Dexterous hand fingers, dexterous hand, and robot

Abstract

The application relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, which solve the problem that a dexterous hand finger with three degrees of freedom cannot simultaneously consider the transmission efficiency and size of the dexterous hand finger. The dexterous hand finger comprises a side swing assembly, a first finger joint, a finger joint assembly, a tendon, a connecting rod assembly, a first driving assembly, a second driving assembly and a third driving assembly. The first driving assembly is used for driving the connecting rod assembly to move, so that the dexterous hand finger is bent around a second axis; the second driving assembly is used for driving the side swing assembly to move, so that the dexterous hand finger swings sideways; and the third driving assembly is used for driving the tendon to move, so that the dexterous hand finger is bent around a third axis. That is, the dexterous hand finger adopts a mixed transmission mode of the connecting rod assembly and the tendon, so that the dexterous hand finger has three degrees of freedom, the connecting rod is used for driving, the transmission efficiency is high, and the tendon is used for driving, and the size is small.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot. BACKGROUND

[0002] The fingers of a human hand have three joints and three active degrees of freedom. A dexterous hand is an end effector of a robot. The fingers of the dexterous hand are an important part of the dexterous hand. The dexterous hand fingers with three degrees of freedom can make the dexterous hand closer to the function of the human hand.

[0003] However, the dexterous hand fingers with three degrees of freedom cannot simultaneously consider the transmission efficiency and size of the dexterous hand fingers. SUMMARY

[0004] Therefore, the embodiments of the present application provide a dexterous hand finger, a dexterous hand and a robot, which solve the problem that the dexterous hand fingers with three degrees of freedom cannot simultaneously consider the transmission efficiency and size of the dexterous hand fingers.

[0005] In a first aspect, embodiments of the present application provide a dexterous hand finger applied to a dexterous hand, the dexterous hand comprising a palm base plate and at least one dexterous hand finger; wherein the dexterous hand finger comprises: a side swing assembly rotatably connected to the palm base plate about a first axis; a first phalanx, a first end of the first phalanx rotatably connected to the side swing assembly about a second axis, the second axis being perpendicular to the first axis; a phalanx assembly, a first end of the phalanx assembly rotatably connected to a second end of the first phalanx about a third axis, the third axis being parallel to the second axis; a tendon, a first end of the tendon connected to a second end of the phalanx assembly; a linkage assembly comprising at least four linkages rotatably connected in sequence, a first one of the linkages rotatably connected to the first phalanx about a fourth axis, rotation axes between the at least four linkages comprising at least a fifth axis, a sixth axis and a seventh axis, wherein the fourth axis is parallel to the second axis, the fifth axis is perpendicular to the fourth axis, the sixth axis is perpendicular to the fifth axis and perpendicular to the fourth axis, the seventh axis is parallel to the sixth axis; a first driving assembly comprising a fixed member and a movable member connected to each other, the fixed member connected to the palm base plate, a last one of the linkages rotatably connected to the movable member about an eighth axis, the eighth axis being perpendicular to the seventh axis and perpendicular to the first axis, wherein the fixed member is capable of driving the movable member to move in a first direction to drive the linkage assembly to move with the movable member, to drive the first phalanx to rotate about the second axis with the linkage assembly, the first direction being perpendicular to the seventh axis and perpendicular to the eighth axis; a second driving assembly connected to the side swing assembly and configured to drive the side swing assembly to rotate about the first axis relative to the palm base plate to drive the first phalanx to rotate about the first axis with the side swing assembly; a third driving assembly connected to a second end of the tendon and configured to pull the tendon to drive the phalanx assembly to rotate about the third axis with the tendon.

[0006] In some embodiments, the phalanx assembly comprises: a second phalanx, a first end of the second phalanx rotatably connected to a second end of the first phalanx about the third axis; a third phalanx, a first end of the third phalanx rotatably connected to a second end of the second phalanx about a ninth axis, the ninth axis being parallel to the third axis; wherein the first end of the tendon is connected to a second end of the third phalanx, the third driving assembly is capable of pulling the tendon to drive the second phalanx to rotate about the third axis and the third phalanx to rotate about the ninth axis with the tendon.

[0007] In some embodiments, the second end of the first phalanx is connected with the first end of the second phalanx in a hole-and-shaft manner to form a proximal interphalangeal joint; wherein the second end of the first phalanx has a first shaft portion, and the first end of the second phalanx has at least one first shaft hole, the first shaft portion penetrates into the first shaft hole, and the tendon cord is in contact with part of the side surface of the first shaft portion to form a first wrap angle between the tendon cord and the first shaft portion; or the second end of the first phalanx has at least one second shaft hole, and the first end of the second phalanx has a second shaft portion, the second shaft portion penetrates into the second shaft hole, and the tendon cord is in contact with part of the side surface of the second shaft portion to form a second wrap angle between the tendon cord and the second shaft portion; the second end of the second phalanx is connected with the first end of the third phalanx in a hole-and-shaft manner to form a distal interphalangeal joint; wherein the second end of the second phalanx has at least one third shaft hole, the first end of the third phalanx has a third shaft portion, the third shaft portion penetrates into the third shaft hole, and the tendon cord is in contact with part of the side surface of the third shaft portion to form a third wrap angle between the tendon cord and the third shaft portion; or the second end of the second phalanx has a fourth shaft portion, the first end of the third phalanx has at least one fourth shaft hole, the fourth shaft portion penetrates into the fourth shaft hole, and the tendon cord is in contact with part of the side surface of the fourth shaft portion to form a fourth wrap angle between the tendon cord and the fourth shaft portion; wherein the phalanx assembly further comprises: a first torsion spring sleeved on the first shaft portion or the second shaft portion, a first end of the first torsion spring being connected with the first phalanx, and a second end of the first torsion spring being connected with the second phalanx; and a second torsion spring sleeved on the third shaft portion or the fourth shaft portion, a first end of the second torsion spring being connected with the second phalanx, and a second end of the second torsion spring being connected with the third phalanx.

[0008] In some embodiments, the first end of the second phalanx has two first shaft holes arranged oppositely, the first shaft portion comprises: a first shaft segment, the tendon cord being in contact with part of the side surface of the first shaft segment to form the first wrap angle between the tendon cord and the first shaft segment; and two second shaft segments arranged at two ends of the first shaft segment coaxially, the two second shaft segments penetrating into the two first shaft holes respectively, wherein the diameter of the first shaft segment is greater than the diameter of the second shaft segment; or the second end of the first phalanx has two second shaft holes arranged oppositely, the second shaft portion comprises: a third shaft segment, the tendon cord being in contact with part of the side surface of the third shaft segment to form the second wrap angle between the tendon cord and the third shaft segment; and two fourth shaft segments arranged at two ends of the third shaft segment coaxially, the two fourth shaft segments penetrating into the two second shaft holes respectively, wherein the diameter of the third shaft segment is greater than the diameter of the fourth shaft segment.

[0009] In some embodiments, the second end of the second phalange has two third shaft holes arranged oppositely, the third shaft part comprises: a fifth shaft segment, the tendon is attached to part of the side surface of the fifth shaft segment, so that the tendon and the fifth shaft segment form the third wrap angle; two sixth shaft segments arranged at the two ends of the fifth shaft segment, and the sixth shaft segments are coaxially arranged with the fifth shaft segment, and the two sixth shaft segments pass through the two third shaft holes respectively, wherein the diameter of the fifth shaft segment is greater than the diameter of the sixth shaft segment; or the first end of the third phalange has two fourth shaft holes arranged oppositely, the fourth shaft part comprises: a seventh shaft segment, the tendon is attached to part of the side surface of the seventh shaft segment, so that the tendon and the seventh shaft segment form the fourth wrap angle; two eighth shaft segments arranged at the two ends of the seventh shaft segment, and the eighth shaft segments are coaxially arranged with the seventh shaft segment, and the two eighth shaft segments pass through the two fourth shaft holes respectively, wherein the diameter of the seventh shaft segment is greater than the diameter of the eighth shaft segment.

[0010] In some embodiments, the dexterous hand finger further comprises: at least one first guide wheel rotatably connected with the second phalange, the rotation axis of the first guide wheel is parallel to the third axis, and the first guide wheel is arranged between the proximal interphalangeal joint and the distal interphalangeal joint; and / or the first end of the first phalange is connected with the side swing assembly hole shaft to form a bending joint, the dexterous hand finger further comprises: at least one second guide wheel rotatably connected with the first phalange, the rotation axis of the second guide wheel is parallel to the third axis, and the second guide wheel is arranged between the bending joint and the proximal interphalangeal joint.

[0011] In some embodiments, the dexterous hand finger has a first side and a second side opposite to each other, and the dexterous hand finger bends towards the first side; the dexterous hand finger comprises one first guide wheel and three second guide wheels, a first second guide wheel, a second second guide wheel and a third second guide wheel are sequentially and adjacently arranged between the bending joint and the proximal interphalangeal joint; wherein the tendon is connected with the third driving assembly and passes into the dexterous hand finger from the second side, sequentially passes around the side surface of the first joint outer circle of the bending joint close to the first side, the side surface of the first second guide wheel close to the first side, the side surface of the second second guide wheel close to the second side, the side surface of the third second guide wheel close to the second side, the side surface of the second joint outer circle of the proximal interphalangeal joint close to the first side, the side surface of the first guide wheel close to the second side, the side surface of the third joint outer circle of the distal interphalangeal joint close to the first side, and is connected with the third phalange.

[0012] In some embodiments, when the first end of the second segment has two first shaft holes, the second end of the first segment has the first shaft part, the second end of the second segment has two third shaft holes, and the first end of the third segment has the third shaft part, the second segment comprises: a first component, the first end of the first component has one first shaft hole, the second end of the first component has one third shaft hole, the first shaft hole and the third shaft hole are located on the same side of the first component, and the first shaft hole and the third shaft hole of the first component are coaxially arranged; a second component, which is detachably connected to the first component and oppositely arranged, the first end of the second component has one first shaft hole, the second end of the second component has one third shaft hole, the first shaft hole and the third shaft hole are located on the same side of the second component, and the first shaft hole and the third shaft hole of the second component are coaxially arranged.

[0013] In some embodiments, the first component has a first ring groove and a second ring groove, the first ring groove is coaxially arranged with the first shaft hole, and the second ring groove is coaxially arranged with the third shaft hole; wherein the dexterous hand finger further comprises: a first magnetic member connected to the first shaft part and coaxially arranged with the first shaft part; a first sensor arranged in the first ring groove and configured to detect the absolute position of the first magnetic member; a second magnetic member connected to the third shaft part and coaxially arranged with the third shaft part; and a second sensor arranged in the second ring groove and configured to detect the absolute position of the second magnetic member.

[0014] In some embodiments, the first end of the first component has a first arc-shaped limiting groove, the center of the first arc-shaped limiting groove is located on the axis of the first shaft part, the second end of the first component has a second arc-shaped limiting groove, the center of the second arc-shaped limiting groove is located on the axis of the third shaft part; the second end of the first segment has a first column pin, and the first end of the third segment has a second column pin; wherein the first column pin extends into the first arc-shaped limiting groove and can slide along the first arc-shaped limiting groove, and the second column pin extends into the second arc-shaped limiting groove and can slide along the second arc-shaped limiting groove.

[0015] In some embodiments, the side swing assembly has a fifth shaft hole, the palm base plate has a sixth shaft hole; the dexterous hand finger further comprises: a first movable shaft, the first movable shaft penetrates the fifth shaft hole and the sixth shaft hole respectively, and the first movable shaft is keyed to the palm base plate, so that the side swing assembly and the palm base plate are rotatably connected, and an axis of the first movable shaft coincides with the first axis; wherein the second driving assembly comprises: a side swing driving wheel connected with the side swing assembly, the side swing driving wheel has a seventh shaft hole, the side swing driving wheel is sleeved on the first movable shaft through the seventh shaft hole; a side swing driving rod connected with the side swing driving wheel, an extension direction of the side swing driving rod intersects with an extension direction of the first movable shaft; a second driving source connected with the palm base plate and connected with the side swing driving rod, configured to drive the side swing driving rod to move, so as to drive the side swing driving wheel to rotate around the first movable shaft by the side swing driving rod, and drive the side swing assembly to rotate around the first axis by the side swing driving wheel

[0016] In some embodiments, the side swing driving wheel has a third ring groove coaxially arranged with the seventh shaft hole; wherein the dexterous hand finger further comprises: a third magnetic member connected with the first movable shaft and coaxially arranged with the first movable shaft; a third sensor arranged in the third ring groove and configured to detect an absolute position of the third magnetic member.

[0017] In some embodiments, the side swing assembly has an eighth shaft hole, the first end of the first phalange has a ninth shaft hole; the dexterous hand finger further comprises: a second movable shaft, the second movable shaft penetrates the eighth shaft hole and the ninth shaft hole respectively, and the second movable shaft is keyed to the first phalange, so that the first phalange and the side swing assembly are rotatably connected, and an axis of the second movable shaft coincides with the second axis; a fourth magnetic member connected with the second movable shaft and coaxially arranged with the second movable shaft; a fourth sensor arranged in the side swing assembly and coaxially arranged with the eighth shaft hole, and configured to detect an absolute position of the fourth magnetic member.

[0018] In some embodiments, the fixed member comprises: a first driving source connected with the palm base plate; a lead screw connected with the first driving source and rotating under the driving of the first driving source; wherein the movable member comprises: a lead screw nut threaded with the lead screw, and the last connecting rod is rotatably connected with the lead screw nut around the eighth axis.

[0019] In a second aspect, embodiments of the present application provide a dexterous hand, comprising: a palm base plate; at least one dexterous hand finger of the first aspect mentioned, connected with the palm base plate.

[0020] In a third aspect, the embodiments of the present application provide a robot, comprising: a main body; and at least one dexterous hand according to the second aspect and connected to the main body.

[0021] The dexterous hand finger provided by the embodiments of the present application comprises a side swing assembly, a first phalanx, a phalanx assembly, a tendon, a connecting rod assembly, a first driving assembly, a second driving assembly and a third driving assembly. The connecting rod assembly is driven to move by the first driving assembly, so that the connecting rod assembly drives the first phalanx to rotate around the second axis, and the dexterous hand finger is bent around the second axis. The side swing assembly is driven to move by the second driving assembly, so that the side swing assembly drives the first phalanx to rotate around the first axis, and the dexterous hand finger swings. The tendon is driven to move by the third driving assembly, so that the tendon drives the phalanx assembly to rotate around the third axis, and the dexterous hand finger is bent around the third axis. That is, the dexterous hand finger provided by the embodiments of the present application realizes three degrees of freedom, i.e., one degree of side swing freedom and two degrees of bending freedom, and adopts the connecting rod driving, so the transmission efficiency is high, and adopts the tendon driving, so the size is small. In other words, the dexterous hand finger provided by the embodiments of the present application adopts the hybrid transmission mode of the connecting rod assembly and the tendon, fully plays the advantages of the connecting rod transmission and the tendon transmission, realizes three degrees of freedom, and takes into account the transmission efficiency and the size of the dexterous hand finger.

[0022] In addition, the side swing assembly, the first phalanx, the connecting rod assembly and the first driving assembly form a crank slider mechanism, which can drive the first phalanx to rotate around the second axis, and realize the bending of the first phalanx. The first phalanx can rotate around the first axis under the driving of the second driving assembly, and realize the side swing of the first phalanx. The connecting rod assembly comprises at least four connecting rods which are sequentially rotatably connected, and the at least four connecting rods can rotate around at least three axes, so as to realize the motion decoupling between the two degrees of freedom of bending and side swing.

[0023] In addition, the transmission is realized by using the connecting rod assembly, so a gear transmission with a large volume is not needed, the size of the dexterous hand finger is further reduced, and the size of the dexterous hand finger is closer to that of a human hand. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which:

[0025] Figure 1 Fig. 1 shows a structure schematic diagram of a dexterous hand finger provided by an embodiment of the present application.

[0026] Figure 2 Fig. 1 shows a front view of a finger of a dexterous hand according to an embodiment of the present application.

[0027] Figure 3 Fig. 2 shows a cross-sectional view of the finger of the dexterous hand shown in Fig. 1 along the A-A direction. Figure 2 Fig. 3 shows a cross-sectional view of the finger of the dexterous hand shown in Fig. 1 along the B-B direction.

[0028] Figure 4 Fig. 4 shows a structure diagram of the finger of the dexterous hand according to an embodiment of the present application in a straightened state and a bent state.

[0029] Figure 5 Fig. 5 shows a structure diagram of a part of the finger of the dexterous hand according to an embodiment of the present application.

[0030] Figure 6 Fig. 6 shows a side view of a part of the finger of the dexterous hand according to an embodiment of the present application.

[0031] Figure 7 Fig. 7 shows a side view of the finger of the dexterous hand according to an embodiment of the present application.

[0032] Figure 8 Fig. 8 shows a partial enlarged view of the finger of the dexterous hand shown in Fig. 1 in the B region. Figure 7 Fig. 9 shows a partial enlarged view of the finger of the dexterous hand shown in Fig. 1 in the C region.

[0033] Figure 9 Fig. 10 shows a partial enlarged view of the finger of the dexterous hand shown in Fig. 1 in the D region. Figure 7 Fig. 11 shows a partial enlarged view of the finger of the dexterous hand shown in Fig. 1 in the E region.

[0034] Figure 10 Fig. 12 shows a structure diagram of a hole-shaft connection between a first knuckle and a second knuckle according to an embodiment of the present application. Figure 7 Fig. 13 shows a structure diagram of a hole-shaft connection between a first knuckle and a second knuckle according to an embodiment of the present application.

[0035] Figure 11 Fig. 14 shows a structure diagram of a hole-shaft connection between a second knuckle and a third knuckle according to an embodiment of the present application. Figure 7 Fig. 15 shows a structure diagram of a hole-shaft connection between a second knuckle and a third knuckle according to an embodiment of the present application.

[0036] Figure 12A Fig. 16 shows a structure diagram of a hole-shaft connection between a first knuckle and a second knuckle according to an embodiment of the present application.

[0037] Figure 12B Fig. 17 shows a structure diagram of a hole-shaft connection between a first knuckle and a second knuckle according to an embodiment of the present application.

[0038] Figure 12C Fig. 18 shows a structure diagram of a hole-shaft connection between a second knuckle and a third knuckle according to an embodiment of the present application.

[0039] Figure 12D Fig. 19 shows a structure diagram of a hole-shaft connection between a second knuckle and a third knuckle according to an embodiment of the present application.

[0040] Figure 13 Fig. 4 shows a partial exploded view of a finger of a dexterous hand according to an embodiment of the present application.

[0041] Figure 14 Fig. 5 shows a front view of a partial structure of a finger of a dexterous hand according to an embodiment of the present application.

[0042] Figure 15 Fig. 6 shows a sectional view of a finger of a dexterous hand according to an embodiment of the present application. Figure 14 Fig. 7 shows a sectional view of a finger of a dexterous hand according to an embodiment of the present application.

[0043] Figure 16 Fig. 8 shows a sectional view of a finger of a dexterous hand according to an embodiment of the present application. Figure 15 Fig. 9 shows a partial enlarged view of a finger of a dexterous hand according to an embodiment of the present application.

[0044] Figure 17 Fig. 10 shows a schematic view of a finger of a dexterous hand according to another embodiment of the present application.

[0045] Figure 18 Fig. 11 shows a front view of a partial structure of a finger of a dexterous hand according to another embodiment of the present application.

[0046] Figure 19 Fig. 12 shows a schematic view of a robot according to an embodiment of the present application.

[0047] Reference signs:

[0048] 1. robot; 2. main body; 3. dexterous hand; 10. dexterous hand finger; 11. first side; 12. second side; 13. side swing joint; 14. bending joint; 15. proximal joint; 16. distal joint; 100. side swing assembly; 110. circular arc groove; 200. first phalange; 201. first end of first phalange; 202. second end of first phalange; 210. first shaft part; 211. first shaft section; 212. second shaft section; 220. second shaft hole; 230. first column pin; 240. first soft pad; 300. connecting rod assembly; 310. connecting rod; 311. first connecting rod; 312. second connecting rod; 313. third connecting rod; 314. fourth connecting rod; 400. first driving assembly; 410. fixed part; 411. first driving source; 412. screw rod; 420. movable part; 421. screw rod nut; 500. second driving assembly; 510. side swing driving wheel; 511. third ring groove; 520. side swing driving rod; 530. second driving source; 600. third driving assembly; 700. phalange assembly; 701. first end of phalange assembly; 702. second end of phalange assembly; 710. second phalange; 711. first end of second phalange; 712. second end of second phalange; 713. first shaft hole; 714. second shaft part; 7141. third shaft section; 7142. fourth shaft section; 715. third shaft hole; 716. fourth shaft part; 7161. seventh shaft section; 7162. eighth shaft section; 717. first constituting part; 7171. first end of first constituting part; 7172. second end of first constituting part; 7173. first ring groove; 7174. second ring groove; 7175. first arc-shaped limiting groove; 7176. second arc-shaped limiting groove; 718. second constituting part; 7181. first end of second constituting part; 7182. second end of second constituting part; 719. second soft pad; 720. third phalange; 721. first end of third phalange; 722. second end of third phalange; 723. third shaft part; 7231. fifth shaft section; 7232. sixth shaft section; 724. fourth shaft hole; 725. second column pin; 726. third soft pad; 730. first torsion spring; 731. first end of first torsion spring; 732. second end of first torsion spring; 740. second torsion spring; 741. first end of second torsion spring; 742. second end of second torsion spring; 751. first magnetic part; 752. first sensor; 753. second magnetic part; 754. second sensor; 755. third magnetic part; 756. third sensor; 757. fourth magnetic part; 758. fourth sensor; 800. tendon; 801. first end of tendon; 802. second end of tendon; 910. first limiting part; 911. first shaft-like structure; 920. second limiting part; 930. first movable shaft; 940. first guide wheel; 950. second guide wheel; 951. first second guide wheel; 952. second second guide wheel; 953. third second guide wheel;960、second movable shaft; 20, palm base plate; L1, first axis; L2, second axis; L3, third axis; L4, fourth axis; L5, fifth axis; L6, sixth axis; L7, seventh axis; L8, eighth axis; L9, ninth axis; Y1, first direction; a, side swing angle. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0050] A robot is an intelligent machine capable of semi-autonomous or fully autonomous work, which can perform tasks such as movement and grasping through programming and automatic control. A dexterous hand is an end effector of a robot. A dexterous hand finger is an important part of a dexterous hand, which directly affects the motion function and compactness of the dexterous hand. A human hand finger has three joints and three active degrees of freedom. A dexterous hand is an end effector of a robot. A dexterous hand finger is an important part of a dexterous hand. A dexterous hand finger with three degrees of freedom can make the dexterous hand closer to the function of a human hand.

[0051] A dexterous hand finger can also have three joints and three degrees of freedom, which are metacarpophalangeal joints (MCP), proximal interphalangeal joints (PIP), and distal interphalangeal joints (DIP). Among them, MCP has two degrees of freedom, i.e., side swing degree of freedom and bending degree of freedom, PIP has one degree of freedom, and DIP has a coupling relationship with PIP. MCP is an important part of a dexterous hand, which directly affects the motion function and compactness of the dexterous hand. The design difficulty of MCP lies in realizing the motion decoupling between the two degrees of freedom, i.e., the bending or side swing motion can be performed independently, while also having the requirement that the joint size is close to 1:1 of a human hand.

[0052] Currently, there are few dexterous hand fingers with three degrees of freedom, and few dexterous hand fingers that can realize bending or side swing motion decoupling. There is currently no dexterous hand finger that can realize three degrees of freedom, bending or side swing motion decoupling, and size close to a human hand, and transmission efficiency is also high.

[0053] To solve the above problems, the embodiment of the present application provides a dexterous hand finger, which is applied to a dexterous hand, and the dexterous hand comprises a palm base plate and at least one dexterous hand finger; wherein the dexterous hand finger comprises: a side swing assembly, which is rotatably connected with the palm base plate around a first axis; a first phalanx, a first end of the first phalanx being rotatably connected with the side swing assembly around a second axis, the second axis being perpendicular to the first axis; a phalanx assembly, a first end of the phalanx assembly being rotatably connected with a second end of the first phalanx around a third axis, the third axis being parallel to the second axis; a tendon, a first end of the tendon being connected with a second end of the phalanx assembly; a connecting rod assembly, which comprises at least four connecting rods which are sequentially rotatably connected, a first connecting rod being rotatably connected with the first phalanx around a fourth axis, rotation axes between the at least four connecting rods at least comprising a fifth axis, a sixth axis and a seventh axis, wherein the fourth axis is parallel to the second axis, the fifth axis is perpendicular to the fourth axis, the sixth axis is perpendicular to the fifth axis and perpendicular to the fourth axis, and the seventh axis is parallel to the sixth axis; a first driving assembly, which comprises a fixed part and a movable part which are connected with each other, the fixed part being connected with the palm base plate, a last connecting rod being rotatably connected with the movable part around an eighth axis, the eighth axis being perpendicular to the seventh axis and perpendicular to the first axis, wherein the fixed part can drive the movable part to move in a first direction, so as to drive the connecting rod assembly to move by using the movable part, and drive the first phalanx to rotate around the second axis by using the connecting rod assembly, the first direction being perpendicular to the seventh axis and perpendicular to the eighth axis; a second driving assembly, which is connected with the side swing assembly and is configured to drive the side swing assembly to rotate around the first axis relative to the palm base plate, so as to drive the first phalanx to rotate around the first axis by using the side swing assembly; and a third driving assembly, which is connected with a second end of the tendon and is configured to pull the tendon, so as to drive the phalanx assembly to rotate around the third axis by pulling the tendon.

[0054] The first driving assembly is used to drive the connecting rod assembly to move, so as to drive the first phalanx to rotate around the second axis by using the connecting rod assembly, and the dexterous hand finger is realized to bend around the second axis; the second driving assembly is used to drive the side swing assembly to move, so as to drive the first phalanx to rotate around the first axis by using the side swing assembly, and the side swing of the dexterous hand finger is realized; and the third driving assembly is used to drive the tendon to move, so as to drive the phalanx assembly to rotate around the third axis by pulling the tendon, and the bending of the dexterous hand finger around the third axis is realized. That is to say, the dexterous hand finger provided by the embodiment of the present application realizes three degrees of freedom, that is, one degree of side swing freedom and two degrees of bending freedom, and adopts the connecting rod driving, so as to have high transmission efficiency, and adopts the tendon driving, so as to have small size. In other words, the dexterous hand finger provided by the embodiment of the present application realizes three degrees of freedom, and at the same time, the transmission efficiency and the size of the dexterous hand finger are taken into account.

[0055] In addition, the side swing assembly, the first phalange, the connecting rod assembly and the first driving assembly form a crank slider mechanism, which can drive the first phalange to rotate around the second axis, and realize the bending of the first phalange. The first phalange can rotate around the first axis under the driving of the second driving assembly, and realize the side swing of the first phalange. The connecting rod assembly comprises at least four connecting rods which are sequentially rotatably connected, and the at least four connecting rods can rotate around at least three axes, thereby realizing the motion decoupling between the two degrees of freedom of bending and side swing.

[0056] In addition, by using the connecting rod assembly to realize transmission, a gear transmission with a large volume is not needed, and the size of the dexterous hand finger is further reduced, so that the size of the dexterous hand finger is closer to that of a human hand finger.

[0057] The specific structure of the dexterous hand finger, the dexterous hand and the robot will be described below in combination with the drawings and specific embodiments.

[0058] Figure 1 Fig. 1 shows a structural schematic diagram of a dexterous hand finger according to an embodiment of the present application. Figure 2 Fig. 2 shows a front view of a dexterous hand finger according to an embodiment of the present application. Figure 3 Fig. 3 shows a side view of a dexterous hand finger according to an embodiment of the present application. Figure 2 Fig. 4 shows a cross-sectional schematic diagram of a dexterous hand finger in the A-A direction according to an embodiment of the present application. Figure 4 Fig. 5 shows structural schematic diagrams of a dexterous hand finger in straight and bent states according to an embodiment of the present application. Figure 5 Fig. 6 shows a schematic diagram of part of the structure of a dexterous hand finger according to an embodiment of the present application. Figure 6 Fig. 7 shows a side view of part of the structure of a dexterous hand finger according to an embodiment of the present application. Figure 7 Fig. 8 shows a side view of a dexterous hand finger according to an embodiment of the present application. Figure 8 Fig. 9 shows a structural schematic diagram of a first phalange and a second phalange according to an embodiment of the present application. Figure 7 Fig. 10 shows a local enlarged view of a dexterous hand finger in the B region according to an embodiment of the present application. Figure 9 Fig. 11 shows a structural schematic diagram of a first phalange and a second phalange according to an embodiment of the present application. Figure 7 Fig. 12 shows a local enlarged view of a dexterous hand finger in the C region according to an embodiment of the present application. Figure 10 Fig. 13 shows a structural schematic diagram of a second phalange and a third phalange according to an embodiment of the present application. Figure 7 Fig. 14 shows a local enlarged view of a dexterous hand finger in the D region according to an embodiment of the present application. Figure 11 Fig. 15 shows a structural schematic diagram of a second phalange and a third phalange according to an embodiment of the present application. Figure 7 Fig. 16 shows a local enlarged view of a dexterous hand finger in the E region according to an embodiment of the present application. Figure 12A Fig. 17 shows a structural schematic diagram of hole shaft connection between a first phalange and a second phalange according to an embodiment of the present application. Figure 12B Fig. 18 shows a structural schematic diagram of hole shaft connection between a first phalange and a second phalange according to an embodiment of the present application. Figure 12C Fig. 19 shows a structural schematic diagram of hole shaft connection between a second phalange and a third phalange according to an embodiment of the present application. Figure 12DFig. 2 shows a structure diagram of the hole-axle connection between the second phalanx and the third phalanx according to an embodiment of the present application. Figure 13 Fig. 3 shows a partial exploded diagram of the dexterous hand finger according to an embodiment of the present application. Figure 14 Fig. 4 shows a front view of the partial structure of the dexterous hand finger according to an embodiment of the present application. Figure 15 Fig. 5 shows a sectional view of the dexterous hand finger according to an embodiment of the present application. Figure 14 Fig. 6 shows a sectional view of the dexterous hand finger according to an embodiment of the present application. Figure 16 Fig. 7 shows a partial enlarged view of the G area of the dexterous hand finger according to an embodiment of the present application. Figure 15 Fig. 8 shows a front view of the partial structure of the dexterous hand finger according to another embodiment of the present application. Figure 17 Fig. 9 shows a front view of the partial structure of the dexterous hand finger according to another embodiment of the present application. Figure 18 Fig. 10 shows a structure diagram of the robot according to an embodiment of the present application. As shown in Fig. 10, the robot 1 comprises a main body 2 and a dexterous hand 3, and the dexterous hand 3 is arranged on the main body 2. Figure 19 Fig. 11 shows a structure diagram of the dexterous hand according to an embodiment of the present application. As shown in Fig. 11, the dexterous hand 3 comprises a palm base plate 20 and at least one dexterous hand finger 10, and the dexterous hand finger 10 is arranged on the palm base plate 20. Figures 1 to 19 As shown in Fig. 11, the dexterous hand finger 10 comprises a side swing assembly 100, a first phalanx 200, a connecting rod assembly 300, a first driving assembly 400, a second driving assembly 500, a third driving assembly 600, a phalanx assembly 700 and a tendon 800.

[0059] The dexterous hand finger 10 is applied to the dexterous hand 3. The dexterous hand 3 is applied to the robot 1. Exemplarily, the robot 1 comprises the main body 2 and the dexterous hand 3, and the dexterous hand 3 is arranged on the main body 2. The main body 2 can be a structure of a body part of a humanoid robot, or a structure of an arm part of an industrial robot, which is not limited in the present application.

[0060] The dexterous hand 3 comprises the palm base plate 20 and at least one dexterous hand finger 10. The dexterous hand finger 10 is arranged on the palm base plate 20. The palm base plate 20 can be connected with the main body 2. The palm base plate 20 can be a plate-like structure similar to a palm.

[0061] The side swing assembly 100 is rotatably connected with the palm base plate 20 around a first axis L1, forming a side swing joint 13. The first axis L1 can be perpendicular to the palm base plate 20. The first axis L1 is the side swing axis of the dexterous hand finger 10. The side swing assembly 100 can be a U-shaped structure, as shown in Fig. 5, or an L-shaped structure, or a rectangular structure, which is not limited in the present application. Exemplarily, the side swing assembly 100 can be integrally formed, or assembled by multiple parts. Figure 5 The first end 201 of the first phalanx is rotatably connected with the side swing assembly 100 around a second axis L2, forming a bending joint 14. The second axis L2 is perpendicular to the first axis L1. The second axis L2 is the bending axis of the dexterous hand finger 10. The first phalanx 200 can be a first phalanx connected with a root joint.

[0062] The first end 201 of the first phalanx is rotatably connected with the side swing assembly 100 around a second axis L2, forming a bending joint 14. The second axis L2 is perpendicular to the first axis L1. The second axis L2 is the bending axis of the dexterous hand finger 10. The first phalanx 200 can be a first phalanx connected with a root joint.

[0063] The first end 701 of the knuckle assembly is rotatably connected with the second end 202 of the first knuckle around a third axis L3. The third axis L3 is parallel to the second axis L2. The knuckle assembly 700 can include a plurality of knuckles connected with each other.

[0064] The first end 801 of the tendon 800 is connected with the second end 702 of the knuckle assembly. The third driving assembly 600 is connected with the second end 802 of the tendon 800 and is configured to pull the tendon 800 so that the tendon 800 pulls the knuckle assembly 700 to rotate around the third axis L3. Exemplarily, the tendon 800 can be a long strip structure with flexibility, such as a rope structure, a wire structure, a silk structure, etc. Exemplarily, the second end 702 of the knuckle assembly can have a tendon slot, and the first end 801 of the tendon can be inserted into the tendon slot and connected with the second end 702 of the knuckle assembly by knotting, which is simple and reliable.

[0065] Exemplarily, the third driving assembly 600 can include a driving source, a worm, a worm shaft and a worm wheel. The driving source is arranged on the palm base plate 20. The worm shaft is rotatably connected with the palm base plate 20, and the worm wheel is sleeved on the worm shaft and is keyed connected with the worm shaft. The driving source drives the worm to rotate, the worm is engaged with the worm wheel, thereby driving the worm wheel to rotate, and the worm wheel drives the worm shaft to rotate. The tendon 800 can be connected with the worm shaft, thereby using the rotation of the worm shaft to pull the tendon 800 to move. Since the worm and the worm gear have self-locking property, the self-locking function of the third driving assembly 600 can be realized, thereby realizing the self-locking of the gripping of the fingers of the dexterous hand. The driving source can be a device that can provide rotary force, such as a motor, an electric cylinder, etc., which is not limited in the present application.

[0066] As shown in Figure 6 , the link assembly 300 includes at least four links 310 rotatably connected in sequence. The first link 310 is rotatably connected with the first knuckle 200 around a fourth axis L4. The fourth axis L4 is parallel to the second axis L2. As shown in Figure 5 and Figure 16 , the rotation axes between the at least four links 310 include at least a fifth axis L5, a sixth axis L6 and a seventh axis L7. The fifth axis L5 is perpendicular to the fourth axis L4, the sixth axis L6 is perpendicular to the fifth axis L5 and perpendicular to the fourth axis L4, and the seventh axis L7 is parallel to the sixth axis L6.

[0067] Exemplarily, the link 310 can be a straight rod, or a curved rod, or other irregular shapes, which are not limited in the present application. In actual application, the link 310 can be curved or have a void structure according to the available space, so as to fully utilize the space and improve the compactness of the finger 10 of the dexterous hand. The number of the links 310 included in the link assembly 300 can be four, five, six or more, which is not limited in the present application.

[0068] The first driving assembly 400 comprises a fixed member 410 and a movable member 420 connected with each other. The fixed member 410 is connected with the palm base plate 20, and the last connecting rod 310 is rotatably connected with the movable member 420 about an eighth axis L8 which is perpendicular to the seventh axis L7 and perpendicular to the first axis L1. The fixed member 410 is capable of driving the movable member 420 to move along a first direction Y1, so as to drive the connecting rod assembly 300 to move by the movable member 420, and drive the first knuckle 200 to rotate about the second axis L2 by the connecting rod assembly 300. The first direction is perpendicular to the seventh axis L7 and perpendicular to the eighth axis L8.

[0069] The relative rotation between the above components can be realized by hinging or by other structures as long as rotation about the corresponding axis is realized, and the specific rotation mode is not limited in the application. Exemplarily, the two components relatively rotating can be respectively provided with shaft holes, and then an activity shaft is inserted into the shaft holes of the two components to realize the relative rotation of the two components. Exemplarily, a bearing can be further arranged between the activity shaft and the two components to improve the flexibility of rotation.

[0070] Exemplarily, the fixed member 410 can be a motor and a lead screw. The movable member 420 can be a lead screw nut. The motor drives the lead screw to rotate, and the lead screw drives the lead screw nut to move along the first direction Y1. Exemplarily, the fixed member 410 can be a cylinder structure of a gas cylinder, and the movable member 420 can be a cylinder rod structure of the gas cylinder. The cylinder structure drives the cylinder rod structure to stretch and retract along the Y1 direction, that is, to realize the movement of the cylinder rod structure along the Y1 direction.

[0071] The second driving assembly 500 is connected with the side swing assembly 100 and is configured to drive the side swing assembly 100 to rotate about the first axis L1 relative to the palm base plate 20, so as to drive the first knuckle 200 to rotate about the first axis L1 by the side swing assembly 100. Exemplarily, the second driving assembly 500 can be a motor, that is, directly driving the side swing assembly 100 to rotate by the motor. Exemplarily, the second driving assembly 500 can comprise a motor and a belt wheel transmission assembly, that is, driving the belt wheel transmission assembly to move by the motor, and driving the side swing assembly 100 to rotate by the belt wheel transmission assembly.

[0072] The side swing assembly 100, the first knuckle 200, the connecting rod assembly 300 and the first driving assembly 400 form a crank slider mechanism. Specifically, as shown in FIG. 4, the connecting rod assembly 300 is connected with the first knuckle 200, and the first knuckle 200 is connected with the side swing assembly 100. The connecting rod assembly 300 is connected with the first driving assembly 400, and the first driving assembly 400 is connected with the palm base plate 20. Figure 6As shown, the first knuckle 200 can be considered the crank of the slider-crank mechanism, the connecting rod assembly 300 can be considered the connecting rod of the slider-crank mechanism, and the movable member 420 of the first drive assembly 400 can be considered the slider of the slider-crank mechanism. The slider-crank mechanism can drive the first knuckle 200 to rotate about the second axis L2, thereby achieving bending of the first knuckle 200. Driven by the second drive assembly 500, the first knuckle 200 can rotate about the first axis L1, thereby achieving lateral swing of the first knuckle 200.

[0073] The linkage assembly 300 includes at least four links 310 rotatably connected in sequence. These links 310 are capable of rotating about axes in at least three directions, thereby achieving kinematic decoupling between the two degrees of freedom (bend and roll). Specifically, the at least four links 310 are capable of rotating about the fourth axis L4, the fifth axis L5, the sixth axis L6, the seventh axis L7, and the eighth axis L8, respectively. The fifth axis L5 is perpendicular to the fourth axis L4, the sixth axis L6 is perpendicular to the fifth axis L5 and perpendicular to the fourth axis L4, the seventh axis L7 is parallel to the sixth axis L6, and the eighth axis L8 is perpendicular to the seventh axis L7 and perpendicular to the first axis L1. In other words, when the first phalanx 200 rolls about the first axis L1, the linkage assembly 300 rotates with the first phalanx 200 without affecting its bending. This means that the bending and roll of the first phalanx 200 are independent of each other.

[0074] For example, the angle between the crank rotation axis and the sliding direction of the slider in a conventional crank slider mechanism is 90 degrees, and the position and posture of the crank rotation axis remain unchanged. However, the posture of the crank rotation axis (ie, the second axis L2) of the present application is variable. Figure 18 The figure shows a front view of a partial structure of the fingers of a dexterous hand provided by another embodiment of the present application. Figure 18 As shown, when the first finger joint 200 generates a side swing angle α, the angle between the crank rotation axis (i.e., the second axis L2) and the sliding direction of the slider (i.e., the movement direction of the movable member 420, i.e., the first direction Y1) becomes 90 degrees less the side swing angle α. In other words, the connecting rod assembly 300 of the present application is a spatial connecting rod assembly. The side swing assembly 100, the first finger joint 200, the connecting rod assembly 300, and the first drive assembly 400 of the present application form a spatial crank slider mechanism.

[0075] The first driving assembly 400 is used to drive the linkage assembly 300 to move, so that the linkage assembly 300 drives the first phalanx 200 to rotate around the second axis L2, and the bending of the dexterous hand finger 10 around the second axis L2 is realized. The second driving assembly 500 is used to drive the side swing assembly 100 to move, so that the side swing assembly 100 drives the first phalanx 200 to rotate around the first axis L1, and the side swing of the dexterous hand finger 10 is realized. The third driving assembly 600 is used to drive the tendon 800 to move, so that the tendon 800 drives the phalanx assembly 700 to rotate around the third axis L3, and the bending of the dexterous hand finger 10 around the third axis L3 is realized. That is, the dexterous hand finger 10 provided in the embodiment of the application realizes three degrees of freedom, that is, one degree of side swing freedom and two degrees of bending freedom, linkage driving is adopted, the transmission efficiency is high, tendon driving is adopted, and the size is small. In other words, while realizing three degrees of freedom, the dexterous hand finger 10 provided in the embodiment of the application takes into account the transmission efficiency and size of the dexterous hand finger 10.

[0076] In addition, the dexterous hand finger 10 provided in the embodiment of the application comprises the side swing assembly 100, the first phalanx 200, the linkage assembly 300, the first driving assembly 400 and the second driving assembly 500, that is, linkage assembly 300 is used to realize transmission, without using a gear transmission with a large volume, the size of the dexterous hand finger 10 is reduced, and the size of the dexterous hand finger 10 is closer to that of a human hand finger. In actual application, the size of the dexterous hand finger 10 provided in the embodiment of the application can be 1:1 with the size of a human hand finger.

[0077] In addition, the connection mode between the side swing assembly 100, the first phalanx 200, the linkage assembly 300, the first driving assembly 400 and the second driving assembly 500 of the dexterous hand finger 10 provided in the embodiment of the application is mainly rotary connection, with high precision. The transmission mode of the application is mainly linkage transmission, and the transmission efficiency is higher than that of gear transmission. Therefore, while realizing the motion decoupling between the bending and the side swing of the dexterous hand finger 10, the dexterous hand finger 10 provided in the embodiment of the application also improves the motion precision of the dexterous hand finger 10, reduces the size of the dexterous hand finger 10, reduces the weight of the dexterous hand finger 10, and facilitates the integration of the dexterous hand finger 10.

[0078] In addition, the linkage assembly 300 has large rigidity and strength, so that the linkage assembly 300 is used as transmission, the strength of the dexterous hand finger 10 is better, and the transmission efficiency is higher.

[0079] In addition, the service life and maintainability of the side swing assembly 100, the first phalanx 200, the linkage assembly 300, the first driving assembly 400 and the second driving assembly 500 of the dexterous hand finger 10 provided in the embodiment of the application are relatively high, so that the service life of the dexterous hand finger 10 provided in the embodiment of the application is longer, and the maintainability is better.

[0080] In some embodiments, as shown in FIG. 3, the linkage assembly 300 includes four links 310, i.e., a first link 311, a second link 312, a third link 313, and a fourth link 314. The fourth link 314 is the last link. The first link 311 is rotatably connected with the second link 312 about a fifth axis L5. The second link 312 is rotatably connected with the third link 313 about a sixth axis L6. The third link 313 is rotatably connected with the fourth link 314 about a seventh axis L7. Figures 14 to 16 Exemplarily, the first end of the first link 311 is rotatably connected with the first phalange 200 about the fourth axis L4. The second end of the first link 311 is rotatably connected with the first end of the second link 312 about the fifth axis L5. The second end of the second link 312 is rotatably connected with the first end of the third link 313 about the sixth axis L6. The second end of the third link 313 is rotatably connected with the first end of the fourth link 314 about the seventh axis L7. The second end of the fourth link 314 is rotatably connected with the movable member 420 about an eighth axis L8.

[0081] By including four links 310 in the linkage assembly 300, the lateral swing and the bending of the dexterous hand finger 10 are decoupled, and the redundant structure is avoided, and the structure is simpler.

[0082] In some embodiments, the phalange assembly 700 includes a second phalange 710 and a third phalange 720.

[0083] As shown in FIG. 7, the first end 711 of the second phalange is rotatably connected with the second end 202 of the first phalange about a third axis L3. The first end 721 of the third phalange is rotatably connected with the second end 712 of the second phalange about a ninth axis L9. The ninth axis L9 is parallel to the third axis L3. The first end 801 of the tendon 800 is connected with the second end 722 of the third phalange. The third driving assembly 600 is capable of pulling the tendon 800 to rotate the second phalange 710 about the third axis L3 and to rotate the third phalange 720 about the ninth axis L9.

[0084] Figure 2 Exemplarily, the first end of the first link 311 is rotatably connected with the first phalange 200 about the fourth axis L4. The second end of the first link 311 is rotatably connected with the first end of the second link 312 about the fifth axis L5. The second end of the second link 312 is rotatably connected with the first end of the third link 313 about the sixth axis L6. The second end of the third link 313 is rotatably connected with the first end of the fourth link 314 about the seventh axis L7. The second end of the fourth link 314 is rotatably connected with the movable member 420 about an eighth axis L8.

[0085] ​By using a single tendon 800, the tendon 800 can pull the second knuckle 710 to rotate about the third axis L3, and pull the third knuckle 720 to rotate about the ninth axis L9. This allows the rotation of the second knuckle 710 and the third knuckle 720 to be adaptive, and the rotation angles of the second knuckle 710 and the third knuckle 720 can be automatically changed according to the shape of the object grasped by the dexterous hand finger 10. In other words, the second end 202 of the first knuckle is connected to the hole axis of the first end 711 of the second knuckle to form the proximal knuckle, and the second end 712 of the second knuckle is connected to the hole axis of the first end 721 of the third knuckle to form the distal knuckle. The proximal knuckle and the distal knuckle are driven by a single tendon, creating an adaptive coupling relationship between the tendons, thereby improving the dexterity and grasping ability of the dexterous hand finger 10.

[0086] In some embodiments, as Figure 1 As shown, the first knuckle 200 may have a first soft pad 240 at the fingertips, and a tactile sensor may be configured within the first soft pad 240 to enhance the tactile sensitivity of the dexterous hand finger 10. The second knuckle 710 may have a second soft pad 719 at the fingertips, and a tactile sensor may be configured within the second soft pad 719 to enhance the tactile sensitivity of the dexterous hand finger 10. The third knuckle 720 may have a third soft pad 726 at the fingertips and fingertips, and a tactile sensor may be configured within the second soft pad 726 to enhance the tactile sensitivity of the dexterous hand finger 10.

[0087] In some embodiments, the second end 202 of the first phalanx is connected to the first end 711 of the second phalanx to form the proximal phalanx 15. Figure 12A As shown, the second end 202 of the first phalanx has a first shaft portion 210, and the first end 711 of the second phalanx has at least one first shaft hole 713. The first shaft portion 210 passes through the first shaft hole 713, and the tendon 800 is fitted with a portion of the side surface of the first shaft portion 210 so that the tendon 800 and the first shaft portion 210 form a first wrap angle. For example, as Figure 12B As shown, the second end 202 of the first finger joint has at least one second axial hole 220, and the first end 711 of the second finger joint has a second axial portion 714, the second axial portion 714 passes through the second axial hole 220, and the tendon rope 800 is fitted with a part of the side surface of the second axial portion 714 so that the tendon rope 800 and the second axial portion 714 form a second wrap angle.

[0088] In some embodiments, the second end 712 of the second phalanx is axially connected to the first end 721 of the third phalanx to form the distal phalanx joint 16. Figure 12CAs shown, the second end 712 of the second phalange has at least one third axial hole 715, the first end 721 of the third phalange has a third axial portion 723, the third axial portion 723 penetrates into the third axial hole 715, and the tendon 800 is in contact with the side surface of the third axial portion 723, so that the tendon 800 and the third axial portion 723 form a third wrap angle. Exemplarily, as shown in FIG. 7B, the tendon 800 is in contact with the side surface of the third axial portion 723, so that the tendon 800 and the third axial portion 723 form a third wrap angle. Figure 12D As shown, the second end 712 of the second phalange has a fourth axial portion 716, the first end 721 of the third phalange has at least one fourth axial hole 724, the fourth axial portion 716 penetrates into the fourth axial hole 724, and the tendon 800 is in contact with the side surface of the fourth axial portion 716, so that the tendon 800 and the fourth axial portion 716 form a fourth wrap angle.

[0089] The phalange assembly 700 further comprises a first torsion spring 730 and a second torsion spring 740. The first torsion spring 730 is sleeved on the first axial portion 210 or the second axial portion 714, the first end 731 of the first torsion spring is connected with the first phalange 200, and the second end 732 of the first torsion spring is connected with the second phalange 710. The second torsion spring 740 is sleeved on the third axial portion 723 or the fourth axial portion 716, the first end 741 of the second torsion spring is connected with the second phalange 710, and the second end 742 of the second torsion spring is connected with the third phalange 720.

[0090] As shown in FIG. 7A, the first end 731 of the first torsion spring 730 is connected with the first phalange 200, and the second end 732 of the first torsion spring 730 is connected with the second phalange 710. Figure 4 As shown in FIG. 7B, the first end 741 of the second torsion spring 740 is connected with the second phalange 710, and the second end 742 of the second torsion spring 740 is connected with the third phalange 720. Figure 4 As shown in the cross-sectional view, the first end 741 of the second torsion spring cannot be seen, so it is represented by a dashed line.

[0091] In actual application, the first phalange 200 can have a first clamping slot, the extension direction of the first clamping slot can be parallel to the extension direction of the first axial portion 210 or the extension direction of the second axial portion 714, the first end 731 of the first torsion spring can penetrate into the first clamping slot, so as to realize the detachable connection between the first end 731 of the first torsion spring and the first phalange 200, and facilitate the installation of the first torsion spring 730. The second phalange 710 can have a second clamping slot. The extension direction of the second clamping slot can be parallel to the extension direction of the first axial portion 210 or the extension direction of the second axial portion 714, the second end 732 of the first torsion spring can penetrate into the second clamping slot, so as to realize the detachable connection between the second end 732 of the first torsion spring and the second phalange 710, and facilitate the installation of the first torsion spring 730.

[0092] In practical applications, the second finger joint 710 may have a third slot, the extension direction of which may be parallel to the extension direction of the third shaft portion 723 or the extension direction of the fourth shaft portion 716. The first end 741 of the second torsion spring may be inserted into the third slot. The detachable connection between the first end 741 of the second torsion spring and the second finger joint 710 facilitates the installation of the second torsion spring 740. The third finger joint 720 may have a fourth slot, the extension direction of which may be parallel to the extension direction of the third shaft portion 723 or the extension direction of the fourth shaft portion 716. The second end 742 of the second torsion spring may be inserted into the fourth slot. The detachable connection between the second end 742 of the second torsion spring and the third finger joint 720 facilitates the installation of the second torsion spring 740.

[0093] By providing the first torsion spring 730 and the second torsion spring 740 , the second knuckle 710 and the third knuckle 720 can be automatically reset after being bent, and the structure is simple and compact.

[0094] In some embodiments, as Figure 12A As shown, the first end 711 of the second phalanx has two first axial holes 713 arranged opposite each other. The first shaft portion 210 includes a first shaft segment 211 and two second shaft segments 212. The tendon 800 is in contact with a portion of the side surface of the first shaft segment 211, so that the tendon 800 and the first shaft segment 211 form a first wrap angle. The two second shaft segments 212 are respectively arranged at both ends of the first shaft segment 211, and the second shaft segments 212 are arranged coaxially with the first shaft segment 211. The two second shaft segments 212 respectively penetrate the two first axial holes 713. The diameter of the first shaft segment 211 is larger than the diameter of the second shaft segment 212.

[0095] In some embodiments, as Figure 12B As shown, the second end 202 of the first phalanx has two oppositely disposed second axial holes 220. The second shaft portion 714 includes a third shaft segment 7141 and two fourth shaft segments 7142. The tendon 800 is aligned with a portion of the side surface of the third shaft segment 7141, forming a second wrap angle with the third shaft segment 7141. The two fourth shaft segments 7142 are respectively disposed at opposite ends of the third shaft segment 7141, coaxially disposed with the third shaft segment 7141, and respectively pass through the two second axial holes 220. The diameter of the third shaft segment 7141 is greater than that of the fourth shaft segment 7142.

[0096] By making the diameter of the first shaft segment 211 larger than the diameter of the second shaft segment 212 or the diameter of the first shaft segment 211 larger than the diameter of the second shaft segment 212, the force arm of the tendon 800 pulling the second phalange 710 can be increased, thereby reducing the moment of the tendon 800 pulling the second phalange 710, and further reducing the force required for the tendon 800 to pull the second phalange 710, and further enabling a driving source with a smaller output force to drive the tendon 800, and further enabling the size of the driving source to be reduced, and further enabling the size of the dexterous hand finger 10 to be reduced.

[0097] In some embodiments, as shown in FIG. 7, the second end 712 of the second phalange has two third shaft holes 715 arranged oppositely. The third shaft part 723 includes a fifth shaft segment 7231 and two sixth shaft segments 7232. The tendon 800 is in contact with part of the side surface of the fifth shaft segment 7231, so that the tendon 800 and the fifth shaft segment 7231 form a third wrap angle. The two sixth shaft segments 7232 are arranged at the two ends of the fifth shaft segment 7231 respectively, and the sixth shaft segments 7232 are coaxially arranged with the fifth shaft segment 7231, and the two sixth shaft segments 7232 pass through the two third shaft holes 715 respectively. The diameter of the fifth shaft segment 7231 is larger than the diameter of the sixth shaft segment 7232. Figure 12C In some embodiments, as shown in FIG. 7, the second end 712 of the second phalange has two third shaft holes 715 arranged oppositely. The third shaft part 723 includes a fifth shaft segment 7231 and two sixth shaft segments 7232. The tendon 800 is in contact with part of the side surface of the fifth shaft segment 7231, so that the tendon 800 and the fifth shaft segment 7231 form a third wrap angle. The two sixth shaft segments 7232 are arranged at the two ends of the fifth shaft segment 7231 respectively, and the sixth shaft segments 7232 are coaxially arranged with the fifth shaft segment 7231, and the two sixth shaft segments 7232 pass through the two third shaft holes 715 respectively. The diameter of the fifth shaft segment 7231 is larger than the diameter of the sixth shaft segment 7232.

[0098] Figure 12D In some embodiments, as shown in FIG. 7, the second end 712 of the second phalange has two third shaft holes 715 arranged oppositely. The third shaft part 723 includes a fifth shaft segment 7231 and two sixth shaft segments 7232. The tendon 800 is in contact with part of the side surface of the fifth shaft segment 7231, so that the tendon 800 and the fifth shaft segment 7231 form a third wrap angle. The two sixth shaft segments 7232 are arranged at the two ends of the fifth shaft segment 7231 respectively, and the sixth shaft segments 7232 are coaxially arranged with the fifth shaft segment 7231, and the two sixth shaft segments 7232 pass through the two third shaft holes 715 respectively. The diameter of the fifth shaft segment 7231 is larger than the diameter of the sixth shaft segment 7232.

[0099] By making the diameter of the fifth shaft segment 7231 larger than the diameter of the sixth shaft segment 7232 or the diameter of the seventh shaft segment 7161 larger than the diameter of the eighth shaft segment 7162, the force arm of the tendon 800 pulling the third phalange 720 can be increased, thereby reducing the moment of the tendon 800 pulling the third phalange 720, and further reducing the force required for the tendon 800 to pull the third phalange 720, and further enabling a driving source with a smaller output force to drive the tendon 800, and further enabling the size of the driving source to be reduced, and further enabling the size of the dexterous hand finger 10 to be reduced.

[0100] ​In some embodiments, the dexterous hand finger 10 further comprises at least one first guide wheel 940. The first guide wheel 940 is rotatably connected with the second phalanx 710, and the rotation axis of the first guide wheel 940 is parallel to the third axis L3. The first guide wheel 940 is disposed between the proximal interphalangeal joint and the distal interphalangeal joint. By disposing the at least one first guide wheel 940 between the proximal interphalangeal joint and the distal interphalangeal joint, the wrap angle of the tendon 800 with respect to the proximal interphalangeal joint and the distal interphalangeal joint can be increased, thereby preventing the tendon 800 from falling off the proximal interphalangeal joint or the distal interphalangeal joint.

[0101] In some embodiments, the first end 201 of the first phalanx is connected with the hole shaft of the lateral swing assembly 100 to form the flexion joint 14. The dexterous hand finger 10 further comprises at least one second guide wheel 950. The second guide wheel 950 is rotatably connected with the first phalanx 200, and the rotation axis of the second guide wheel 950 is parallel to the third axis L3. The second guide wheel 950 is disposed between the flexion joint and the proximal interphalangeal joint. By disposing the at least one second guide wheel 950 between the flexion joint and the proximal interphalangeal joint, the wrap angle of the tendon 800 with respect to the flexion joint and the proximal interphalangeal joint can be increased, thereby preventing the tendon 800 from falling off the flexion joint or the proximal interphalangeal joint.

[0102] In some embodiments, the dexterous hand finger 10 has a first side 11 and a second side 12 opposite to each other, and the dexterous hand finger 10 is bent towards the first side 11. The dexterous hand finger 10 comprises one first guide wheel 940 and three second guide wheels 950, i.e., a first second guide wheel 951, a second second guide wheel 952, and a third second guide wheel 953, which are sequentially and adjacently disposed between the flexion joint and the proximal interphalangeal joint. The tendon 800 is connected with the third driving assembly 600 and enters the dexterous hand finger 10 from the second side 12, sequentially passes around the side of the first joint outer circle of the flexion joint 14 close to the first side 11, the side of the first second guide wheel 951 close to the first side 11, the side of the second second guide wheel 952 close to the second side 12, the side of the third second guide wheel 953 close to the second side 12, the side of the second joint outer circle of the proximal interphalangeal joint 15 close to the first side 11, the side of the first guide wheel 940 close to the second side 12, the side of the third joint outer circle of the distal interphalangeal joint 16 close to the first side 11, and is connected with the third phalanx 720.

[0103] Exemplarily, the side swing assembly 100 has an eighth shaft hole, and the first end 201 of the first phalanx has a ninth shaft hole. The dexterous hand finger 10 further comprises a second movable shaft 960. The second movable shaft 960 is inserted into the eighth shaft hole and the ninth shaft hole, thereby forming the bending joint 14. The first joint outer circle of the bending joint 14 can be the side surface of the second movable shaft 960. Exemplarily, the second joint outer circle of the proximal phalanx joint 15 can be the side surface of the first shaft part 210, or the side surface of the second shaft part 714. Exemplarily, the third joint outer circle of the distal phalanx joint 16 can be the side surface of the third shaft part 723, or the side surface of the fourth shaft part 716.

[0104] The winding path of the tendon provided by the embodiment of the present application is simple and compact in structure, the third driving assembly 600 can be arranged at any position of the palm base plate 20, and the space occupied is small.

[0105] Exemplarily, as shown in Figure 4 , two states of the dexterous hand finger 10 are shown, which are the straight state and the bending state, i.e. the dexterous hand finger 10 can perform the bending and straightening actions in the directions indicated by the double-headed arrows in Figure 4 . It can be seen that, whether the dexterous hand finger 10 is in the straight state or the bending state, the tendon 800 can be ensured not to be separated from the bending joint 14, the proximal phalanx joint 15 and the distal phalanx joint 16, thereby ensuring the torque of the tendon 800 pulling the bending joint 14, the proximal phalanx joint 15 and the distal phalanx joint 16 to move.

[0106] In some embodiments, in the case that the first end 711 of the second phalanx has two first shaft holes 713, the second end 202 of the first phalanx has a first shaft part 210, the second end 712 of the second phalanx has two third shaft holes 715, and the first end 721 of the third phalanx has a third shaft part 723, the second phalanx 710 comprises a first component part 717 and a second component part 718.

[0107] The first end 7171 of the first component part has one first shaft hole 713, and the second end 7172 of the first component part has one third shaft hole 715. The first shaft hole 713 and the third shaft hole 715 are located on the same side of the first component part 7171, and are coaxially arranged.

[0108] The second component part 718 is detachably connected with and oppositely arranged to the first component part 717. The first end 7181 of the second component part has one first shaft hole 713, and the second end 7182 of the second component part has one third shaft hole 715. The first shaft hole 713 and the third shaft hole 715 are located on the same side of the second component part 718, and are coaxially arranged.

[0109] The second finger joint 710 includes the first component 717 and the second component 718 , which facilitates installation and removal of the second finger joint 710 .

[0110] In some embodiments, the first component 717 has a first annular groove 7173 and a second annular groove 7174. The first annular groove 7173 is coaxially disposed with the first axial hole 713, and the second annular groove 7174 is coaxially disposed with the third axial hole 715. The dexterous finger also includes a first magnetic member 751, a first sensor 752, a second magnetic member 753, and a second sensor 754.

[0111] The first magnetic member 751 is connected to the first shaft portion 210 and is coaxially arranged with the first shaft portion 210. The first sensor 752 is disposed in the first annular groove 7173 and is configured to detect the absolute position of the first magnetic member 751. For example, the end of the first shaft portion 210 may have a first groove, and the first magnetic member 751 may be disposed in the first groove. For example, the first magnetic member 751 may be an annular member, so that the first magnetic member 751 can be fitted onto the first shaft portion 210.

[0112] The second magnetic member 753 is connected to the third shaft portion 723 and is coaxially arranged with the third shaft portion 723. The second sensor 754 is disposed in the second annular groove 7174 and is configured to detect the absolute position of the second magnetic member 753. For example, the end of the third shaft portion 723 may have a second groove, and the second magnetic member 753 may be disposed in the second groove. For example, the second magnetic member 753 may be an annular member, so that the second magnetic member 753 can be fitted onto the third shaft portion 723.

[0113] The first sensor 752 can use the Hall principle to detect the absolute position of the first magnetic member 751, which is accurate and easy to install. The second sensor 754 can also use the Hall principle to detect the absolute position of the second magnetic member 753, which is accurate and easy to install.

[0114] In some embodiments, as Figure 13 As shown, the first end 7171 of the first component has a first arc-shaped retaining groove 7175, the center of which is located on the axis of the first shaft portion 210. The second end 7172 of the first component has a second arc-shaped retaining groove 7176, the center of which is located on the axis of the third shaft portion 723. The second end 202 of the first finger segment has a first pin 230, and the first end 721 of the third finger segment has a second pin 725.

[0115] The first pin 230 extends into the first arc-shaped limiting slot 7175 and can slide along the first arc-shaped limiting slot 7175, and the second pin 725 extends into the second arc-shaped limiting slot 7176 and can slide along the second arc-shaped limiting slot 7176, thereby limiting the rotation of the second knuckle 710 and the third knuckle 720, and the structure is simple and compact.

[0116] In some embodiments, the side swing assembly 100 has a fifth shaft hole, and the palm base plate 20 has a sixth shaft hole; the dexterous hand finger further comprises a first movable shaft 930. The first movable shaft 930 penetrates the fifth shaft hole and the sixth shaft hole respectively, and the first movable shaft 930 is in key connection with the palm base plate 20, so that the side swing assembly 100 and the palm base plate 20 are rotatably connected. The axis of the first movable shaft 930 coincides with the first axis L1.

[0117] Exemplarily, the sixth shaft hole can also be arranged on the second limiting piece 920, and can also be arranged on other structures connected with the palm base plate 20.

[0118] The second driving assembly 500 comprises a side swing driving wheel 510, a side swing driving rod 520 and a second driving source 530. The side swing driving wheel 510 is connected with the side swing assembly 100, and the side swing driving wheel 510 has a seventh shaft hole. The side swing driving wheel 510 is sleeved on the first movable shaft 930 through the seventh shaft hole. The side swing driving rod 520 is connected with the side swing driving wheel 510. The extension direction of the side swing driving rod 520 intersects with the extension direction of the first movable shaft 930. The second driving source 530 is connected with the palm base plate 20 and connected with the side swing driving rod 520, and is configured to drive the side swing driving rod 520 to move, so as to drive the side swing driving wheel 510 to rotate around the first movable shaft 930 by the side swing driving rod 520, and drive the side swing assembly 520 to rotate around the first axis L1 by the side swing driving wheel 510.

[0119] The extension direction of the side swing driving rod 520 can be the same as the extension direction of the screw rod 412, so as to save the space of the extension direction of the first movable shaft 930. The second driving source 530 can be a motor, or a rotary cylinder, a cylinder or the like, which is not limited in the application.

[0120] In some embodiments, the side swing driving rod 520 and the linkage assembly 300 are arranged on opposite sides of the side swing assembly 100 respectively, so as to avoid mutual interference between the side swing driving rod 520 and the linkage assembly 300.

[0121] In some embodiments, as shown in FIG. 16, the side swing driving wheel 510 has a third ring groove 511 coaxially arranged with the seventh shaft hole. The dexterous hand finger 10 further comprises a third magnetic member 755 and a third sensor 756. The third magnetic member 755 is connected with the first movable shaft 930 and coaxially arranged with the first movable shaft 930. The third sensor 756 is arranged in the third ring groove 511 and configured to detect the absolute position of the third magnetic member 755.

[0122] Exemplarily, the end of the first movable shaft 930 can have a third recess, and the third magnetic member 755 can be arranged in the third recess. Exemplarily, the third magnetic member 755 can be a ring-shaped member, so that the third magnetic member 755 can be sleeved on the first movable shaft 930.

[0123] The third sensor 756 can detect the absolute position of the third magnetic member 755 by Hall principle, which is accurate and convenient to install.

[0124] In some embodiments, as shown in FIG. 16, the side swing driving wheel 510 has a third ring groove 511 coaxially arranged with the seventh shaft hole. The dexterous hand finger 10 further comprises a third magnetic member 755 and a third sensor 756. The third magnetic member 755 is connected with the first movable shaft 930 and coaxially arranged with the first movable shaft 930. The third sensor 756 is arranged in the third ring groove 511 and configured to detect the absolute position of the third magnetic member 755. Figure 8

[0125] The second movable shaft 960 penetrates the eighth shaft hole and the ninth shaft hole respectively, and the second movable shaft 960 is keyed connected with the first finger 200, so that the first finger 200 and the side swing assembly 100 are rotatably connected, and the axis of the second movable shaft 960 coincides with the second axis L2. The fourth magnetic member 757 is connected with the second movable shaft 960 and coaxially arranged with the second movable shaft 960. The fourth sensor 758 is arranged in the side swing assembly 100 and coaxially arranged with the eighth shaft hole, and configured to detect the absolute position of the fourth magnetic member 757.

[0126] The first magnetic member 751, the second magnetic member 753, the third magnetic member 755 and the fourth magnetic member 757 can all be magnets. Exemplarily, the end of the second movable shaft 960 can have a fourth recess, and the fourth magnetic member 757 can be arranged in the fourth recess. Exemplarily, the fourth magnetic member 757 can be a ring-shaped member, so that the fourth magnetic member 757 can be sleeved on the second movable shaft 960.

[0127] The fourth sensor 758 can detect the absolute position of the fourth magnetic member 757 by Hall principle, which is accurate and convenient to install.

[0128] ​In some embodiments, the side swing assembly 100 has a circular-arc slot 110, a cross section of the circular-arc slot 110 perpendicular to the second axis L2 is in a circular-arc shape, and a center of the circular-arc shape is located at the second axis L2. The dexterous hand finger 10 further comprises a first limiting member 910.

[0129] The first limiting member 910 is connected with the first phalanx 200 and penetrates into the circular-arc slot 110. In the process of rotating the first phalanx 200 around the second axis L2, the first limiting member 910 moves along the extending direction of the circular-arc slot 110, and both ends of the circular-arc slot 110 are configured to limit the rotation angle of the first phalanx 200 around the second axis L2. The first limiting member 910 can be fixedly connected with the first phalanx 200 or movably connected with the first phalanx 200, which is not limited in the present application. The first limiting member 910 can be cylindrical or arc-shaped, which is not limited in the present application.

[0130] The rotation angle of the first phalanx 200 around the second axis L2 can be 60 degrees, 90 degrees, 120 degrees, etc., which is not limited in the present application. In actual application, the length of the circular-arc slot 110 can be set according to actual needs, so as to limit the rotation angle of the first phalanx 200 around the second axis L2.

[0131] By setting the circular-arc slot 110 and the first limiting member 910, the rotation angle of the first phalanx 200 around the second axis L2 can be limited, so as to set a suitable bending angle for the first phalanx 200, to make the bending angle of the dexterous hand finger 10 closer to that of a human hand, or to set a suitable bending angle for the dexterous hand finger 10 according to specific scene needs.

[0132] In some embodiments, the first phalanx 200 has a first shaft hole, and the first connecting rod 311 has a second shaft hole. The first limiting member 910 comprises a first shaft structure 911, which penetrates into the first shaft hole and the second shaft hole respectively, so as to rotatably connect the first phalanx 200 and the first connecting rod 311 around the first shaft structure 911. The axis of the first shaft structure 911 coincides with the fourth axis L4. In other words, the first limiting member 910 can limit the rotation angle of the first phalanx 200 around the second axis L2, and also can serve as a rotation shaft of the first phalanx 200 and the first connecting rod 311, so as to simplify the structure of the dexterous hand finger 10, and further reduce the size of the dexterous hand finger 10.

[0133] In some embodiments, the dexterous hand finger 10 further comprises a second limiting member 920. The second limiting member 920 is connected with the palm base plate 20 and is configured to limit the rotation angle of the side swing assembly 100 about the first axis L1 relative to the palm base plate 20. The second limiting member 920 can be any shape structure as long as it can limit the rotation angle of the side swing assembly 100 about the first axis L1 relative to the palm base plate 20, which is not limited in the present application. Exemplarily, the second limiting member 920 can be integrally formed with the palm base plate 20, or can be separately provided with the palm base plate 20.

[0134] By providing the second limiting member 920, the rotation angle of the side swing assembly 100 about the first axis L1 relative to the palm base plate 20, i.e. the side swing angle of the dexterous hand finger 10, can be limited, so that the side swing angle of the dexterous hand finger 10 is closer to the human hand, or the appropriate side swing angle of the dexterous hand finger 10 can be set according to the specific scene.

[0135] In some embodiments, the side swing assembly 100 is rotatably connected with the second limiting member 920 about the first axis L1. Exemplarily, the second limiting member 920 can be fixedly connected with the palm base plate 20, or can be detachably connected with the palm base plate 20. The second limiting member 920 can be regarded as a joint base of the dexterous hand finger 10, i.e. the structure of the dexterous hand finger 10 can be integrated on the joint base, and then connected with the palm base plate 20, which is convenient for the manufacture of the dexterous hand 3.

[0136] In some embodiments, the fixing member 410 comprises a first driving source 411 and a lead screw 412. The first driving source 411 is connected with the palm base plate 20. The lead screw 412 is connected with the first driving source 411 and rotates under the driving of the first driving source 411. The movable member 420 comprises a lead screw nut 421. The lead screw nut 421 is screwed with the lead screw 412, and the last connecting rod 310 is rotatably connected with the lead screw nut 421 about the eighth axis L8.

[0137] The first driving source 411 can be a motor or a rotary cylinder, as long as it is a structure that can provide rotary force, which is not limited in the present application.

[0138] Through the cooperation of the lead screw 412 and the lead screw nut 421, the driving of the bending of the dexterous hand finger 10 is realized. The lead screw 412 can not only drive the lead screw nut 421 to move linearly, but also guide the lead screw nut 421, which has a simple structure and good driving effect.

[0139] The embodiments of the present application also provide a dexterous hand 3 applied to a robot 1. As shown in Figure 19 The dexterous hand 3 comprises a palm base plate 20 and the dexterous hand finger 10 mentioned in the above embodiments. The dexterous hand finger 10 is arranged on the palm base plate 20 and connected with the palm base plate 20.

[0140] As the dexterous hand 3 comprises the dexterous hand fingers 10, the robot 1 also has all the technical features and technical effects of the dexterous hand fingers 10, which are not repeated here.

[0141] Embodiments of the present application also provide a robot 1. As shown in Figure 19 The robot 1 comprises the main body 2 and the dexterous hand 3 mentioned in the above embodiments. The dexterous hand 3 is connected with the main body 2.

[0142] As the robot 1 comprises the dexterous hand 3 mentioned in the above embodiments, the robot 1 has all the technical features and technical effects of the dexterous hand 3, which are not repeated here.

[0143] In the embodiments of the present application, if the form of connection is not explicitly limited, the form of connection can be detachable connection forms such as bolt-nut, screw, buckle, magnetic attraction, etc. In some connections, if there is no special requirement for the form of non-detachable cooperation, non-detachable connection can be achieved by welding, bonding, etc.

[0144] In the description, "one embodiment", "an embodiment", and the like indicate that the described embodiment can include a particular feature, structure, or characteristic, but every embodiment can not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of those skilled in the art to effect such feature, structure, or characteristic in connection with an alternative or further embodiment.

[0145] It should be understood that "on", "above", and "over" in the present disclosure should be interpreted in the broadest way, so that "on" not only means "directly on", but also includes the meaning of "on" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over", but also can include the meaning of "above" or "over" without intermediate features or layers therebetween (i.e., directly on).

[0146] In addition, spatial relative terms, such as "below", "under", "lower", "above", "on", and the like, can be used herein for ease of description to describe one component or feature's relationship to another component or feature as illustrated in the figures. The spatial relative terms are intended to encompass different orientations of the components in use or operation in addition to the orientations depicted in the figures. The devices can have other orientations (rotated 90 degrees or otherwise) and the spatial relative descriptors used herein can be interpreted accordingly.

[0147] It should be noted that, as used in this document, the terms "comprises", "comprising", or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "comprises" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0148] The foregoing is merely illustrative of the principles of this application and various modifications can be made by those skilled in the art without departing from the scope and spirit of the application.

Claims

1. A dexterous hand finger, characterized by, The application is applied to a dexterous hand, which comprises a palm base plate and at least one dexterous hand finger; The dexterous hand finger comprises: A side swing assembly is rotatably connected with the palm base plate around a first axis; A first phalanx, a first end of the first phalanx is rotatably connected with the side swing assembly around a second axis, and the second axis is perpendicular to the first axis; A phalanx assembly, a first end of the phalanx assembly is rotatably connected with a second end of the first phalanx around a third axis, and the third axis is parallel to the second axis; A tendon, a first end of the tendon is connected with a second end of the phalanx assembly; A connecting rod assembly comprises at least four connecting rods which are rotatably connected in sequence, a first connecting rod is rotatably connected with the first phalanx around a fourth axis, and rotation axes between the at least four connecting rods comprise at least a fifth axis, a sixth axis and a seventh axis, wherein the fourth axis is parallel to the second axis, the fifth axis is perpendicular to the fourth axis, the sixth axis is perpendicular to the fifth axis and perpendicular to the fourth axis, and the seventh axis is parallel to the sixth axis; A first driving assembly comprises a fixed part and a movable part which are connected with each other, the fixed part is connected with the palm base plate, and a last connecting rod is rotatably connected with the movable part around an eighth axis, and the eighth axis is perpendicular to the seventh axis and perpendicular to the first axis, wherein the fixed part can drive the movable part to move in a first direction, so as to drive the connecting rod assembly to move by using the movable part, and drive the first phalanx to rotate around the second axis by using the connecting rod assembly; A second driving assembly is connected with the side swing assembly and is configured to drive the side swing assembly to rotate around the first axis relative to the palm base plate, so as to drive the first phalanx to rotate around the first axis by using the side swing assembly; A third driving assembly is connected with a second end of the tendon and is configured to pull the tendon, so as to drive the phalanx assembly to rotate around the third axis by using the tendon.

2. The dexterous hand finger of claim 1, wherein, The phalanx assembly comprises: A second phalanx, a first end of the second phalanx is rotatably connected with a second end of the first phalanx around the third axis; A third phalanx, a first end of the third phalanx is rotatably connected with a second end of the second phalanx around a ninth axis, and the ninth axis is parallel to the third axis; The first end of the tendon is connected with a second end of the third phalanx, and the third driving assembly can pull the tendon, so as to drive the second phalanx to rotate around the third axis and drive the third phalanx to rotate around the ninth axis by using the tendon.

3. The dexterous hand finger of claim 2, wherein, The second end of the first phalanx is connected with the first end of the second phalanx in a hole axis to form a proximal interphalangeal joint. The second end of the second phalanx has a first shaft portion, and the first end of the second phalanx has at least one first shaft hole, the first shaft portion penetrates into the first shaft hole, and the tendon rope is attached to a part of a side surface of the first shaft portion to form a first wrap angle between the tendon rope and the first shaft portion; or the second end of the first phalanx has at least one second shaft hole, and the first end of the second phalanx has a second shaft portion, the second shaft portion penetrates into the second shaft hole, and the tendon rope is attached to a part of a side surface of the second shaft portion to form a second wrap angle between the tendon rope and the second shaft portion; The second end of the second phalanx is connected with the first end of the third phalanx in a shaft hole manner to form a distal interphalangeal joint; The second end of the second phalanx has at least one third shaft hole, the first end of the third phalanx has a third shaft portion, the third shaft portion penetrates into the third shaft hole, and the tendon rope is attached to a part of a side surface of the third shaft portion to form a third wrap angle between the tendon rope and the third shaft portion; or the second end of the second phalanx has a fourth shaft portion, the first end of the third phalanx has at least one fourth shaft hole, the fourth shaft portion penetrates into the fourth shaft hole, and the tendon rope is attached to a part of a side surface of the fourth shaft portion to form a fourth wrap angle between the tendon rope and the fourth shaft portion; The phalanx assembly further comprises: A first torsion spring is sleeved on the first shaft portion or the second shaft portion, a first end of the first torsion spring is connected with the first phalanx, and a second end of the first torsion spring is connected with the second phalanx; A second torsion spring is sleeved on the third shaft portion or the fourth shaft portion, a first end of the second torsion spring is connected with the second phalanx, and a second end of the second torsion spring is connected with the third phalanx.

4. The dexterous hand finger according to claim 3, wherein The first end of the second phalanx has two first shaft holes arranged oppositely, and the first shaft portion comprises: A first shaft segment, and the tendon rope is attached to a part of a side surface of the first shaft segment to form the first wrap angle between the tendon rope and the first shaft segment; Two second shaft segments are arranged at two ends of the first shaft segment respectively, and the second shaft segments are coaxially arranged with the first shaft segment, and two second shaft segments penetrate into two first shaft holes respectively, wherein a diameter of the first shaft segment is greater than a diameter of the second shaft segment; or The second end of the first phalanx has two second shaft holes arranged oppositely, and the second shaft portion comprises: A third shaft segment, and the tendon rope is attached to a part of a side surface of the third shaft segment to form the second wrap angle between the tendon rope and the third shaft segment; Two fourth shaft segments are arranged at two ends of the third shaft segment respectively, and the fourth shaft segments are coaxially arranged with the third shaft segment, and two fourth shaft segments penetrate into two second shaft holes respectively, wherein a diameter of the third shaft segment is greater than a diameter of the fourth shaft segment.

5. The dexterous hand finger according to claim 3, wherein The second end of the second phalanx has two third shaft holes arranged oppositely, and the third shaft portion comprises: ​ a fifth shaft segment, the tendon rope being fitted with part of the lateral surface of the fifth shaft segment, so that the tendon rope and the fifth shaft segment form the third wrap angle; two sixth shaft segments, respectively arranged at the two ends of the fifth shaft segment, and the sixth shaft segments are coaxially arranged with the fifth shaft segment, and the two sixth shaft segments are respectively inserted into the two third shaft holes, wherein the diameter of the fifth shaft segment is greater than the diameter of the sixth shaft segment; or, the first end of the third finger joint has two fourth shaft holes arranged oppositely, and the fourth shaft part comprises: a seventh shaft segment, the tendon rope being fitted with part of the lateral surface of the seventh shaft segment, so that the tendon rope and the seventh shaft segment form the fourth wrap angle; two eighth shaft segments, respectively arranged at the two ends of the seventh shaft segment, and the eighth shaft segments are coaxially arranged with the seventh shaft segment, and the two eighth shaft segments are respectively inserted into the two fourth shaft holes, wherein the diameter of the seventh shaft segment is greater than the diameter of the eighth shaft segment.

6. The dexterous hand finger of claim 3, wherein, Further comprising: at least one first guide wheel, rotatably connected with the second finger joint, the rotation axis of the first guide wheel being parallel to the third axis, and the first guide wheel being arranged between the proximal interphalangeal joint and the distal interphalangeal joint; and / or, the first end of the first finger joint is connected with the side swing assembly hole shaft to form a bending joint, and the dexterous hand finger further comprises: at least one second guide wheel, rotatably connected with the first finger joint, the rotation axis of the second guide wheel being parallel to the third axis, and the second guide wheel being arranged between the bending joint and the proximal interphalangeal joint.

7. The dexterous hand finger of claim 6, wherein, The dexterous hand finger has opposite first and second sides, and the dexterous hand finger bends towards the first side; The dexterous hand finger comprises one first guide wheel and three second guide wheels, and the first, second and third second guide wheels are sequentially and adjacently arranged between the bending joint and the proximal interphalangeal joint; Wherein, the tendon rope is connected with the third driving assembly, and is inserted into the dexterous hand finger from the second side, sequentially passes around the side surface of the first joint outer circle of the bending joint close to the first side, the side surface of the first second guide wheel close to the first side, the side surface of the second second guide wheel close to the second side, the side surface of the third second guide wheel close to the second side, the side surface of the second joint outer circle of the proximal interphalangeal joint close to the first side, the side surface of the first guide wheel close to the second side, the side surface of the third joint outer circle of the distal interphalangeal joint close to the first side, and is connected with the third finger joint.

8. The dexterous hand finger of claim 3, wherein, In the case that the first end of the second finger joint has two first shaft holes, the second end of the first finger joint has the first shaft part, the second end of the second finger joint has two third shaft holes, and the first end of the third finger joint has the third shaft part, the second finger joint comprises: The first end of the first component has a first shaft hole, and the second end of the first component has a third shaft hole. The first shaft hole and the third shaft hole are located on the same side of the first component and are coaxially arranged on the first component. The second component is detachably connected with the first component and is oppositely arranged. The first end of the second component has a first shaft hole, and the second end of the second component has a third shaft hole. The first shaft hole and the third shaft hole are located on the same side of the second component and are coaxially arranged on the second component.

9. The dexterous hand finger of claim 8, wherein, The first component has a first ring groove and a second ring groove. The first ring groove is coaxially arranged with the first shaft hole, and the second ring groove is coaxially arranged with the third shaft hole. The dexterous hand finger further comprises: A first magnetic member is connected with the first shaft part and coaxially arranged with the first shaft part. A first sensor is arranged in the first ring groove and is configured to detect the absolute position of the first magnetic member. A second magnetic member is connected with the third shaft part and coaxially arranged with the third shaft part. A second sensor is arranged in the second ring groove and is configured to detect the absolute position of the second magnetic member.

10. The dexterous hand finger of claim 8, wherein, The first end of the first component has a first arc-shaped limiting groove, and the center of the first arc-shaped limiting groove is located on the axis of the first shaft part. The second end of the first component has a second arc-shaped limiting groove, and the center of the second arc-shaped limiting groove is located on the axis of the third shaft part. The second end of the first knuckle has a first column pin, and the first end of the third knuckle has a second column pin. The first column pin extends into the first arc-shaped limiting groove and can slide along the first arc-shaped limiting groove. The second column pin extends into the second arc-shaped limiting groove and can slide along the second arc-shaped limiting groove.

11. The dexterous hand finger according to any one of claims 1 to 10, characterized in that, The side swing assembly has a fifth shaft hole, and the palm base plate has a sixth shaft hole. The dexterous hand finger further comprises: A first movable shaft penetrates the fifth shaft hole and the sixth shaft hole, respectively, and the first movable shaft is keyed connected with the palm base plate, so that the side swing assembly and the palm base plate are rotatably connected. The axis of the first movable shaft coincides with the first axis. The second driving assembly comprises: A side swing driving wheel is connected with the side swing assembly. The side swing driving wheel has a seventh shaft hole, and the side swing driving wheel is sleeved on the first movable shaft through the seventh shaft hole. A side swing driving rod is connected with the side swing driving wheel. The extension direction of the side swing driving rod intersects with the extension direction of the first movable shaft. A second driving source is connected with the palm base plate and the side swing driving rod and is configured to drive the side swing driving rod to move. The side swing driving rod drives the side swing driving wheel to rotate around the first movable shaft, so that the side swing driving wheel drives the side swing assembly to rotate around the first axis.

12. The dexterous hand finger of claim 11, wherein, The side swing driving wheel has a third ring groove, and the third ring groove is coaxially arranged with the seventh shaft hole. The dexterous hand finger further comprises: A third magnetic member is connected with the first movable shaft and coaxially arranged with the first movable shaft; A third sensor is arranged in the third ring groove and configured to detect the absolute position of the third magnetic member.

13. The dexterous hand finger according to any one of claims 1 to 10, characterized in that, The side swing assembly has an eighth shaft hole, and the first end of the first phalanx has a ninth shaft hole; the dexterous hand finger further comprises: A second movable shaft penetrates the eighth shaft hole and the ninth shaft hole respectively, and the second movable shaft is keyed connected with the first phalanx, so that the first phalanx and the side swing assembly are rotatably connected, and the axis of the second movable shaft coincides with the second axis; A fourth magnetic member is connected with the second movable shaft and coaxially arranged with the second movable shaft; A fourth sensor is arranged in the side swing assembly and coaxially arranged with the eighth shaft hole, and is configured to detect the absolute position of the fourth magnetic member.

14. The dexterous hand finger according to any one of claims 1 to 10, wherein: The fixed member comprises: A first driving source is connected with the palm base plate; A lead screw is connected with the first driving source and rotates under the driving of the first driving source; The movable member comprises: A lead screw nut is screwed with the lead screw, and the last connecting rod is rotatably connected with the lead screw nut about the eighth axis.

15. A dexterous hand characterized by, It comprises: A palm base plate; At least one dexterous hand finger according to any one of claims 1 to 14 is connected with the palm base plate.

16. A robot, characterized in that It comprises: A main body; At least one dexterous hand according to claim 15 is connected with the main body.

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