis. Wherein, the second end of the first tendon rope passes through the first guiding hole and the third guiding hole and then is connected to the first side edge, and the second end of the second tendon rope passes through the second guiding hole and the fourth guiding hole and then is connected to the second side edge.

[0007] In some embodiments, the dexterous hand finger further includes: a fourth tendon rope, the first end of the fourth tendon rope can be connected to a fourth driving component, and the second end of the fourth tendon rope is connected to a first connecting portion of the interphalangeal joint component, and the first connecting portion is located on the back side of the third axis; and / or, the dexterous hand finger further includes: a first elastic member, the first end of the first elastic member is connected to a second connecting portion of the side-swing base, and the second end of the first elastic member is connected to a third connecting portion of the first phalanx, the second connecting portion is located on the back side of the second axis, and the third connecting portion is located on the back side of the third axis; a second elastic member, the first end of the second elastic member is connected to a fourth connecting portion of the first phalanx, and the second end of the second elastic member is connected to a fifth connecting portion of the interphalangeal joint component, the fourth connecting portion is located on the back side of the third axis, and the fifth connecting portion is located on the back side of the third axis.

[0008] In some embodiments, the mounting component has a fifth guiding hole; the dexterous hand finger further includes: a plurality of tendon rope sleeve assemblies, the first ends of at least three of the tendon rope sleeve assemblies are respectively connected to the mounting component and are respectively aligned with the first guiding hole, the second guiding hole and the fifth guiding hole; wherein, the first end of the first tendon rope passes through the first guiding hole, passes through the tendon rope sleeve assembly aligned with the first guiding hole and then is connected to the first driving component; the first end of the second tendon rope passes through the second guiding hole, passes through the tendon rope sleeve assembly aligned with the second guiding hole and then is connected to the second driving component; the first end of the third tendon rope passes through the fifth guiding hole, passes through the tendon rope sleeve assembly aligned with the fifth guiding hole and then is connected to the third driving component; wherein, when the dexterous hand finger includes a fourth tendon rope, the side-swing base has a sixth guiding hole, the first end of at least one of the tendon rope sleeve assemblies is connected to the side-swing base and is aligned with the sixth guiding hole, and the first end of the fourth tendon rope passes through the sixth guiding hole, passes through the tendon rope sleeve assembly aligned with the sixth guiding hole and then is connected to the fourth driving component.

[0009] In some embodiments, the tendon rope sleeve assembly includes: a sleeve for the first tendon rope, the second tendon rope or the third tendon rope to pass through, wherein, when the dexterous hand finger includes the fourth tendon rope, the sleeve also allows the fourth tendon rope to pass through; a connecting member connected to one end of the sleeve, and the connecting members included in at least three of the tendon rope sleeve assemblies are detachably connected to the mounting component, wherein, when the dexterous hand finger includes the fourth tendon rope, the connecting members included in at least one of the tendon rope sleeve assemblies are detachably connected to the side-swing base.

[0010] In some embodiments, the sleeve includes: an inner sleeve through which the first tendon cord, the second tendon cord, or the third tendon cord passes, and in the case where the dexterous hand finger includes the fourth tendon cord, the inner sleeve also passes through the fourth tendon cord; an outer sleeve wrapped outside the inner sleeve, the outer sleeve being elastic, the hardness of the outer sleeve being greater than that of the inner sleeve, and the friction coefficient of the inner sleeve being less than that of the outer sleeve.

[0011] In some embodiments, the yaw base has a first shaft hole extending along the second axis, the first finger joint has a second shaft hole extending along the second axis and a third shaft hole extending along the third axis, and the interphalangeal joint assembly has a fourth shaft hole extending along the third axis; the dexterous hand finger further includes: a first core shaft passing through the first shaft hole and the second shaft hole and connected to the second shaft hole, and rotating with the first finger joint; a second core shaft passing through the third shaft hole and the fourth shaft hole and connected to the fourth shaft hole, and rotating with the interphalangeal joint assembly; a first magnetic member disposed at an end of the first core shaft and coaxially disposed with the first core shaft; a second magnetic member disposed at an end of the second core shaft and coaxially disposed with the second core shaft; an integrated sensor connected to the first finger joint, the integrated sensor including a first sensing portion and a second sensing portion, the first sensing portion being coaxially disposed with the first magnetic member and configured to detect the absolute position of the first magnetic member, and the second sensing portion being coaxially disposed with the second magnetic member and configured to detect the absolute position of the second magnetic member.

[0012] In some embodiments, the interphalangeal joint assembly includes: a second finger joint rotatably connected to the first finger joint about the third axis; a third finger joint rotatably connected to the second finger joint about a fourth axis parallel to the third axis; a rocker, a first end of the rocker being connected to the second finger joint and a second end of the rocker being connected to the third finger joint, wherein, in a cross-section perpendicular to the fourth axis, a line connecting the first end and the second end of the rocker intersects a line connecting the third axis and the fourth axis.

[0013] In a second aspect, an embodiment of the present disclosure provides a dexterous hand, including: a palm substrate; the dexterous hand finger according to the first aspect, and a mounting assembly of the dexterous hand finger is mounted on the palm substrate.

[0014] In a third aspect, an embodiment of the present disclosure provides a robot, including: the dexterous hand according to the second aspect.

[0015] The finger of the dexterous hand provided by the embodiments of the present disclosure uses the first tendon rope and the second tendon rope to pull the first phalanx to bend or swing laterally, and uses the third tendon rope to pull the interphalangeal phalanx assembly to bend the interphalangeal phalanx, thereby realizing three degrees of freedom of the finger of the dexterous hand and endowing the finger of the dexterous hand with a high degree of freedom. In addition, the three degrees of freedom of the finger of the dexterous hand are all driven by tendon ropes, making the structure of the finger of the dexterous hand simple and compact, with a small size and low cost. Description of the Drawings

[0016] By describing the embodiments of the present disclosure in more detail in conjunction with the drawings, the above and other objects, features, and advantages of the present disclosure will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present disclosure, and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation to the present disclosure. In the drawings, the same reference numerals generally represent the same components.

[0017] Figure 1 The following is a schematic structural diagram of a finger of a dexterous hand provided by an embodiment of the present disclosure.

[0018] Figure 2 The following is a schematic structural diagram of a finger of a dexterous hand provided by another embodiment of the present disclosure.

[0019] Figure 3 The following is a top view of a finger of a dexterous hand provided by an embodiment of the present disclosure.

[0020] Figure 4 The following shows Figure 3 a cross-sectional view of the finger of the dexterous hand shown in the A-A direction.

[0021] Figure 5 The following shows Figure 4 a partial enlarged view of the finger of the dexterous hand shown in the B area.

[0022] Figure 6 The following shows Figure 4 a partial enlarged view of the finger of the dexterous hand shown in the C area.

[0023] Figure 7 The following is a front view of a finger of a dexterous hand provided by an embodiment of the present disclosure.

[0024] Figure 8 The following shows Figure 7 a cross-sectional view of the finger of the dexterous hand shown in the D-D direction.

[0025] Figure 9 The following shows Figure 8 a partial enlarged view of the finger of the dexterous hand shown in the E area.

[0026] Figure 10The figure shows a schematic structural diagram of a dexterous hand finger provided by another embodiment of the present disclosure.

[0027] Figure 11 As shown Figure 10 A partial enlarged view of the dexterous hand finger shown in the F region.

[0028] Figure 12 As shown Figure 10 A partial enlarged view of the dexterous hand finger shown in the G region.

[0029] Figure 13 As shown Figure 10 A partial enlarged view of the dexterous hand finger shown in the H region.

[0030] Figure 14 The figure shows a top view of the dexterous hand finger provided by another embodiment of the present disclosure.

[0031] Figure 15 As shown Figure 14 A cross-sectional view of the dexterous hand finger shown in the I-I direction.

[0032] Figure 16 As shown Figure 15 A partial enlarged view of the dexterous hand finger shown in the J region.

[0033] Figure 17 As shown Figure 15 A partial enlarged view of the dexterous hand finger shown in the K region.

[0034] Figure 18 The figure shows a schematic structural diagram of the dexterous hand finger provided by another embodiment of the present disclosure.

[0035] Figure 19 The figure shows a front view of the dexterous hand finger provided by another embodiment of the present disclosure.

[0036] Figure 20 As shown Figure 19 A cross-sectional view of the dexterous hand finger shown in the R-R direction.

[0037] Figure 21 As shown Figure 20 A partial enlarged view of the dexterous hand finger shown in the S region.

[0038] Figure 22 As shown Figure 20 A partial enlarged view of the dexterous hand finger shown in the T region.

[0039] Figure 23 The figure shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present disclosure.

[0040] Figure 24The following is a schematic structural diagram of a robot provided by an embodiment of the present disclosure.

[0041] Reference numerals:

[0042] 11. Robot; 1. Dexterous hand; 10. Dexterous hand finger; 101. Dorsal side of the hand; 102. Palm side of the hand; 100. Mounting assembly; 1001. First guiding hole; 1002. Second guiding hole; 1003. Fifth guiding hole; 1004. Fifth shaft hole; 200. Side swing base; 210. Second connecting part; 2001. First shaft hole; 2002. Sixth shaft hole; 2003. Sixth guiding hole; 300. First finger joint; 301. First side; 3001. Third guiding hole; 302. Second side; 3002. Fourth guiding hole; 3003. Second shaft hole; 3004. Third shaft hole; 3005. First receiving groove; 3006. Second receiving groove; 310. Third connecting part; 320. Fourth connecting part; 400. Interphalangeal joint assembly; 4010. First connecting part; 4020. Fifth connecting part; 4001. Fourth shaft hole; 410. Second finger joint; 4101. Arc-shaped avoidance groove; 4102. Third receiving groove; 420. Third finger joint; 430. Rocker; 500. First tendon cord; 600. Second tendon cord; 700. Third tendon cord; 800. Fourth tendon cord; 900. First elastic member; 1000. Second elastic member; 1100. Tendon cord sleeve assembly; 1110. Sleeve; 1111. Inner sleeve; 1112. Outer sleeve; 1120. Connecting member; 1200. First core shaft; 1300. Second core shaft; 1400. First magnetic member; 1500. Second magnetic member; 1600. Integrated sensor; 1610. First sensing part; 1620. Second sensing part; 1700. Third core shaft; 1701. Seventh guiding hole; 1800. First limiting member; 1900. Second limiting member; 2000. First guiding shaft; 2100. Second guiding shaft; 2200. Third guiding shaft; 2300. Fourth guiding shaft; 2400. Third limiting member; 2500. Guide wheel; 2600. Third magnetic member; 2700. Sensor; 2800. Fourth core shaft; 2900. Fourth limiting member; L1. First axis; L2. Second axis; L3. Third axis; L4. Fourth axis; L5. Fifth axis; L6. Sixth axis; X1. First direction; X2. Second direction; X3. Third direction; 20. Palm substrate; 30. Dexterous hand thumb. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts belong to the scope of protection of the present disclosure.

[0044] Figure 1 The following is a schematic structural diagram of a dexterous hand finger provided by an embodiment of the present disclosure. Figure 2 The following is a schematic structural diagram of a dexterous hand finger provided by another embodiment of the present disclosure. Figure 3 The following is a top view of a dexterous hand finger provided by an embodiment of the present disclosure. Figure 4 The following shows Figure 3 A cross-sectional view of the dexterous hand finger shown in the A-A direction. Figure 5 The following shows Figure 4 A partial enlarged view of the dexterous hand finger shown in the B region. Figure 6 The following shows Figure 4 A partial enlarged view of the dexterous hand finger shown in the C region. Figure 23 The following is a schematic structural diagram of a dexterous hand provided by an embodiment of the present disclosure. As Figures 1 to 6 and Figure 23 shown, the dexterous hand finger 10 can be installed on the palm substrate 20, and the dexterous hand finger 10 has a back side 101 and a palm side 102 arranged opposite to each other. The dexterous hand finger 10 includes a mounting assembly 100, a side swing base 200, a first phalanx 300, an interphalangeal phalanx assembly 400, a first tendon cord 500, a second tendon cord 600, and a third tendon cord 700.

[0045] The mounting assembly 100 can be installed on the palm substrate 20, and the mounting assembly 100 has a first guide hole 1001 and a second guide hole 1002 arranged opposite to each other in the first direction X1. The side swing base 200 is rotatably connected to the mounting assembly 100 around a first axis L1, and the first axis L1 is located between the first guide hole 1001 and the second guide hole 1002. The first phalanx 300 is rotatably connected to the side swing base 200 around a second axis L2. The second axis L2 is perpendicular to the first axis L1. In a direction parallel to the extension direction of the second axis L2, a surface of the first phalanx 300 close to the palm side 102 has opposite first side 301 and second side 302, the first side 301 is close to the first guide hole 1001, and the second side 302 is close to the second guide hole 1002.

[0046] The interphalangeal joint component 400 is rotatably connected to the first phalanx 300 about the third axis L3. The third axis L3 is parallel to the second axis L2. The first end of the first tendon cord 500 can be connected to the first driving component, and the second end of the first tendon cord 500 passes through the first guiding hole 1001 and is connected to the first side 301. The first end of the second tendon cord 600 can be connected to the second driving component, and the second end of the second tendon cord 600 passes through the second guiding hole 1002 and is connected to the second side 302. The first end of the third tendon cord 700 can be connected to the third driving component, and the second end of the third tendon cord 700 passes through the first axis L1, passes through the second axis L2, bypasses one side of the third axis L3 close to the palm side 102, and is connected to the interphalangeal joint component 400.

[0047] The dexterous hand finger 10 uses the first tendon cord 500 and the second tendon cord 600 to pull the first phalanx 300, so that the first phalanx 300 bends or swings laterally, and uses the third tendon cord 700 to pull the interphalangeal joint component 400, so that the interphalangeal joint component 400 bends, thereby realizing three degrees of freedom of the dexterous hand finger 10 and endowing the dexterous hand finger 10 with a high degree of freedom. In addition, the three degrees of freedom of the dexterous hand finger 10 are all driven by tendon cords, making the structure of the dexterous hand finger 10 simple and compact, with a small size and low cost.

[0048] Exemplarily, the first driving component drives the first tendon cord 500 to pull the first side 301 of the first phalanx 300, the second driving component simultaneously drives the second tendon cord 600 to pull the second side 302 of the first phalanx 300, and the pulling force of the first tendon cord 500 on the first side 301 is the same as the pulling force of the second tendon cord 600 on the second side 302, so that the first phalanx 300 bends.

[0049] Exemplarily, the first driving component drives the first tendon cord 500 to pull the first side 301 of the first phalanx 300, the second driving component simultaneously drives the second tendon cord 600 to pull the second side 302 of the first phalanx 300, and the pulling force of the first tendon cord 500 on the first side 301 is different from the pulling force of the second tendon cord 600 on the second side 302, so that the first phalanx 300 swings laterally. Exemplarily, the first driving component drives the first tendon cord 500 to pull the first side 301 of the first phalanx 300, and the second driving component does not drive the second tendon cord 600, so that the first phalanx 300 swings laterally. Exemplarily, the second driving component drives the second tendon cord 600 to pull the second side 302 of the first phalanx 300, and the first driving component does not drive the first tendon cord 500, so that the first phalanx 300 swings laterally.

[0050] Specifically, the rotatable connection mentioned in the present disclosure can be realized by means of a hole-shaft connection, which will not be elaborated hereinafter. Exemplarily, as Figure 1 and Figure 5As shown, the mounting assembly 100 has a fifth shaft hole 1004 extending along the first axis L1, the side-swing base 200 has a sixth shaft hole 2002 extending along the first axis L1, and the dexterous hand finger 10 further includes a third mandrel 1700. The third mandrel 1700 passes through the fifth shaft hole 1004 and the sixth shaft hole 2002 and is connected to the sixth shaft hole 2002, and rotates with the side-swing base 200. Exemplarily, the third mandrel 1700 has a seventh guiding hole 1701, and the second end of the third tendon cord 700 passes through the seventh guiding hole 1701 to prevent the third tendon cord 700 from being coupled to the first phalanx 300.

[0051] In some embodiments, as Figure 1 and Figure 2 shown, both the first guiding hole 1001 and the second guiding hole 1002 extend along the second direction X2. The second direction X2 is perpendicular to the first axis L1 and perpendicular to the first direction X1.

[0052] By defining the guiding directions of the first guiding hole 1001 and the second guiding hole 1002, the first tendon cord 500 is respectively kept in an extended state and passes through the first guiding hole 1001, and the second tendon cord 600 is kept in an extended state and passes through the second guiding hole 1002, thereby reducing the bending states of the first tendon cord 500 and the second tendon cord 600, ensuring that the first tendon cord 500 and the second tendon cord 600 can respectively smoothly pull the first side 301 and the second side 302, and thus ensuring the driving efficiency and dexterity of the first tendon cord 500 and the second tendon cord 600.

[0053] Specifically, according to the design principle, when the first tendon cord 500 and the second tendon cord 600 pass through the mounting assembly 100, they need to extend along the second direction X2. By defining the guiding directions of the first guiding hole 1001 and the second guiding hole 1002 as the second direction X2, the first tendon cord 500 and the second tendon cord 600 can extend in the original design directions, reducing the bending of the first tendon cord 500 and the second tendon cord 600 caused by reasons such as lack of restraint.

[0054] In some embodiments, as [[ID= 、 ​ 、 ​ shown, the first side 301 of the first phalanx 300 has a third guiding hole 3001 extending along the third direction X3, and the second side 302 of the first phalanx 300 has a fourth guiding hole 3002 extending along the third direction X3. The third direction X3 is perpendicular to the first axis L1 and perpendicular to the second axis L2. The second end of the first tendon cord 500 passes through the first guiding hole 1001 and the third guiding hole 3001 and then is connected to the first side 301. The second end of the second tendon cord 600 passes through the second guiding hole 1002 and the fourth guiding hole 3002 and then is connected to the second side 302.

[0055] By defining the guiding directions of the third guiding hole 3001 and the fourth guiding hole 3002, the first tendon rope 500 is made to pass through the third guiding hole 3001 in a stretched state, and the second tendon rope 600 is made to pass through the fourth guiding hole 3002 in a stretched state, thereby further reducing the bending states of the first tendon rope 500 and the second tendon rope 600, further ensuring that the first tendon rope 500 and the second tendon rope 600 can respectively smoothly pull the first side 301 and the second side 302, and thus further ensuring the driving efficiency and dexterity of the first tendon rope 500 and the second tendon rope 600.

[0056] Specifically, according to the design principle, when the first tendon rope 500 and the second tendon rope 600 pass through the first finger joint 300, they need to extend in the third direction X3. By defining the guiding directions of the third guiding hole 3001 and the fourth guiding hole 3002 as the third direction X3, the first tendon rope 500 and the second tendon rope 600 can extend in the original design direction, reducing the bending of the first tendon rope 500 and the second tendon rope 600 caused by reasons such as lack of restraint.

[0057] Exemplarily, the second end of the first tendon rope 500 is knotted, and the knotted part is clamped with the end of the third guiding hole 3001 to realize the connection between the second end of the first tendon rope 500 and the first side 301. Exemplarily, the second end of the second tendon rope 600 is knotted, and the knotted part is clamped with the end of the fourth guiding hole 3002 to realize the connection between the second end of the second tendon rope 600 and the second side 302.

[0058] Exemplarily, as ​ shown, one side of the first side 301 close to the interphalangeal joint assembly 400 has a first receiving groove 3005. The first receiving groove 3005 communicates with the third guiding hole 3001 in the third direction X3, and the radial dimension of the first receiving groove 3005 is larger than the radial dimension of the third guiding hole 3001. The dexterous hand finger 10 further includes a first limiting member 1800. The first limiting member 1800 is located in the first receiving groove 3005 and is connected to the second end of the first tendon rope 500. The first limiting member 1800 is clamped with the end of the third guiding hole 3001 to realize the connection between the second end of the first tendon rope 500 and the first side 301. Exemplarily, the first limiting member 1800 can be separately provided or integrally formed with the first tendon rope 500.

[0059] Exemplarily, as ​As shown, on the side of the second side 302 close to the interphalangeal joint assembly 400, there is a second receiving groove 3006. The second receiving groove 3006 communicates with the fourth guiding hole 3002 in the third direction X3, and the radial dimension of the second receiving groove 3006 is larger than that of the fourth guiding hole 3002. The dexterous hand finger 10 further includes a second limiting member 1900. The second limiting member 1900 is located in the second receiving groove 3006 and is connected to the second end of the second tendon cord 600. The second limiting member 1900 is clamped with the end of the fourth guiding hole 3002 to realize the connection between the second end of the second tendon cord 600 and the second side 302. Exemplarily, the second limiting member 1900 can be separately provided or integrally formed with the second tendon cord 600.

[0060] In some embodiments, as ​ , ​ and ​ shown, the dexterous hand finger 10 further includes a fourth tendon cord 800. The first end of the fourth tendon cord 800 can be connected to the fourth driving assembly, and the second end of the fourth tendon cord 800 is connected to the first connecting portion 4010 of the interphalangeal joint assembly 400. The first connecting portion 4010 is located on the back of the hand side 101 close to the third axis L3. The fourth driving assembly is used to drive the fourth tendon cord 800 to pull the interphalangeal joint assembly 400 to reset, so that the interphalangeal joint assembly 400 extends.

[0061] In addition, when the first tendon cord 500 and the second tendon cord 600 pull the first phalanx 300 to swing laterally, the fourth tendon cord 800 can simultaneously pull the interphalangeal joint assembly 400 to reset, so that the dexterous hand finger 10 can swing laterally in the extended state.

[0062] As ​ and ​ shown, the dexterous hand finger 10 further includes a first guiding shaft 2000, a second guiding shaft 2100, a third guiding shaft 2200 and a fourth guiding shaft 2300 extending along the first direction X1. The first guiding shaft 2000 is connected to the lateral swing base 200, the second guiding shaft 2100 and the third guiding shaft 2200 are respectively connected to the first phalanx 300, and the fourth guiding shaft 2300 is connected to the first connecting portion 4010. The second end of the fourth tendon cord 800 bypasses the side of the first guiding shaft 2000 close to the palm side 102, bypasses the side of the second guiding shaft 2100 close to the back of the hand side 101, bypasses the side of the third guiding shaft 2200 close to the palm side 102, and bypasses the side of the fourth guiding shaft 2300 close to the palm side 102 and then is connected to the first connecting portion 4010. The first guiding shaft 2000, the second guiding shaft 2100, the third guiding shaft 2200 and the fourth guiding shaft 2300 respectively guide the extending direction of the fourth tendon cord 800 to prevent the fourth tendon cord 800 from detaching from the first phalanx 300 and the interphalangeal joint assembly 400 of the dexterous hand finger 10 or getting entangled with other structures of the dexterous hand finger 10.

[0063] Exemplarily, as ​ shown, the first connecting portion 4010 may be the fourth guiding shaft 2300. By winding the second end of the fourth tendon cord 800 around the fourth guiding shaft 2300, the connection between the second end of the fourth tendon cord 800 and the first connecting portion 4010 is achieved.

[0064] Exemplarily, there is a gap between the fourth guiding shaft 2300 and the first connecting portion 4010. The dexterous hand finger 10 further includes a third limiting member 2400, and the third limiting member 2400 is located in the gap between the fourth guiding shaft 2300 and the first connecting portion 4010. The third limiting member 2400 is connected to the second end of the fourth tendon cord 800, and the two side walls of the third limiting member 2400 are respectively in contact with the fourth guiding shaft 2300 and the first connecting portion 4010, that is, the third limiting member 2400 is stuck in the gap between the fourth guiding shaft 2300 and the first connecting portion 4010 to achieve the connection between the second end of the fourth tendon cord 800 and the first connecting portion 4010. Exemplarily, the third limiting member 2400 may be separately provided or integrally formed with the fourth tendon cord 800.

[0065] Exemplarily, as ​ shown, the dexterous hand finger 10 further includes at least two guide wheels 2500, and the guide wheels 2500 can be rotatably connected to the first phalanx 300. The first guide wheel 2500 is close to the side swing base 200, and the second guide wheel 2500 is located between the first guide wheel 2500 and the interphalangeal joint assembly 400. The second end of the third tendon cord 700 passes through the first axis L1, passes through the second axis L2, bypasses the side close to the back of the hand 101 of the first guide wheel 2500, bypasses the side close to the palm 102 of the second guide wheel 2500, bypasses the side close to the palm 102 of the third axis L3, and is connected to the interphalangeal joint assembly 400. The second end of the third tendon cord 700 is guided by the guide wheels 2500, reducing the friction between the third tendon cord 700 and the first phalanx 300.

[0066] In some embodiments, as ​As shown, the finger 10 of the dexterous hand further includes a first elastic member 900 and a second elastic member 1000. The first end of the first elastic member 900 is connected to the second connecting portion 210 of the side-swing base 200, and the second end of the first elastic member 900 is connected to the third connecting portion 310 of the first phalanx 300. The second connecting portion 210 is located on the back-of-hand side 101 close to the second axis L2, and the third connecting portion 310 is located on the back-of-hand side 101 close to the third axis L3. The first end of the second elastic member 1000 is connected to the fourth connecting portion 320 of the first phalanx 300, and the second end of the second elastic member 1000 is connected to the fifth connecting portion 4020 of the interphalangeal phalanx assembly 400. The fourth connecting portion 320 is located on the back-of-hand side 101 close to the third axis L3, and the fifth connecting portion 4020 is located on the back-of-hand side 101 close to the third axis L3.

[0067] The elastic restoring force of the first elastic member 900 is used to pull the first phalanx 300 back to its original position to extend the first phalanx 300. The elastic restoring force of the second elastic member 1000 is used to pull the interphalangeal phalanx assembly 400 back to its original position to extend the interphalangeal phalanx assembly 400.

[0068] In addition, when the first tendon cord 500 and the second tendon cord 600 pull the first phalanx 300 to swing laterally, the first elastic member 900 provides a pulling force for the first phalanx 300, and the second elastic member 1000 provides a pulling force for the interphalangeal phalanx assembly 400, so that the finger 10 of the dexterous hand can swing laterally in the extended state.

[0069] Exemplarily, the first elastic member 900 can be an elastic structure such as a spring or a rubber member. Exemplarily, the second elastic member 1000 can be an elastic structure such as a spring or a rubber member.

[0070] Exemplarily, as ​ shown, the first end of the first elastic member 900 is connected to the first guide shaft 2000. For example, the first end of the first elastic member 900 is sleeved on the first guide shaft 2000 to connect the first end of the first elastic member 900 to the second connecting portion 210. Exemplarily, the second end of the first elastic member 900 is connected to the second guide shaft 2100. For example, the second end of the first elastic member 900 is sleeved on the second guide shaft 2100 to connect the second end of the first elastic member 900 to the third connecting portion 310. Exemplarily, the first end of the second elastic member 1000 is connected to the third guide shaft 2200. For example, the first end of the second elastic member 1000 is sleeved on the third guide shaft 2200 to connect the first end of the second elastic member 1000 to the fourth connecting portion 320. Exemplarily, the second end of the second elastic member 1000 is connected to the fourth guide shaft 2300. For example, the second end of the second elastic member 1000 is sleeved on the fourth guide shaft 2300 to connect the second end of the second elastic member 1000 to the fifth connecting portion 4020.

[0071] In some embodiments, as ​ , ​ , ​ and ​ shown, the mounting assembly 100 has a fifth guiding hole 1003. The dexterous hand finger 10 further includes a plurality of tendon sleeve assemblies 1100. The first ends of at least three tendon sleeve assemblies 1100 are respectively connected to the mounting assembly 100 and aligned with the first guiding hole 1001, the second guiding hole 1002, and the fifth guiding hole 1003. The first end of the first tendon 500 passes through the first guiding hole 1001, passes through the tendon sleeve assembly 1100 aligned with the first guiding hole 1001, and then is connected to the first driving assembly. The first end of the second tendon 600 passes through the second guiding hole 1002, passes through the tendon sleeve assembly 1100 aligned with the second guiding hole 1002, and then is connected to the second driving assembly. The first end of the third tendon 700 passes through the fifth guiding hole 1003, passes through the tendon sleeve assembly 1100 aligned with the fifth guiding hole 1003, and then is connected to the third driving assembly.

[0072] As ​ , ​ and ​ shown, when the dexterous hand finger 10 includes a fourth tendon 800, the side swing base 200 has a sixth guiding hole 2003. The first end of at least one tendon sleeve assembly 1100 is connected to the side swing base 200 and aligned with the sixth guiding hole 2003. The first end of the fourth tendon 800 passes through the sixth guiding hole 2003, passes through the tendon sleeve assembly 1100 aligned with the sixth guiding hole 3003, and then is connected to the fourth driving assembly.

[0073] The plurality of tendon sleeve assemblies 1100 are used to guide the first tendon 500, the second tendon 600, the third tendon 700, and the fourth tendon 800 respectively, preventing the first tendon 500, the second tendon 600, the third tendon 700, and the fourth tendon 800 from being entangled on the paths connecting to the corresponding driving assemblies.

[0074] In some embodiments, as ​ , ​ , ​ and ​As shown, the tendon rope sleeve assembly 1100 includes a sleeve 1110 and a connecting member 1120. The sleeve 1110 is for the first tendon rope 500, the second tendon rope 600, or the third tendon rope 700 to pass through. In the case where the dexterous hand finger 10 includes a fourth tendon rope 800, the sleeve 1110 is also for the fourth tendon rope 800 to pass through. The connecting member 1120 is connected to one end of the sleeve 1110. At least three connecting members 1120 included in the tendon rope sleeve assembly 1100 are detachably connected to the mounting assembly 100. In the case where the dexterous hand finger 10 includes a fourth tendon rope 800, at least one connecting member 1120 included in the tendon rope sleeve assembly 1100 is detachably connected to the side swing base 200.

[0075] Through the above settings, a modular design of multiple tendon rope sleeve assemblies 1100 can be achieved, so that when disassembling and assembling the dexterous hand finger 10, the tendon rope sleeve assembly 1100 can be disassembled and assembled as a whole, thereby further improving the modularity of the dexterous hand finger 10.

[0076] Specifically, when disassembling and assembling the mounting assembly 100, at least three tendon rope sleeve assemblies 1100 connected to the mounting assembly 100 can be disassembled and assembled as a whole. In the case where the dexterous hand finger 10 includes a fourth tendon rope 800, at least one connecting member 1120 included in the tendon rope sleeve assembly 1100 is detachably connected to the side swing base 200. When disassembling and assembling the side swing base 200, at least one tendon rope sleeve assembly 1100 connected to the side swing base 200 can be disassembled and assembled as a whole.

[0077] In addition, at least three connecting members 1120 included in the tendon rope sleeve assembly 1100 are detachably connected to the mounting assembly 100 to facilitate the maintenance and replacement of the tendon rope sleeve assembly 1100 connected to the mounting assembly 100. At least one connecting member 1120 included in the tendon rope sleeve assembly 1100 is detachably connected to the side swing base 200 to facilitate the replacement and maintenance of the tendon rope sleeve assembly 1100 connected to the side swing base 200.

[0078] Exemplarily, the above-mentioned detachable connection can be realized through detachable connection forms such as bolt nuts, screws, buckles, magnetic attraction, etc.

[0079] In some embodiments, such as ​ 、 ​ 、 ​ and ​As shown, the sleeve 1110 includes an inner sleeve 1111 and an outer sleeve 1112. The inner sleeve 1111 is for the first tendon cord 500, the second tendon cord 600, or the third tendon cord 700 to pass through. In the case where the dexterous hand finger 10 includes a fourth tendon cord 800, the inner sleeve 1111 is also for the fourth tendon cord 800 to pass through. The outer sleeve 1112 wraps around the outside of the inner sleeve 1111. The outer sleeve 1112 is elastic, the hardness of the outer sleeve 1112 is greater than that of the inner sleeve 1111, and the friction coefficient of the inner sleeve 1111 is less than that of the outer sleeve 1112.

[0080] The inner sleeve 1111 has a low friction coefficient, which can reduce the friction on the tendon cords (e.g., the first tendon cord 500, the second tendon cord 600, the third tendon cord 700, or the fourth tendon cord 800). The outer sleeve 1112 is elastic, which facilitates the shaping of the sleeve 1110, and the outer sleeve 1112 has a certain hardness, which can reduce the deformation of the sleeve 1110 when subjected to external forces, so as to protect the tendon cords inside the inner sleeve 1111 and reduce the extrusion on the tendon cords.

[0081] Exemplarily, the material of the inner sleeve 1111 can be Teflon, and the material of the outer sleeve 1112 can be a metal material, such as stainless steel, aluminum, etc.

[0082] In some embodiments, as ​ and ​ shown, the yaw base 200 has a first shaft hole 2001 extending along the second axis L2, the first finger joint 300 has a second shaft hole 3003 extending along the second axis L2 and a third shaft hole 3004 extending along the third axis L3, and the interphalangeal joint assembly 400 has a fourth shaft hole 4001 extending along the third axis L3. The dexterous hand finger 10 further includes a first mandrel 1200, a second mandrel 1300, a first magnetic member 1400, a second magnetic member 1500, and an integrated sensor 1600.

[0083] The first mandrel 1200 passes through the first shaft hole 2001 and the second shaft hole 3003 and is connected to the second shaft hole 3003, and rotates with the first finger joint 300. The second mandrel 1300 passes through the third shaft hole 3004 and the fourth shaft hole 4001 and is connected to the fourth shaft hole 4001, and rotates with the interphalangeal joint assembly 400. The first magnetic member 1400 is disposed at the end of the first mandrel 1200 and is coaxially disposed with the first mandrel 1200. The second magnetic member 1500 is disposed at the end of the second mandrel 1300 and is coaxially disposed with the second mandrel 1300.

[0084] The integrated sensor 1600 is connected to the first finger joint 300. The integrated sensor 1600 includes a first sensing portion 1610 and a second sensing portion 1620. The first sensing portion 1610 is coaxially arranged with the first magnetic member 1400 and is configured to detect the absolute position of the first magnetic member 1400. The second sensing portion 1620 is coaxially arranged with the second magnetic member 1500 and is configured to detect the absolute position of the second magnetic member 1500.

[0085] The absolute position of the first magnetic member 1400 is detected by the first sensing portion 1610 to detect the rotation angle of the first finger joint 300. The absolute position of the second magnetic member 1500 is detected by the second sensing portion 1620 to detect the rotation angle of the interphalangeal joint assembly 400.

[0086] In addition, the first sensing portion 1610 and the second sensing portion 1620 are integrated by the integrated sensor 1600, which facilitates connecting one output end of the integrated sensor 1600 to the control system to simplify the layout of the connecting wires of the output end of the integrated sensor 1600.

[0087] Exemplarily, the integrated sensor 1600 can be a Hall sensor. The integrated sensor 1600 uses the Hall principle to detect the absolute positions of the first magnetic member 1400 and the second magnetic member 1500, with accurate detection and convenient installation.

[0088] Exemplarily, as ​ and ​ shown, the dexterous hand finger 10 further includes a third magnetic member 2600 and a sensor 2700. The third magnetic member 2600 is disposed at the end of the third core shaft 1700 and is coaxially arranged with the third core shaft 1700. The sensor 2700 is connected to the mounting assembly 100 and is coaxially arranged with the third core shaft 1700, and is configured to detect the absolute position of the third magnetic member 2600 to detect the swing angle of the swing base 200.

[0089] Exemplarily, the sensor 2700 can be a Hall sensor. The sensor 2700 uses the Hall principle to detect the absolute position of the third magnetic member 2600, with accurate detection and convenient installation.

[0090] In some embodiments, as ​ 、 ​ 、 ​ 、 ​ 、 ​ and ​As shown, the interphalangeal joint assembly 400 includes a second phalanx 410, a third phalanx 420, and a rocker 430. The second phalanx 410 is rotatably connected to the first phalanx 300 about a third axis L3. The third phalanx 420 is rotatably connected to the second phalanx 410 about a fourth axis L4, and the fourth axis L4 is parallel to the third axis L3. The first end of the rocker 430 is connected to the second phalanx 410, and the second end of the rocker 430 is connected to the third phalanx 420. In a cross-section perpendicular to the fourth axis L4, the line connecting the first end and the second end of the rocker 430 intersects the line connecting the third axis L3 and the fourth axis L4.

[0091] Exemplarily, as ​ shown, the first end of the rocker 430 is rotatably connected to the second phalanx 410 about a fifth axis L5, and the second end of the rocker 430 is rotatably connected to the third phalanx 420 about a sixth axis L6. The fifth axis L5 and the sixth axis L6 are respectively parallel to the third axis L3.

[0092] Exemplarily, as ​ shown, in a cross-section perpendicular to the fourth axis L4, the orthographic projections of the third axis L3, the fourth axis L4, the fifth axis L5, and the sixth axis L6 are respectively point M, point N, point P, and point Q. The line connecting point M and point N represents rod MN. The line connecting point N and point Q represents rod NQ. The line connecting point Q and point P represents rod QP. The line connecting point P and point M represents rod PM. Rod MN, rod NQ, rod QP, and rod PM form a four-bar linkage. Rod PM is the frame of the four-bar linkage, rod MN is the crank of the four-bar linkage, rod NQ is the connecting rod of the four-bar linkage, and rod QP is the rocker 430 of the four-bar linkage. The crank is the driving rod and moves under the drive of the third tendon 700. The crank drives the connecting rod and the rocker in sequence, realizing the bending of the third phalanx 420.

[0093] Exemplarily, as ​ shown, the dexterous hand finger 10 further includes a fourth mandrel 2800. The fourth mandrel 2800 extends along the sixth axis L6 and is rotatably connected to the second end of the rocker 430. The second phalanx 410 has an arc-shaped avoidance groove 4101. The fourth mandrel 2800 passes through the arc-shaped avoidance groove 4101 and is connected to the third phalanx 420.

[0094] Specifically, as ​ and ​As shown, the second end of the third tendon cord 700 is connected to the second phalanx 410. Exemplarily, on one side of the second phalanx 410 near the palm side 102, there is a third receiving groove 4102. The second end of the third tendon cord 700 is knotted, and the knotted part is clamped with the end of the third receiving groove 4102 to achieve the connection between the second end of the third tendon cord 700 and the second phalanx 410; alternatively, the dexterous hand finger 10 further includes a fourth limiting member 2900. The fourth limiting member 2900 is located in the third receiving groove 4102 and is connected to the second end of the third tendon cord 700. The fourth limiting member 2900 is clamped with the end of the third receiving groove 4102 to achieve the connection between the second end of the third tendon cord 700 and the second phalanx 410. Exemplarily, the fourth limiting member 2900 can be separately provided or integrally formed with the third tendon cord 700.

[0095] ​ The following shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present disclosure. As ​ and ​ shown, the dexterous hand 1 includes the dexterous hand finger 10 and the palm substrate 20 mentioned in the above embodiment. The mounting assembly 100 of the dexterous hand finger 10 is mounted on the palm substrate 20.

[0096] Exemplarily, the dexterous hand finger 10 can be the index finger of the dexterous hand, the middle finger of the dexterous hand, the ring finger of the dexterous hand, or the little finger of the dexterous hand. Exemplarily, as ​ shown, the dexterous hand 1 includes four dexterous hand fingers 10, which are respectively the index finger of the dexterous hand, the middle finger of the dexterous hand, the ring finger of the dexterous hand, or the little finger of the dexterous hand. Exemplarily, the dexterous hand 1 further includes a dexterous thumb 30, and the dexterous thumb 30 is mounted on the palm substrate 20.

[0097] Since the dexterous hand 1 includes the dexterous hand finger 10, the dexterous hand 1 has all the technical features and technical effects of the dexterous hand finger 10, which will not be elaborated here.

[0098] ​ The following shows a schematic structural diagram of a robot provided by an embodiment of the present disclosure. As ​ shown, the robot 11 includes the dexterous hand 1 mentioned in the above embodiment. Exemplarily, the robot 11 can be a humanoid robot, a collaborative robot, a handling robot, etc.

[0099] Since the robot 11 includes the dexterous hand 1, the robot 11 has all the technical features and technical effects of the dexterous hand 1, which will not be elaborated here.

[0100] In various embodiments of the present disclosure, if the form of connection is not explicitly defined, the form of connection may be a detachable connection form such as by bolts and nuts, screws, buckles, magnetic attraction, etc. In some connections, if there is no special requirement for the form of non-detachable cooperation, non-detachable connection can be carried out by welding, bonding, etc.

[0101] The phrases "an embodiment" and "embodiment" mentioned in the specification indicate that the described embodiment may include specific features, structures, or characteristics, but not necessarily every embodiment includes such specific features, structures, or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. Moreover, when combining a specific feature, structure, or characteristic with an embodiment, it is within the knowledge scope of those skilled in the art to implement such a feature, structure, or characteristic in combination with other embodiments, whether explicitly or implicitly described.

[0102] It should be understood that the terms "on", "above", and "over" in the present disclosure should be interpreted in the broadest manner, so that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over something", but may also include the meaning of "above" or "over something" with no intermediate features or layers therebetween (i.e., directly on something).

[0103] In addition, for the convenience of description, spatial relative terms may be used in the text, such as "below", "beneath", "under", "above", "over", etc., to describe the relationship of one component or feature relative to other components or features as shown in the figure. Spatial relative terms are intended to include different orientations of the components in use or operation in addition to the orientation shown in the drawings. The device may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive words used in the text may be interpreted accordingly.

[0104] It should be noted that in this text, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed, or elements inherent to such a process, method, article, or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of another identical element in the process, method, article, or device comprising the said element.

[0105] The above are only the preferred embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A dexterous hand finger, characterized in that, The dexterous hand finger can be mounted on the palm substrate, and has a back side and a palm side arranged opposite to each other. The dexterous hand finger includes: A mounting component that can be mounted on the palm substrate. The mounting component has a first guiding hole and a second guiding hole arranged opposite to each other in a first direction; A side-swing base that is rotatably connected to the mounting component around a first axis. The first axis is located between the first guiding hole and the second guiding hole; A first finger joint that is rotatably connected to the side-swing base around a second axis. The second axis is perpendicular to the first axis. Wherein, in a direction parallel to the extending direction of the second axis, on the side of the first finger joint close to the palm side, there are a first side edge and a second side edge opposite to each other. The first side edge is close to the first guiding hole, and the second side edge is close to the second guiding hole; An interphalangeal finger joint component that is rotatably connected to the first finger joint around a third axis. The third axis is parallel to the second axis; A first tendon cord. The first end of the first tendon cord can be connected to a first driving component. The second end of the first tendon cord passes through the first guiding hole and is connected to the first side edge; A second tendon cord. The first end of the second tendon cord can be connected to a second driving component. The second end of the second tendon cord passes through the second guiding hole and is connected to the second side edge; A third tendon cord. The first end of the third tendon cord can be connected to a third driving component. The second end of the third tendon cord passes through the first axis, passes through the second axis, bypasses the side close to the palm side of the third axis, and is connected to the interphalangeal finger joint component.

2. The dexterous hand finger according to claim 1, wherein Both the first guiding hole and the second guiding hole extend along a second direction. The second direction is perpendicular to the first axis and perpendicular to the first direction; And / or On the first side edge of the first finger joint, there is a third guiding hole extending along a third direction. On the second side edge of the first finger joint, there is a fourth guiding hole extending along the third direction. The third direction is perpendicular to the first axis and perpendicular to the second axis. Wherein, the second end of the first tendon cord passes through the first guiding hole and the third guiding hole and then is connected to the first side edge. The second end of the second tendon cord passes through the second guiding hole and the fourth guiding hole and then is connected to the second side edge.

3. The dexterous hand finger according to claim 1, characterized in that The dexterous hand finger further includes: A fourth tendon cord. The first end of the fourth tendon cord can be connected to a fourth driving component. The second end of the fourth tendon cord is connected to a first connecting portion of the interphalangeal finger joint component. The first connecting portion is located on the side close to the back side of the third axis; And / or The dexterous hand finger further includes: A first elastic member. The first end of the first elastic member is connected to a second connecting portion of the side-swing base. The second end of the first elastic member is connected to a third connecting portion of the first finger joint. The second connecting portion is located on the side close to the back side of the second axis. The third connecting portion is located on the side close to the back side of the third axis; A second elastic member, a first end of the second elastic member is connected to a fourth connecting portion of the first finger joint, a second end of the second elastic member is connected to a fifth connecting portion of the interphalangeal finger joint assembly, the fourth connecting portion is located on the back of the hand side close to the third axis, and the fifth connecting portion is located on the back of the hand side close to the third axis.

4. The dexterous hand finger according to any one of claims 1 to 3, characterized in that, The mounting assembly has a fifth guiding hole; The dexterous hand finger further includes: A plurality of tendon rope sleeve assemblies, first ends of at least three of the tendon rope sleeve assemblies are respectively connected to the mounting assembly and are respectively aligned with the first guiding hole, the second guiding hole and the fifth guiding hole; Wherein, a first end of the first tendon rope passes through the first guiding hole, passes through the tendon rope sleeve assembly aligned with the first guiding hole and then is connected to the first driving assembly; a first end of the second tendon rope passes through the second guiding hole, passes through the tendon rope sleeve assembly aligned with the second guiding hole and then is connected to the second driving assembly; a first end of the third tendon rope passes through the fifth guiding hole, passes through the tendon rope sleeve assembly aligned with the fifth guiding hole and then is connected to the third driving assembly; Wherein, when the dexterous hand finger includes a fourth tendon rope, the side swing base has a sixth guiding hole, a first end of at least one of the tendon rope sleeve assemblies is connected to the side swing base and is aligned with the sixth guiding hole, and a first end of the fourth tendon rope passes through the sixth guiding hole, passes through the tendon rope sleeve assembly aligned with the sixth guiding hole and then is connected to a fourth driving assembly.

5. The dexterous hand finger according to claim 4, characterized in that, The tendon rope sleeve assembly includes: A sleeve for the first tendon rope, the second tendon rope or the third tendon rope to pass through, and when the dexterous hand finger includes the fourth tendon rope, the sleeve also allows the fourth tendon rope to pass through; A connecting member connected to one end of the sleeve, the connecting members included in at least three of the tendon rope sleeve assemblies are detachably connected to the mounting assembly, and when the dexterous hand finger includes the fourth tendon rope, the connecting members included in at least one of the tendon rope sleeve assemblies are detachably connected to the side swing base.

6. The dexterous hand finger according to claim 5, characterized in that, The sleeve includes: An inner sleeve for the first tendon rope, the second tendon rope or the third tendon rope to pass through, and when the dexterous hand finger includes the fourth tendon rope, the inner sleeve also allows the fourth tendon rope to pass through; An outer sleeve wrapped outside the inner sleeve, the outer sleeve has elasticity, the hardness of the outer sleeve is greater than the hardness of the inner sleeve, and the friction coefficient of the inner sleeve is less than the friction coefficient of the outer sleeve.

7. The dexterous hand finger according to any one of claims 1 to 3, characterized in that, The side swing base has a first shaft hole extending along the second axis, the first finger joint has a second shaft hole extending along the second axis and a third shaft hole extending along the third axis, and the interphalangeal finger joint assembly has a fourth shaft hole extending along the third axis; The dexterous hand finger further includes: A first core shaft is inserted through the first shaft hole and the second shaft hole and is connected to the second shaft hole and rotates with the first finger joint; A second mandrel is disposed through the third shaft hole and the fourth shaft hole and is connected to the fourth shaft hole, and rotates with the interphalangeal joint assembly; A first magnetic member is disposed at an end of the first mandrel and is coaxially disposed with the first mandrel; A second magnetic member is disposed at an end of the second mandrel and is coaxially disposed with the second mandrel; An integrated sensor is connected to the first phalanx. The integrated sensor includes a first sensing portion and a second sensing portion. The first sensing portion is coaxially disposed with the first magnetic member and is configured to detect an absolute position of the first magnetic member. The second sensing portion is coaxially disposed with the second magnetic member and is configured to detect an absolute position of the second magnetic member.

8. The dexterous hand finger according to any one of claims 1 to 3, characterized in that The interphalangeal joint assembly includes: A second phalanx is rotatably connected to the first phalanx about the third axis; A third phalanx is rotatably connected to the second phalanx about a fourth axis, and the fourth axis is parallel to the third axis; A rocker, a first end of the rocker is connected to the second phalanx, and a second end of the rocker is connected to the third phalanx. Wherein, in a cross section perpendicular to the fourth axis, a connection line between the first end and the second end of the rocker intersects a connection line between the third axis and the fourth axis.

9. A dexterous hand, characterized in that, Comprising: A palm substrate; The dexterous hand finger according to any one of claims 1 to 8, and a mounting assembly of the dexterous hand finger is mounted on the palm substrate.

10. A robot, characterized in that, Comprising: The dexterous hand according to claim 9.

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