A mechanical dexterous hand finger and dexterous hand

Abstract

The present application relates to a kind of mechanical dexterous hand fingers and dexterous hand, which includes: palm base;Finger knuckles, which includes sequentially connected finger root knuckles, middle knuckles and distal knuckles;Finger root component, which includes finger root pivot installed on the palm base, spherical bearing is set on the finger root pivot and matches the installation finger root knuckles;Bending transmission mechanism, which includes driving bevel gear, driven bevel gear, finger root transmission member and finger flexion shaft;Side swing transmission mechanism, which includes side swing drive installed on palm base, and side swing transmission shaft is connected with the side swing drive, and the side swing transmission shaft keeps contact with the finger root knuckles in side swing operation.Compared with prior art, the present application can satisfy the side swing of dexterous hand finger joint, bending, while ensuring that it occupies small volume while providing certain gripping force and durability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot technology, and relates to a mechanical dexterous hand finger and dexterous hand. BACKGROUND

[0002] A robot dexterous hand is a robot hand device with high flexibility and precise control capability. It imitates the structure and function of a human hand, has multiple joints and knuckles, and can achieve precise movement and grasping capability. According to the driving mode, the dexterous hand is divided into two types of wire driving and electric driving. The wire-driven dexterous hand has compact structure, high sensitivity, but poor durability and reliability, and is difficult to assemble, and cannot be applied to industrial production at present. The electrically driven dexterous hand has durability and reliability, but cannot achieve compact structure and high degree of freedom.

[0003] The fingers of the dexterous hand can be divided into proximal joints, middle joints and distal joints according to the joints. At present, the structural innovation of the finger joints of the robot is mostly in the transmission structure of the middle joints and the distal joints to meet the bending function. For example, the robot dexterous hand finger base joint mechanism disclosed in patent CN101088721A meets the decoupling control of two knuckles through double-belt-wheel cross transmission; and due to the limited hand space, most dexterous hand fingers can realize the bending of knuckles, but cannot realize the lateral swinging of knuckles. At the same time, it cannot meet the gripping force of the hand. SUMMARY

[0004] The purpose of the present application is to provide a mechanical dexterous hand finger and dexterous hand to realize the decoupling of finger bending rotation and lateral swinging of two degrees of freedom, and meet the independent control of the two degrees of freedom of the finger.

[0005] The purpose of the present application can be achieved by the following technical solutions:

[0006] One of the technical solutions of the present application provides a mechanical dexterous hand finger, comprising:

[0007] a palm base;

[0008] a finger knuckle, comprising a finger root knuckle, a middle knuckle and a distal knuckle connected in sequence;

[0009] a finger root assembly, comprising a finger root rotating shaft rotatably installed on the palm base, and a spherical bearing arranged on the finger root rotating shaft and matched with the installation of the finger root knuckle;

[0010] The bending transmission mechanism comprises a driving bevel gear, a driven bevel gear, a finger base transmission element and a finger bending shaft, the driven bevel gear is fixedly sleeved on the finger base shaft, the driving bevel gear is installed on the palm base and engaged with the driven bevel gear, the finger bending shaft is fixedly installed on the finger base shaft and kept in contact with the finger base transmission element fixedly connected to the finger base during the bending rotation operation.

[0011] The side swing transmission mechanism comprises a side swing driving element installed on the palm base and a side swing transmission shaft connected with the side swing driving element, the side swing transmission shaft keeps in contact with the finger base during the side swing operation.

[0012] Further, the finger base transmission element comprises a U-shaped groove structure fixedly connected to the finger base, the finger bending shaft extends into the U-shaped groove structure and abuts against the side wall of the U-shaped groove structure during the bending rotation operation, thereby driving the finger base to bend and rotate together with the finger bending shaft.

[0013] Further, the finger bending shaft is further sleeved with a bearing sleeve which is in contact with the inner walls of the two sides of the U-shaped groove structure, thereby driving the finger base to bend and rotate together with the finger bending shaft.

[0014] Further, when the finger base is in the vertical state, the center axis of the driving bevel gear is collinear with the center axis of the finger bending shaft.

[0015] Further, the palm base is further installed with a bending motor, the output shaft end of the bending motor is connected with the driving bevel gear and used for driving the driving bevel gear to rotate.

[0016] Further, the side swing transmission shaft comprises a side swing rotation support connected with the output shaft of the side swing driving element and two transmission bearings installed on the side swing rotation support and located in the same plane, the transmission bearings keep abutting against the finger base, thereby driving the finger base to swing around the spherical bearing through the rotation of the side swing transmission shaft.

[0017] Further, the finger base is further fixedly provided with a bearing pressing plate (used for fixing the outer ring of the spherical bearing), the transmission bearings keep in contact with the bearing pressing plate, when the side swing rotation support is driven to rotate by the side swing driving element, the transmission bearings drive the bearing pressing plate and the finger base to swing.

[0018] Further, the finger base assembly further comprises a shaft fastener used for preventing the finger base shaft from moving along the axial direction thereof.

[0019] Further, the shaft fastener comprises an arc-shaped groove machined on the side surface of the finger base shaft along the axial direction perpendicular to the finger base shaft, a stop screw axially fixed relative to the palm base and extending into the arc-shaped groove, and a shaft snap ring installed on the end of the finger base shaft.

[0020] Further, the proximal phalanx is further connected with the middle phalanx and the distal phalanx in sequence, and the middle phalanx and the proximal phalanx and the distal phalanx and the middle phalanx are further rotatably connected respectively to realize the bendability at the joints.

[0021] The second technical solution of the present application provides a dexterous hand, which comprises the mechanical dexterous hand finger as any one of the above.

[0022] Compared with the prior art, the present application has the following advantages:

[0023] (1) The lateral swing and bending of the dexterous hand finger joint can be satisfied, while ensuring that a small volume is occupied and a certain gripping force and durability are provided. The core rotating shaft adopts a joint bearing (i.e. a spherical bearing) design, which is used as a main force bearing, and can withstand a large impact load.

[0024] (2) The decoupling of the two degrees of freedom of finger bending rotation and lateral swing is realized, the independent control of the two degrees of freedom of the finger is ensured, and the flexibility is ensured. At the same time, the lateral swing angle can reach 30°, and the palm envelope line can be expanded.

[0025] (3) The bevel gear transmission is adopted to ensure high control precision, large force transmission and large gripping force of the finger.

[0026] (4) The transmission structure design of bending rotation and lateral swing is ingenious, and a large range of finger movement is realized under a small volume.

[0027] (5) The joint bearing is used to ensure the durability of the finger joint due to its strong durability, large contact surface and impact resistance. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a front view structural schematic diagram of the dexterous hand finger of the present application;

[0029] Figure 2 It is a left view structural schematic diagram of the dexterous hand finger of the present application;

[0030] Figure 3 It is a structural schematic diagram of the bending transmission mechanism part of the present application;

[0031] Figure 4 It is a sectional view schematic diagram of the bending transmission mechanism part of the present application;

[0032] Figure 5 It is a connection schematic diagram of the finger flexion shaft part;

[0033] Figure 6 It is a top view schematic diagram of the finger flexion shaft and bearing sleeve part;

[0034] Figure 7 It is a connection schematic diagram of the finger flexion shaft and bearing sleeve part;

[0035] Figure 8 Figure 1 is a schematic diagram of the installation of the upper view of the driving bevel gear;

[0036] Figure 9 Figure 2 is a schematic diagram of the installation of the driving bevel gear;

[0037] Figure 10 Figure 3 is a schematic diagram of the side swing transmission shaft part;

[0038] Figure 11 Figure 4 is a schematic diagram of the top view of the side swing transmission shaft part;

[0039] Figure 12 Figure 5 is a schematic diagram of the side swing transmission mechanism;

[0040] Figure 13 Figure 6 is a schematic diagram of the robot finger joint part;

[0041] Figure 14 Figure 7 is a schematic diagram of the left view of the robot finger joint part;

[0042] Figure 8 is a mark description of the drawing:

[0043] 1-palm base;

[0044] 2-finger joint, 21-proximal joint, 22-middle joint, 23-distal joint;

[0045] 3-proximal assembly, 31-proximal rotation shaft, 32-spherical bearing, 33-arc slot, 34-stop screw, 35-axle clasp;

[0046] 4-flexible transmission mechanism, 41-driving bevel gear, 42-driven bevel gear, 43-proximal transmission member, 44-finger flexion shaft, 45-bearing sleeve, 46-flexion motor;

[0047] 5-side swing transmission mechanism, 51-side swing motor, 52-side swing rotation support, 53-transmission bearing, 54-bearing pressing plate. DETAILED DESCRIPTION

[0048] The present application will be described in detail below in conjunction with the drawings and specific embodiments. The embodiments are implemented on the premise of the technical solutions of the present application, and detailed implementation modes and specific operation processes are given, but the protection scope of the present application is not limited to the following embodiments.

[0049] In the following embodiments, if there is no special description of the function components or structures, it is indicated that they are all conventional components or conventional structures adopted in the field to realize the corresponding functions.

[0050] To realize the decoupling of the two degrees of freedom of finger bending rotation and lateral swing and to satisfy the individual control of the two degrees of freedom of the finger, the application provides a mechanical dexterous hand finger, the structure of which can be seen from Figures 1 to 14 as shown, comprising:

[0051] a palm base 1;

[0052] a finger knuckle 2, which comprises a proximal knuckle 21, a middle knuckle 22 and a distal knuckle 23 connected in sequence;

[0053] a proximal knuckle assembly 3, which comprises a proximal knuckle rotating shaft 31 rotatably mounted on the palm base 1 and a spherical bearing 32 arranged on the proximal knuckle rotating shaft 31 and matched with the proximal knuckle 21;

[0054] a bending transmission mechanism 4, which comprises a driving bevel gear 41, a driven bevel gear 42, a proximal knuckle transmission member 43 and a finger flexion shaft 44, the driven bevel gear 42 is fixedly sleeved on the proximal knuckle rotating shaft 31, the driving bevel gear 41 is mounted on the palm base 1 and engaged with the driven bevel gear 42, and the finger flexion shaft 44 is fixedly mounted on the proximal knuckle rotating shaft 31 and kept in contact with the proximal knuckle transmission member 43 fixedly connected to the proximal knuckle 21 in the bending rotation operation;

[0055] a lateral swing transmission mechanism 5, which comprises a lateral swing driving member mounted on the palm base 1 and a lateral swing transmission shaft connected with the lateral swing driving member, the lateral swing transmission shaft keeps in contact with the proximal knuckle 21 in the lateral swing operation.

[0056] In the specific operation of the application, the transmission mechanism for realizing the proximal knuckle bending function is mainly a bevel gear pair, the driving bevel gear 41 is driven to rotate by a bending motor 46, thereby driving the driven bevel gear 42 to rotate along its orthogonal plane, the driven bevel gear 42 is fixedly matched with the proximal knuckle rotating shaft 31, the proximal knuckle rotating shaft 31 is fixedly matched with the finger flexion shaft 44, and then the power transmitted by the driven bevel gear 42 is transmitted to the finger flexion shaft 44 through the proximal knuckle rotating shaft 31, thereby realizing the forward and backward bending action of the proximal knuckle. In addition, the lateral swing action is realized as follows: the lateral swing driving member (such as a lateral swing motor 51) is fixed on the palm base 1, the rotation of the output shaft of the lateral swing motor 51 is transmitted to the lateral swing transmission shaft, the lateral swing transmission shaft can be regarded as a horizontal arm rotating around the output shaft of the lateral swing motor 51 and outputting a corresponding torque, thereby driving the proximal knuckle 21 in contact with the lateral swing transmission shaft to swing and rotate, and the shaft thereby drives the whole finger to swing left and right. The core of the mechanism of the application is the spherical bearing 32, which can not only satisfy the degree of freedom requirement of the forward and backward bending, but also realize the stroke requirement of the left and right swinging under the driving of the motor by relying on its own structural characteristics.

[0057] In some specific embodiments, please see Figure 3As shown in FIG. 1, the finger root transmission member 43 comprises a U-shaped groove structure fixed on the finger root joint 21, and the flexion finger shaft 44 extends into the U-shaped groove structure and abuts against the side wall of the U-shaped groove structure during the bending and rotating operation, so as to drive the finger root joint 21 to bend and rotate together with the flexion finger shaft 44. More specifically, the U-shaped groove structure can be obtained by installing a finger joint pressing plate on the finger root joint 21, so as to form a U-shaped groove with the protruding part of the finger root joint 21 protruding towards the flexion finger shaft 44. In addition to being used as a force transmission component between the flexion finger shaft 44 and the finger root joint 21, the U-shaped groove structure can also be used as a limiting element for limiting the side swing amplitude. When the finger root joint 21 is driven to swing, the U-shaped bottom of the U-shaped groove structure contacts the part of the flexion finger shaft 44, thereby limiting the swing stroke. In addition, please refer to Figure 6 As shown in FIG. 1, the flexion finger shaft 44 can be fixedly connected to the finger root rotating shaft 31 by a screw.

[0058] In a more specific embodiment, a bearing sleeve 45 is further sleeved on the flexion finger shaft 44, which contacts the inner walls on both sides of the U-shaped groove structure, so as to drive the finger root joint 21 to bend and rotate together with the flexion finger shaft 44. In addition, the outer side wall surface of the bearing sleeve 45 which contacts the U-shaped groove structure can be provided with a layer of flexible material, which can provide cushioning and also provide force transmission to drive the finger root to move.

[0059] In some specific embodiments, please refer to Figure 4 As shown in FIG. 1, when the finger root joint 21 is in the upright state, the center axis of the driving bevel gear 41 is collinear with the center axis of the flexion finger shaft 44, so as to enhance the reliability of the mechanism, etc.

[0060] In some specific embodiments, please refer to Figure 4 As shown in FIG. 1, the palm base 1 is further provided with a bending motor 46, the output shaft end of which is connected to the driving bevel gear 41 and is used to drive the driving bevel gear 41 to rotate.

[0061] In some specific embodiments, please refer to Figures 10 to 12 As shown in FIG. 1, the side swing transmission shaft comprises a side swing rotating support 52 connected to the output shaft of the side swing driving member, and two transmission bearings 53 installed on the side swing rotating support 52 and located in the same plane, which abut against the finger root joint 21 to drive the finger root joint 21 to swing around the spherical bearing 32 by the rotation of the side swing transmission shaft. Specifically, the side swing transmission shaft can be driven to rotate by the side swing driving member (such as the side swing motor 51), so as to generate a torque on the finger root joint 21 which is in stable contact with the side swing transmission shaft, thereby driving the finger root joint 21 to swing. Please refer to Figure 10 and Figure 11As shown in the drawings, the side swing transmission shaft can adopt a square body structure side swing transmission bracket, and two convex cylindrical bodies in parallel and on the same side can be provided on the square body structure, and a transmission bearing 53 (which can be a deep groove ball bearing) is fixedly sleeved on the cylindrical body. A hole is formed in the square body structure for connecting the output shaft of the side swing driving member.

[0062] In more specific embodiments, please refer to Figure 3 As shown in the drawings, the bearing pressing plate 54 is further fixed on the finger root joint 21, and the transmission bearing 53 is in contact with the bearing pressing plate 54. When the side swing transmission bracket 52 is driven to rotate by the side swing driving member, the transmission bearing 53 drives the bearing pressing plate 54 and the finger root joint 21 to rotate synchronously. During the rotation of the side swing transmission shaft, the bearing pressing plate is in continuous contact with the transmission bearing 53, and is not fixedly connected. At this time, it should be noted that the two transmission bearings 53 are preferably located above and below the contact bearing pressing plate 54.

[0063] In some specific embodiments, please refer to Figure 4 As shown in the drawings, the finger root assembly 3 further comprises a shaft fastener for preventing the finger root shaft 31 from moving axially.

[0064] In more specific embodiments, the shaft fastener comprises an arc-shaped groove 33 machined on the side surface of the finger root shaft 31 in the axial direction, a stop screw 34 fixed axially relative to the palm base 1 and extending into the arc-shaped groove 33, and a shaft snap ring 35 installed at the end of the finger root shaft 31. In specific installation, when the finger root shaft 31 passes through the spherical bearing 32, the driven bevel gear 42, the finger bending shaft 44, and the deep groove ball bearing installed on the palm base 1, it is locked axially by the two stop screws 34 to prevent left and right movement, and further sleeved with the shaft snap ring 35 at the end to prevent movement. The upward and downward movement of the finger root shaft 31 is prevented by the deep groove ball bearing, and the outer side is locked by the shaft snap ring 35, so that the finger root assembly 3 is firmly structured and better resists impact load.

[0065] In some specific embodiments, please refer to Figure 13 and Figure 14As shown, the proximal phalanx 21 is further connected with the middle phalanx 22 and the distal phalanx 23 in sequence, and the proximal phalanx 21 and the middle phalanx 22 and the middle phalanx 22 and the distal phalanx 23 are further rotatably connected respectively to realize the bendability at the joints. Specifically, the bend of the two joints is driven by two motors respectively, or can be driven by the connection modes commonly used in the art, such as connecting rods, gear structures, etc. For example, the bend of the middle joint of the finger (i.e. the joint between the proximal phalanx 21 and the middle phalanx 22) is mainly realized by a finger motor, the finger motor is fixed on the middle phalanx 22, the finger motor drives the middle phalanx transmission plates on both sides to rotate, and the bend state of the middle joint of the finger is realized. Similarly, the bend of the distal joint of the finger (i.e. the joint between the middle phalanx 22 and the distal phalanx 23) is mainly realized by a finger motor, the finger motor is fixed on the middle phalanx transmission plate, the finger motor drives the distal phalanx transmission plates on both sides to rotate, and the bend state of the distal joint of the finger is realized.

[0066] In addition, in some embodiments, the application also provides a dexterous hand, which comprises the mechanical dexterous hand finger as described in any of the above.

[0067] The above embodiments can be implemented individually or in any combination of two or more.

[0068] The above embodiments will be described in more detail below in combination with specific examples.

[0069] Embodiment 1:

[0070] In order to realize the decoupling of the two degrees of freedom of the finger bending rotation and the lateral swing, and to satisfy the individual control of the two degrees of freedom of the finger, the embodiment provides a mechanical dexterous hand finger, the structure of which can be referred to as Figures 1 to 14 As shown, it comprises:

[0071] A palm base 1;

[0072] A finger phalanx 2, which comprises a proximal phalanx 21, a middle phalanx 22 and a distal phalanx 23 connected in sequence;

[0073] A proximal phalanx assembly 3, which comprises a proximal phalanx rotating shaft 31 rotatably mounted on the palm base 1, and a spherical bearing 32 arranged on the proximal phalanx rotating shaft 31 and matching the proximal phalanx 21;

[0074] A bending transmission mechanism 4, which comprises a driving bevel gear 41, a driven bevel gear 42, a proximal phalanx transmission member 43 and a finger flexion shaft 44, the driven bevel gear 42 is fixedly sleeved on the proximal phalanx rotating shaft 31, the driving bevel gear 41 is mounted on the palm base 1 and meshes with the driven bevel gear 42, and the finger flexion shaft 44 is fixedly mounted on the proximal phalanx rotating shaft 31 and keeps contact with the proximal phalanx transmission member 43 fixedly connected on the proximal phalanx 21 in the bending rotation work;

[0075] A side swing transmission mechanism 5, which comprises a side swing driving member mounted on the palm base 1, and a side swing transmission shaft connected with the side swing driving member, the side swing transmission shaft keeps contact with the finger root joint 21 in the side swing operation.

[0076] In the specific operation of the embodiment, the transmission mechanism for realizing the bending function of the finger root mainly comprises a bevel gear pair. The bending motor 46 drives the driving bevel gear 41 to rotate, thereby driving the driven bevel gear 42 to rotate along its orthogonal plane. The driven bevel gear 42 is fixedly connected with the finger root rotating shaft 31, and the finger root rotating shaft 31 is fixedly connected with the finger bending shaft 44. Therefore, the power transmitted by the driven bevel gear 42 is transmitted to the finger bending shaft 44 through the finger root rotating shaft 31, thereby realizing the forward and backward bending action of the finger root. In addition, the side swing action is realized as follows: the side swing driving member (such as the side swing motor 51) is fixed on the palm base 1, and the rotation of the output shaft of the side swing motor 51 is transmitted to the side swing transmission shaft. The side swing transmission shaft can be regarded as a horizontal arm rotating around the output shaft of the side swing motor 51 to output corresponding torque, thereby driving the finger root joint 21 in contact with the side swing transmission shaft to swing and rotate, and the shaft thereby drives the whole finger to swing left and right. The core of the mechanism of the present application is the spherical bearing 32, which can meet the requirements of the freedom degree of forward and backward bending, and can also rely on its own structural characteristics to realize the stroke requirements of left and right swinging under the driving of the motor.

[0077] Please refer to Figure 3 As shown in the drawings, the finger root transmission member 43 comprises a U-shaped groove structure fixed on the finger root joint 21, and the finger bending shaft 44 extends into the U-shaped groove structure and abuts against the side wall of the U-shaped groove structure in the bending and rotating operation, thereby driving the finger root joint 21 to bend and rotate together with the finger bending shaft 44. More specifically, the U-shaped groove structure can be obtained by installing a finger joint pressing plate on the finger root joint 21, thereby forming a U-shaped groove with the protruding part of the finger root joint 21 protruding towards the finger bending shaft 44. The U-shaped groove structure can be used as a force transmission component between the finger bending shaft 44 and the finger root joint 21, and can also be used as a limiting element for limiting the swing amplitude. When the finger root joint 21 is driven to swing, the U-shaped bottom of the U-shaped groove structure contacts the part of the finger bending shaft 44, thereby producing a limiting effect and limiting the swing stroke. Figure 6 As shown in the drawings, the finger bending shaft 44 can be fixedly connected with the finger root rotating shaft 31 through a screw. The bearing sleeve 45 is sleeved on the finger bending shaft 44 and contacts the inner walls on both sides of the U-shaped groove structure, thereby driving the finger root joint 21 to bend and rotate together with the finger bending shaft 44. In addition, the outer side wall surface of the bearing sleeve 45 contacting the U-shaped groove structure can be provided with a layer of flexible material, which can provide buffering and force transmission to drive the finger root to move.

[0078] Please refer to Figure 4As shown in Figs. 1 and 2, when the finger base 21 is in the vertical state, the rotation center axis of the driving bevel gear 41 is collinear with the central axis of the flexion shaft 44, so as to enhance the reliability of the mechanism.

[0079] Please refer to Figs. 1 and 2 again. Figure 4 As shown in Figs. 1 and 2, the palm base 1 is further provided with a bending motor 46, the output shaft end of which is connected with the driving bevel gear 41, and is used to drive the driving bevel gear 41 to rotate.

[0080] Please refer to Figs. 1 and 2 again. Figures 10 to 12 As shown in Figs. 1 and 2, the side swing transmission shaft includes a side swing rotation support 52 connected with the output shaft of the side swing driving member, and two transmission bearings 53 installed on the side swing rotation support 52 and located in the same plane, the transmission bearings 53 are kept against the finger base 21, so as to drive the finger base 21 to swing around the spherical bearing 32 by the rotation of the side swing transmission shaft. Specifically, the side swing transmission shaft can be driven to rotate by the side swing driving member (for example, the side swing motor 51), so as to generate a torque on the finger base 21 which is in stable contact with the side swing transmission shaft, and drive the finger base 21 to swing. Please refer to Figs. 1 and 2 again. Figure 10 and Figure 11 As shown in Figs. 1 and 2, the side swing transmission shaft can adopt a square body structure of the side swing transmission support, and two parallel and outward protruding cylindrical bodies can be provided on the square body structure and located on the same side, the transmission bearings 53 (which can specifically adopt deep groove ball bearings) are fixedly sleeved on the cylindrical bodies, and a hole can be formed in the square body structure for connecting the output shaft of the side swing driving member.

[0081] Please refer to Figs. 1 and 2 again. Figure 3 As shown in Figs. 1 and 2, the finger base 21 is further provided with a bearing pressing plate 54, the transmission bearings 53 are kept in contact with the bearing pressing plate 54, and when the side swing rotation support 52 is driven to rotate by the side swing driving member, the transmission bearings 53 drive the bearing pressing plate 54 and the finger base 21 to swing.

[0082] Please refer to Figs. 1 and 2 again. Figure 4 As shown in Figs. 1 and 2, the finger base assembly 3 further includes a rotation shaft fastener for preventing the finger base rotation shaft 31 from moving along the axial direction thereof. The rotation shaft fastener includes an arc-shaped slot 33 machined on the side surface of the finger base rotation shaft 31 along the axial direction perpendicular to the finger base rotation shaft 31, and a stop screw 34 axially fixed relative to the palm base 1 and extending into the arc-shaped slot 33, and a shaft clamping ring 35 is further installed on the end of the finger base rotation shaft 31. In the specific installation, after the finger base rotation shaft 31 passes through the spherical bearing 32, the driven bevel gear 42, the flexion shaft 44, and the deep groove ball bearing used for rotating the installation on the palm base 1, the two stop screws 34 are axially locked to prevent the left and right movements, and the shaft clamping ring 35 is further sleeved on the end to further prevent the movement, the upward and downward movements of the finger base rotation shaft 31 are blocked by the installed deep groove ball bearing, and the outer side is locked by the shaft clamping ring 35, so that the finger base assembly 3 is structurally firm and can better resist impact load.

[0083] Please see again Figure 13 and Figure 14 As shown, the proximal phalanx 21 is also connected to the middle phalanx 22 and the distal phalanx 23 in turn, and the middle phalanx 22 and the proximal phalanx 21, the distal phalanx 23 and the middle phalanx 22 are also respectively connected to rotate to realize the bendable at the joint. Specifically, the bending of the two phalangeal joints is driven by two motors respectively, and the bending of the phalangeal joints can also be driven by the connection mode commonly used in the art, such as connecting rod, gear structure, etc. For example, the bending of the middle joint of the finger (i.e. the joint between the proximal phalanx 21 and the middle phalanx 22) is mainly realized by the finger motor, the finger motor is fixed on the middle phalanx 22, the finger motor drives the two side phalangeal joint transmission plates to rotate, and the bending state of the middle joint of the finger is realized. Similarly, the bending of the distal joint of the finger (i.e. the joint between the middle phalanx 22 and the distal phalanx 23) can be mainly realized by the finger motor, the finger motor is fixed on the phalangeal joint transmission plate, the finger motor drives the two side phalangeal joint transmission plates to rotate, and the bending state of the distal joint of the finger is realized.

[0084] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. Those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described herein to other embodiments without creative labor. Therefore, the present application is not limited to the above embodiments, and the improvements and modifications made by those skilled in the art according to the disclosure of the present application without departing from the scope of the present application should be within the scope of protection of the present application.

Claims

1. A mechanical dexterous hand finger, characterized in that, include: Palm base; The finger joints consist of the radix phalanx, the middle phalanx, and the distal phalanx, which are connected in sequence. The finger root assembly includes a finger root pivot rotatably mounted on the palm base and a spherical bearing disposed on the finger root pivot and fitted to the finger root joint; A bending transmission mechanism includes a driving bevel gear, a driven bevel gear, a finger root transmission component, and a finger flexion shaft. The driven bevel gear is fixedly sleeved on the finger root rotating shaft. The driving bevel gear is mounted on the palm base and meshes with the driven bevel gear. The finger flexion shaft is fixedly mounted on the finger root rotating shaft and maintains contact with the finger root transmission component fixedly connected to the finger root joint during bending and rotation. A lateral swing transmission mechanism includes a lateral swing drive component mounted on a palm base and a lateral swing transmission shaft connected to the lateral swing drive component, wherein the lateral swing transmission shaft maintains contact with the base of the finger joint during lateral swing operation. The lateral swing drive shaft includes a lateral swing rotation bracket connected to the output shaft of the lateral swing drive member, and two transmission bearings mounted on the lateral swing rotation bracket and located in the same plane. The transmission bearings remain against the finger root joint so that the lateral swing drive shaft rotates to drive the finger root joint to swing sideways around the spherical bearing. A bearing pressure plate is also fixed on the finger root joint. The transmission bearing is in contact with the bearing pressure plate. When the side-swing rotation bracket is driven to rotate by the side-swing drive component, the transmission bearing drives the bearing pressure plate and the finger root joint to swing sideways.

2. The mechanical dexterous hand finger according to claim 1, characterized in that, The finger root transmission component includes a U-shaped groove structure fixed on the finger root joint. The finger flexion shaft extends into the U-shaped groove structure and abuts against the side wall of the U-shaped groove structure during bending and rotation, thereby driving the finger root joint to bend and rotate together with the finger flexion shaft.

3. The mechanical dexterous hand finger according to claim 2, characterized in that, The flexor shaft is also fitted with a bearing sleeve, which contacts the inner walls on both sides of the U-shaped groove structure to drive the base of the finger to bend and rotate with the flexor shaft.

4. The mechanical dexterous hand finger according to claim 1, characterized in that, When the base of the finger is in an upright position, the rotation center axis of the active bevel gear is collinear with the center axis of the flexor shaft.

5. The mechanical dexterous hand finger according to claim 1, characterized in that, A bending motor is also installed on the palm base. The output shaft of the bending motor is connected to the active bevel gear and is used to drive the active bevel gear to rotate.

6. The mechanical dexterous hand finger according to claim 1, characterized in that, The finger root assembly also includes a shaft fastener for preventing the finger root shaft from moving along its axial direction. The pivot fastener includes an arcuate groove machined along the axial direction of the pivot shaft perpendicular to the finger root pivot shaft side surface, and a stop screw that is axially fixed relative to the palm base and extends into the arcuate groove. A shaft retaining ring is also installed at the end of the pivot shaft.

7. The mechanical dexterous hand finger according to claim 1, characterized in that, The middle phalanx and the base phalanx, as well as the distal phalanx and the middle phalanx, are rotatably connected to each other to enable flexibility at the joints.

8. A dexterous hand comprising the mechanical dexterous hand fingers as described in any one of claims 1-7.

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