Finger structure of dexterous hand

Abstract

The invention relates to the technical field of manipulators, in particular to a finger structure of a dexterous hand, which comprises a connecting block, a palm shell, a thumb assembly, a finger assembly and a joint lubricating assembly, the palm shell is fixedly connected to one side of the connecting block, the finger assembly is hinged to one side, away from the connecting block, of the palm shell, the thumb assembly is arranged at the side part of the finger assembly, and the joint lubricating assembly is arranged at the other side of the palm shell. The thumb assembly is installed in the palm center shell, joints of the thumb assembly and the finger assembly are in sliding fit with joint lubricating assemblies, a rope driving structure is adopted integrally, the installation number of motors at the joints is reduced, meanwhile, independent driving structures between fingers are adopted and can be matched with one another, and therefore various grabbing actions can be flexibly carried out; according to the mechanical arm, lubricating oil can flow out through extrusion force between the rope pipe and all the joints, the lubricating purpose is achieved, friction at the joint connecting positions is reduced, the flexibility of the thumb assembly and the finger assembly in the grabbing process is improved, and the clamping precision is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a finger structure of a dexterous hand. Background Art

[0002] With the continuous development of today's social economy, robots have also been continuously developed and widely used in various fields. Robots can replace humans to complete some high-risk actions, thereby reducing the risk of human hand injuries.

[0003] The invention patent with application number 202310098351.X discloses a fully-driven dexterous manipulator, which can reduce the pressure on objects when clamping objects and avoid damage through the cooperation between the ventilation shell, rubber airbag, air intake pipe, control valve, threaded joint and hose, while protecting the wooden components and finger components and reducing their wear.

[0004] However, in actual use of the above patent, since the parts connected by the joints are exposed to the air, after continuously completing various high-risk actions and clamping operations, the joint connections will be contaminated and rusted, resulting in increased friction during joint rotation, thereby reducing the flexibility of the thumb and fingers during clamping operations, resulting in a decrease in clamping accuracy. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a finger structure for a dexterous hand, which adopts a rope-driven structure as a whole, reduces the number of motors installed at the joints, and simultaneously adopts a separate driving structure between the fingers and can cooperate with each other, so as to flexibly perform various grasping actions. During the rope-driven process, the extrusion force between the rope tube and the joints can be used to realize the outflow of lubricating oil and achieve the purpose of lubrication, thereby reducing the friction at the joint connection, improving the flexibility of the thumb assembly and the finger assembly during grasping, and ensuring the clamping accuracy.

[0006] The technical solution adopted by the present invention to solve the above technical problems is: a finger structure of a dexterous hand, comprising a connecting block, a palm shell, a thumb assembly, a finger assembly and a joint lubrication assembly, wherein one side of the connecting block is fixedly connected to the palm shell, a side of the palm shell away from the connecting block is hinged with the finger assembly, a thumb assembly is arranged on the side of the finger assembly, the thumb assembly is installed inside the palm shell, and a joint lubrication assembly is slidably matched on the joints of the thumb assembly and the finger assembly;

[0007] The thumb assembly and the finger assembly are provided with a first tube groove on the side corresponding to the back of the palm, and the thumb assembly and the finger assembly are provided with a second tube groove on the side corresponding to the center of the palm;

[0008] The joint lubrication component includes a bidirectional motor, and the palm shell and the thumb assembly are both provided with bidirectional motors. The first wire wheel is fixedly installed on the output shaft of the bidirectional motor, and the second wire wheel is fixedly installed on one side of the first wire wheel and at a position located on the output shaft of the bidirectional motor. The first wire wheel is wound with a No. 1 pipe rope, which is arranged in the first pipe groove and is fixedly connected to the end joints of the thumb assembly and the finger assembly respectively. The second wire wheel is wound with a No. 2 pipe rope, which is arranged in the second pipe groove and is fixedly connected to the end joints of the thumb assembly and the finger assembly respectively. The No. 1 pipe rope and the No. 2 pipe rope are evenly arranged with a number of sponge blocks inside, each sponge block is provided with a hollow groove, and an extrusion spring is installed inside the hollow groove. The No. 1 pipe rope and the No. 2 pipe rope are slidably installed with extrusion protrusions on the opposite sides corresponding to the positions of the sponge blocks, and the extrusion protrusions and the sponge blocks are fixedly connected.

[0009] Preferably, the thumb assembly includes a rotating unit, a first thumb joint, a second thumb joint and a third thumb joint, the rotating unit is arranged inside the palm shell, the first thumb joint is fixedly connected to the side of the rotating unit, a cavity is opened inside the first thumb joint, the end of the first thumb joint away from the rotating unit is hinged to the second thumb joint, and the end of the second thumb joint away from the first thumb joint is hinged to the third thumb joint.

[0010] Preferably, the rotating unit includes a rotating motor, a driving bevel gear, a driven bevel gear frame and a driven bevel gear. The rotating motor is fixedly installed at a position near the first thumb joint inside the palm shell, the output shaft of the rotating motor is fixedly connected to the driving bevel gear, and a driven bevel gear is meshed above the driving bevel gear. The driven bevel gear is rotatably arranged on the driven bevel gear frame, the lower end of the driven bevel gear frame is fixedly connected to the bottom of the palm shell, and the driven bevel gear and the first thumb joint are fixedly connected.

[0011] Preferably, thumb protection shells are provided on the outer sides of the first thumb joint, the second thumb joint and the third thumb joint.

[0012] Preferably, the finger assembly includes a first finger joint, a second finger joint and a third finger joint, a first finger joint corresponding to the number of fingers of a normal human hand is hinged on the side of the palm shell away from the connecting block, a second finger joint is hinged on the end of the first finger joint away from the palm shell, and a third finger joint is hinged on the end of the second finger joint away from the first finger joint.

[0013] Preferably, finger protection shells are provided on the outsides of the first finger joint, the second finger joint and the third finger joint.

[0014] Preferably, a plurality of oil leakage holes are provided at the connection between the first thumb joint and the second thumb joint, the connection between the second thumb joint and the third thumb joint, the connection between the first finger joint and the second finger joint, and the connection between the second finger joint and the third finger joint.

[0015] Preferably, the end surface of the third thumb joint corresponding to the palm and the end surface of the third finger joint corresponding to the palm are both provided with rubber gaskets.

[0016] Preferably, the first wire wheel has a first wire clamp fixedly mounted on its side edge, the second wire wheel has a second wire clamp fixedly mounted on its side edge, and a special-shaped sliding ring is fixedly mounted on the outer side of the second wire clamp.

[0017] Preferably, oil leakage channels are symmetrically provided on the extrusion protrusion.

[0018] Beneficial effects of the present invention:

[0019] 1. The present invention provides a finger structure of a dexterous hand, which adopts a rope-driven structure as a whole, reduces the number of motors installed at the joints, reduces energy consumption, and is also conducive to later repair and maintenance;

[0020] 2. The present invention provides a finger structure of a dexterous hand, wherein a separate driving structure is used between the thumb assembly and the finger assembly, so that the thumb assembly and the finger assembly can be bent and matched simultaneously or separately, and when performing grasping operations, the flexibility is high and the grasping efficiency is relatively high. Compared with traditional manipulators, the structure is closer to the characteristics of human hands, has a rich grasping range and can ensure the appropriateness of the grasping force;

[0021] 3. The present invention provides a finger structure of a dexterous hand, and a joint lubrication assembly is provided. During the rope driving process, the extrusion force between the rope tube and each joint can be used to realize the outflow of lubricating oil and achieve the purpose of lubrication, and then the lubricating oil is fully contacted with the joint connection through the oil leakage hole, thereby effectively reducing the friction resistance of the joint connection, extending the service life of the thumb assembly and the finger assembly, and at the same time improving the flexibility of the two when grasping, ensuring the clamping accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0023] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0024] Figure 2 The present invention Figure 1 A schematic diagram of the three-dimensional structure after removing the thumb protection shell and the finger protection shell;

[0025] Figure 3 The present invention Figure 2Schematic diagram of the three-dimensional structure after removing the upper half of the palm shell;

[0026] Figure 4 It is a schematic diagram of a partial three-dimensional connection structure between the connection block, the palm shell and the thumb assembly in the present invention;

[0027] Figure 5 It is a schematic diagram of the three-dimensional connection structure of the finger assembly of the present invention without the finger protection housing;

[0028] Figure 6 The present invention Figure 5 A schematic cross-sectional structure diagram of ;

[0029] Figure 7 It is a three-dimensional structural schematic diagram of a part of the joint lubrication assembly in the present invention;

[0030] Figure 8 The present invention Figure 7 A schematic diagram of a partial cross-sectional structure;

[0031] Fig. 9 The present invention Figure 8 A is an enlarged structural diagram of FIG.

[0032] In the figure:

[0033] 1. Connecting block; 10. Oil leakage hole; 11. First pipe groove; 12. Second pipe groove; 13. Rubber gasket; 2. Palm shell;

[0034] 3. Thumb assembly; 31. Rotation unit; 311. Rotation motor; 312. Active bevel gear; 313. Driven bevel gear rack; 314. Driven bevel gear; 32. First thumb joint; 33. Second thumb joint; 34. Third thumb joint; 35. Thumb protection housing;

[0035] 4. Finger assembly; 41. First finger joint; 42. Second finger joint; 43. Third finger joint; 44. Finger protection housing;

[0036] 5. Joint lubrication assembly; 51,321. Bidirectional motor; 52,322. First wire wheel; 521,3221. First wire clamp;

[0037] 53,323, second wire wheel; 531,3231, second wire clamp; 532,3232, special-shaped sliding ring;

[0038] 54,324, No. 1 pipe rope; 55,325, No. 2 pipe rope;

[0039] 56. Sponge block; 57. Extrusion spring; 58. Extrusion protrusion; 581. Oil leakage channel. DETAILED DESCRIPTION

[0040] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0041] Embodiment 1:

[0042] See also Figures 1 to 6 A finger structure of a dexterous hand includes a connecting block 1, a palm shell 2, a thumb assembly 3, a finger assembly 4 and a joint lubrication assembly 5. One side of the connecting block 1 is fixedly connected to the palm shell 2, and the finger assembly 4 is hinged on the side of the palm shell 2 away from the connecting block 1. The thumb assembly 3 is arranged on the side of the finger assembly 4, and the thumb assembly 3 is installed inside the palm shell 2.

[0043] The thumb assembly 3 and the finger assembly 4 are provided with a first tube groove 11 on the side corresponding to the back of the palm, and the thumb assembly 3 and the finger assembly 4 are provided with a second tube groove 12 on the side corresponding to the center of the palm.

[0044] The thumb assembly 3 includes a rotating unit 31, a first thumb joint 32, a second thumb joint 33 and a third thumb joint 34. The rotating unit 31 is arranged inside the palm shell 2, and the first thumb joint 32 is fixedly connected to the side of the rotating unit 31. A cavity is opened inside the first thumb joint 32. The end of the first thumb joint 32 away from the rotating unit 31 is hinged to the second thumb joint 33, and the end of the second thumb joint 33 away from the first thumb joint 32 is hinged to the third thumb joint 34. The outsides of the first thumb joint 32, the second thumb joint 33 and the third thumb joint 34 are all provided with thumb protection shells 35.

[0045] The rotating unit 31 includes a rotating motor 311, a driving bevel gear 312, a driven bevel gear frame 313 and a driven bevel gear 314. The rotating motor 311 is fixedly installed at a position near the first thumb joint 32 inside the palm shell 2, and the output shaft of the rotating motor 311 is fixedly connected to the driving bevel gear 312. The driven bevel gear 314 is meshed above the driving bevel gear 312. The driven bevel gear 314 is rotatably arranged on the driven bevel gear frame 313. The lower end of the driven bevel gear frame 313 is fixedly connected to the bottom of the palm shell 2, and the driven bevel gear 314 is fixedly connected to the first thumb joint 32.

[0046] The finger assembly 4 includes a first finger joint 41, a second finger joint 42 and a third finger joint 43. The side of the palm shell 2 away from the connecting block 1 is hinged with a first finger joint 41 corresponding to the number of fingers of a normal human hand, the end of the first finger joint 41 away from the palm shell 2 is hinged with a second finger joint 42, and the end of the second finger joint 42 away from the first finger joint 41 is hinged with a third finger joint 43. The outside of the first finger joint 41, the second finger joint 42 and the third finger joint 43 are all provided with a finger protection shell 44.

[0047] A plurality of oil leakage holes 10 are provided at the connection between the first thumb joint 32 and the second thumb joint 33, the connection between the second thumb joint 33 and the third thumb joint 34, the connection between the first finger joint 41 and the second finger joint 42, and the connection between the second finger joint 42 and the third finger joint 43. The end surface of the third thumb joint 34 corresponding to the palm and the end surface of the third finger joint 43 corresponding to the palm are both provided with rubber gaskets 14.

[0048] During specific work, when in use, the finger structure of the dexterous hand is installed on the mechanical arm through the connecting block 1, and the overall orientation of the finger structure of the dexterous hand is adjusted by the mechanical arm to be suitable for clamping operations. When clamping, the rotating motor 311 is started, and the active bevel gear 312 is driven to rotate by the rotating motor 311. Under the action of the driven bevel gear 314, the first thumb joint 32 will rotate a certain angle and drive the second thumb joint 33 and the third thumb joint 34 to adjust a certain angle synchronously, and the joint lubrication component 5 is started. The joints of the thumb component 3 and the finger component 4 are driven to bend through the joint lubrication component 5. Each finger component 4 is driven separately. With the mutual cooperation of the thumb component 3, the individual or coordinated actions of each joint can be realized, thereby flexibly completing various clamping actions. When grasping, the rubber gasket 14 can increase the friction between the thumb component 3 and the finger component 4 and the object to be grasped, thereby reducing the wear of the thumb component 3 and the finger component 4, which is conducive to stable grasping of the object.

[0049] Embodiment 2:

[0050] The technical solution is basically the same as that of the first embodiment, see Figure 3 , Figure 4 as well as Figures 7 to 9, the difference is that: the joints of the thumb assembly 3 and the finger assembly 4 are slidably matched with a joint lubrication assembly 5, the joint lubrication assembly 5 includes a bidirectional motor 51, 321, the palm shell 2 and the thumb assembly 3 are both provided with a bidirectional motor 51, 321, the output shaft of the bidirectional motor 51, 321 is fixedly mounted with a first wire wheel 52, 322, a side of the first wire wheel 52, 322 and a position on the output shaft of the bidirectional motor 51, 321 is fixedly mounted with a second wire wheel 53, 323, a No. 1 pipe rope 54, 324 is wound around the first wire wheel 52, 322, the No. 1 pipe rope 54, 324 is arranged through the first pipe groove 11 and is respectively connected with the thumb assembly 3 and The end joints of the finger assembly 4 are fixedly connected, and a No. 2 pipe rope 55, 325 is wound around the second wire wheel 53, 323. The No. 2 pipe rope 55, 325 is arranged through the second pipe groove 12 and is respectively fixedly connected to the end joints of the thumb assembly 3 and the finger assembly 4. The No. 1 pipe rope 54 and the No. 2 pipe rope 55 are evenly arranged with a plurality of sponge blocks 56 inside. Each sponge block 56 has a hollow groove, and an extrusion spring 57 is installed inside the hollow groove. The No. 1 pipe rope 54 and the No. 2 pipe rope 55 have extrusion protrusions 58 slidably installed on the opposite sides corresponding to the position of the sponge block 56. The extrusion protrusion 58 and the sponge block 56 are fixedly connected, and the extrusion protrusion 58 is symmetrically provided with oil leakage channels 581.

[0051] The first wire wheel 52, 322 is fixedly mounted with a first wire clamp 521, 3221 on its side edge, the second wire wheel 53, 323 is fixedly mounted with a second wire clamp 531, 3231 on its side edge, and a special-shaped sliding ring 532, 3232 is fixedly mounted on the outer side of the second wire clamp 531, 3231.

[0052] In this embodiment, the first pipe rope 54, 324 and the second pipe rope 55, 325 are filled with lubricating oil.

[0053] During specific work, when clamping, the bidirectional motor 51, 321 is started, and the bidirectional motor 51, 321 drives the first wire wheel 52, 322 and the second wire wheel 53, 323 to rotate forward, at this time, the first wire wheel 52, 322 will drive the No. 1 pipe rope 54, 324 to unwind, and the second wire wheel 53, 323 will drive the No. 2 pipe rope 55, 325 to rewind, and the No. 2 pipe rope 55, 325 is used to achieve the bending action of each joint in the thumb assembly 3 and the finger assembly 4, thereby completing various clamping actions; after the clamping operation is completed, the bidirectional motor 51, 321 is reversed, at this time, the first wire wheel 52, 322 will drive the No. 1 pipe rope 54, 324 to rewind, and the second wire wheel 53, 323 will drive the No. 2 pipe rope 55, 325 to unwind, thereby resetting each joint in the thumb assembly 3 and the finger assembly 4;

[0054] When performing the grabbing action, the palm surfaces of the thumb assembly 3 and the finger assembly 4 are mostly facing downward. During the process of winding and unwinding the No. 1 tube rope 54, 324 and the No. 2 tube rope 55, 325, the squeezing protrusion 58 will be squeezed with the tube wall of the first tube groove 11 and the second tube groove 12. The squeezing force will drive the squeezing protrusion 58 to move inside the No. 1 tube rope 54, 324 or the No. 2 tube rope 55, 325, thereby driving the sponge block 56 and the squeezing spring 57 to be compressed, and the lubricating oil inside the sponge block 56 is squeezed out. At the same time, the oil leakage channel 581 will also move to the inside of the No. 1 pipe rope 54, 324 or the No. 2 pipe rope 55, 325, and the lubricating oil will flow out to the oil leakage hole 10 through the oil leakage channel 581, and then flow into the joints of each joint through the oil leakage hole 10, so as to achieve the purpose of lubrication. When the extrusion protrusion 58 is separated from the first pipe groove 11 and the second pipe groove 12, the reaction force of the sponge block 56 and the extrusion spring 57 will drive the extrusion protrusion 58 to reset, and at the same time, the sponge block 56 reabsorbs the lubricating oil to a saturated state;

[0055] As the use time of the finger structure of the dexterous hand increases, the lubricating oil inside the No. 1 tube rope 54, 324 or the No. 2 tube rope 55, 325 will gradually decrease. If lubrication is needed at this time, the direction of the finger structure of the dexterous hand can be adjusted by the robotic arm so that the lubricating oil inside the No. 1 tube rope 54, 324 or the No. 2 tube rope 55, 325 can be fully utilized.

[0056] One point that needs to be explained is that, due to the setting of the extrusion protrusion 58, during the process of winding and unwinding the No. 1 pipe rope 54, 324 or the No. 2 pipe rope 55, 325, the extrusion between the extrusion protrusion 58 and the pipe groove wall will produce a certain resistance to the No. 1 pipe rope 54, 324 or the No. 2 pipe rope 55, 325. When the traction force is greater than the resistance, the No. 1 pipe rope 54, 324 or the No. 2 pipe rope 55, 325 can continue to pass. Therefore, the No. 1 pipe rope 54, 324 and the No. 2 pipe rope 55, 325 can always be in a straight state, avoiding entanglement, and at the same time, it is also beneficial to the contraction of the extrusion protrusion 58; in addition, the setting of the first wire clamp 521, 3221 and the second wire clamp 531, 3231 can ensure that the lubricating oil is always on one side of the thumb assembly 3 and the finger assembly 4, and the setting of the special-shaped sliding ring 532, 3232 can prevent the second wire wheel 53, 323 from reducing the smoothness of the No. 1 pipe rope 54, 324 during rotation.

[0057] The working principle of the present invention when in use:

[0058] 1. When in use, the finger structure of the dexterous hand is mounted on the mechanical arm through the connecting block 1, and the overall orientation of the finger structure of the dexterous hand is adjusted by the mechanical arm, so as to be suitable for the clamping operation. When clamping, the rotating motor 311 is started, and the driving bevel gear 312 is driven to rotate by the rotating motor 311. Under the action of the driven bevel gear 314, the first thumb joint 32 will rotate a certain angle and drive the second thumb joint 33 and the third thumb joint 34 to adjust a certain angle synchronously, and the joint lubrication component 5 is started, and the joints of the thumb component 3 and the finger component 4 are driven to bend by the joint lubrication component 5. Each finger component 4 is driven separately, and with the mutual cooperation of the thumb component 3, the individual or coordinated actions of each joint can be realized, so as to flexibly complete various clamping actions. When grasping, the rubber gasket 14 can increase the friction between the thumb component 3 and the finger component 4 and the object to be grasped, so as to reduce the wear of the thumb component 3 and the finger component 4, which is conducive to the stable grasping of the object;

[0059] 2. When clamping, the bidirectional motor 51, 321 is started, and the bidirectional motor 51, 321 drives the first wire wheel 52, 322 and the second wire wheel 53, 323 to rotate forward. At this time, the first wire wheel 52, 322 drives the No. 1 pipe rope 54, 324 to unwind, and the second wire wheel 53, 323 drives the No. 2 pipe rope 55, 325 to rewind, and the No. 2 pipe rope 55, 325 is used to realize the bending action of each joint in the thumb assembly 3 and the finger assembly 4, thereby completing various clamping actions; after the clamping operation is completed, the bidirectional motor 51, 321 is reversed, and at this time, the first wire wheel 52, 322 drives the No. 1 pipe rope 54, 324 to rewind, and the second wire wheel 53, 323 drives the No. 2 pipe rope 55, 325 to unwind, thereby resetting each joint in the thumb assembly 3 and the finger assembly 4;

[0060] 3: When performing the grabbing action, the palm surfaces of the thumb assembly 3 and the finger assembly 4 are mostly facing downward. During the process of reeling and unreeling the No. 1 tube rope 54, 324 and the No. 2 tube rope 55, 325, the extrusion protrusion 58 will be squeezed with the tube wall of the first tube groove 11 and the second tube groove 12. The extrusion force will drive the extrusion protrusion 58 to move inside the No. 1 tube rope 54, 324 or the No. 2 tube rope 55, 325, thereby driving the sponge block 56 and the extrusion spring 57 to be compressed, and the lubricating oil inside the sponge block 56 is At the same time, the oil leakage channel 581 will also move to the inside of the No. 1 pipe rope 54, 324 or the No. 2 pipe rope 55, 325, and the lubricating oil will flow out to the oil leakage hole 10 through the oil leakage channel 581, and then flow into the joints of each joint through the oil leakage hole 10, so as to achieve the purpose of lubrication. When the extrusion protrusion 58 is separated from the first pipe groove 11 and the second pipe groove 12, the reaction force of the sponge block 56 and the extrusion spring 57 will drive the extrusion protrusion 58 to reset, and at the same time, the sponge block 56 reabsorbs the lubricating oil to a saturated state;

[0061] 4: As the use time of the finger structure of the dexterous hand continues to increase, the lubricating oil inside the No. 1 pipe rope 54, 324 or the No. 2 pipe rope 55, 325 will gradually decrease. If lubrication is needed at this time, the direction of the finger structure of the dexterous hand can be adjusted by the robotic arm so that the lubricating oil inside the No. 1 pipe rope 54, 324 or the No. 2 pipe rope 55, 325 can be fully utilized.

[0062] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A finger structure of a dexterous hand, comprising a connecting block (1), a palm shell (2), a thumb assembly (3), a finger assembly (4) and a joint lubrication assembly (5), characterized in that: One side of the connection block (1) is fixedly connected to a palm shell (2); a finger assembly (4) is hingedly connected to the side of the palm shell (2) away from the connection block (1); a thumb assembly (3) is arranged on the side of the finger assembly (4); the thumb assembly (3) is installed inside the palm shell (2); and a joint lubrication assembly (5) is slidably matched on the joints of the thumb assembly (3) and the finger assembly (4); The thumb component (3) and the finger component (4) are provided with a first tube groove (11) on the side corresponding to the back of the palm, and the thumb component (3) and the finger component (4) are provided with a second tube groove (12) on the side corresponding to the center of the palm; The joint lubrication component (5) comprises A bidirectional motor (51, 321), wherein the palm housing (2) and the thumb assembly (3) are both provided with a bidirectional motor (51, 321); A first wire wheel (52, 322), on which the output shaft of the bidirectional motor (51, 321) is fixedly mounted; A second wire wheel (53, 323), the second wire wheel (53, 323) being fixedly installed at a position on one side of the first wire wheel (52, 322) and located on the output shaft of the bidirectional motor (51, 321); A No. 1 pipe rope (54, 324), the No. 1 pipe rope (54, 324) is wound around the first wire wheel (52, 322), the No. 1 pipe rope (54, 324) is arranged to penetrate the first pipe groove (11) and is fixedly connected to the end joints of the thumb component (3) and the finger component (4) respectively; A second pipe rope (55, 325), the second wire wheel (53, 323) is provided with a second pipe rope (55, 325), the second pipe rope (55, 325) is arranged to penetrate the second pipe groove (12) and is respectively fixedly connected to the end joints of the thumb component (3) and the finger component (4); A plurality of sponge blocks (56) are evenly arranged inside the first pipe rope (54,) and the second pipe rope (55,); A squeezing spring (57), each sponge block (56) is provided with a hollow groove, and a squeezing spring (57) is installed inside the hollow groove; The squeezing protrusion (58) is slidably mounted on the positions of the sponge block (56) corresponding to the back sides of the No. 1 pipe rope (54,) and the No. 2 pipe rope (55,), and the squeezing protrusion (58) and the sponge block (56) are fixedly connected.

2. The finger structure of a dexterous hand according to claim 1, characterized in that: The thumb assembly (3) comprises a rotating unit (31), the rotating unit (31) is arranged inside the palm shell (2), a first thumb joint (32) is fixedly connected to the side of the rotating unit (31), a cavity is provided inside the first thumb joint (32), a second thumb joint (33) is hingedly connected to the end of the first thumb joint (32) away from the rotating unit (31), and a third thumb joint (34) is hingedly connected to the end of the second thumb joint (33) away from the first thumb joint (32).

3. The finger structure of a dexterous hand according to claim 2, characterized in that: The rotating unit (31) comprises a rotating motor (311), which is fixedly installed at a position near the first thumb joint (32) inside the palm shell (2), and the output shaft of the rotating motor (311) is fixedly connected to a driving bevel gear (312), and a driven bevel gear (314) is meshed above the driving bevel gear (312), and the driven bevel gear (314) is rotatably arranged on a driven bevel gear frame (313), and the lower end of the driven bevel gear frame (313) is fixedly connected to the bottom of the palm shell (2), and the driven bevel gear (314) and the first thumb joint (32) are fixedly connected.

4. The finger structure of a dexterous hand according to claim 2, characterized in that: A thumb protection shell (35) is arranged on the outside of the first thumb joint (32), the second thumb joint (33) and the third thumb joint (34).

5. The finger structure of a dexterous hand according to claim 2, characterized in that: The finger assembly (4) comprises a first finger joint (41), a first finger joint (41) corresponding to the number of fingers of a normal human hand is hingedly connected to a side of the palm shell (2) away from the connecting block (1), a second finger joint (42) is hingedly connected to an end of the first finger joint (41) away from the palm shell (2), and a third finger joint (43) is hingedly connected to an end of the second finger joint (42) away from the first finger joint (41).

6. The finger structure of a dexterous hand according to claim 5, characterized in that: Finger protection shells (44) are arranged on the outsides of the first finger joint (41), the second finger joint (42) and the third finger joint (43).

7. The finger structure of a dexterous hand according to claim 5, characterized in that: A plurality of oil leakage holes (10) are provided at the connection between the first thumb joint (32) and the second thumb joint (33), the connection between the second thumb joint (33) and the third thumb joint (34), the connection between the first finger joint (41) and the second finger joint (42), and the connection between the second finger joint (42) and the third finger joint (43).

8. The finger structure of a dexterous hand according to claim 7, characterized in that: The end surface of the third thumb joint (34) corresponding to the palm and the end surface of the third finger joint (43) corresponding to the palm are both provided with a rubber gasket (13).

9. The finger structure of a dexterous hand according to claim 1, characterized in that: A first wire clamp (521, 3221) is fixedly installed on the side edge of the first wire wheel (52, 322), a second wire clamp (531, 3231) is fixedly installed on the side edge of the second wire wheel (53, 323), and a special-shaped sliding ring (532, 3232) is fixedly installed on the outer side of the second wire clamp (531, 3231).

10. The finger structure of a dexterous hand according to claim 1, characterized in that: The extrusion protrusion (58) is symmetrically provided with oil leakage channels (581).

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