Finger structure of a dexterous hand

Abstract

The present invention relates to the technical field of manipulators, and specifically to 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 hingedly connected to the finger assembly, a thumb assembly is provided on the side of the finger assembly, the thumb assembly is installed inside the palm shell, and joint lubrication assemblies are slidably fitted on the joints of the thumb assembly and the finger assembly, and a rope-driven structure is adopted as the whole, which reduces the number of motors installed at the joints, and at the same time adopts a separate driving structure between each finger and can cooperate with each other, so as to flexibly perform various grasping actions, and during the rope-driven 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, 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.

Description

Technical Field

[0001] The present 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. Through the mutual cooperation between the ventilation shell, rubber airbag, air intake pipe, control valve, threaded joint and hose, it can reduce the pressure on the object when clamping it to avoid damage, while protecting the wooden components and finger components to reduce 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 in the 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 response to the shortcomings of the existing technology, the present invention provides a finger structure of a dexterous hand, which adopts a rope-driven structure as a whole, reducing the number of motors installed at the joints. At the same time, a separate driving structure is adopted between each finger and they 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 each joint can be used to realize the outflow of lubricating oil and achieve the purpose of lubrication, 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 for 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 hingedly connected to the finger assembly, a thumb assembly is provided on the side of the finger assembly, the thumb assembly is mounted inside the palm shell, and a joint lubrication assembly is slidably engaged 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 assembly includes a bidirectional motor, and a bidirectional motor is provided inside the palm shell and the thumb assembly. The first pulley is fixedly installed on the output shaft of the bidirectional motor, and the second pulley is fixedly installed on one side of the first pulley and at a position located on the output shaft of the bidirectional motor. The first pulley 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 pulley 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 inside the interior of the No. 1 pipe rope and the No. 2 pipe rope, 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 rotation 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 inside the palm shell near the first thumb joint, the output shaft of the rotating motor is fixedly connected to the driving bevel gear, and the 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 outsides 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, and the side of the palm shell away from the connecting block is hinged with a first finger joint corresponding to the number of fingers of a normal human hand, the end of the first finger joint away from the palm shell is hinged with a second finger joint, and the end of the second finger joint away from the first finger joint is hinged with a third 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 installed on its side edge, the second wire wheel has a second wire clamp fixedly installed on its side edge, and a special-shaped sliding ring is fixedly installed 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 for a dexterous hand, which adopts a rope-driven structure as a whole, reducing the number of motors installed at the joints, reducing energy consumption, and also facilitating later repair and maintenance;

[0020] 2. The present invention provides a finger structure for a dexterous hand. Separate drive structures are used between the thumb assembly and the finger assembly, enabling the thumb assembly and the finger assembly to bend and cooperate simultaneously or independently. This allows for greater flexibility and relatively high grasping efficiency during grasping operations. Compared to traditional robotic arms, this design more closely resembles the characteristics of a human hand, provides a wide range of grasping, and ensures appropriate 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. The lubricating oil is then fully contacted with the joint connection through the oil leakage hole, 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 will be further described below with reference to the accompanying drawings and examples.

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

[0024] Figure 2 This invention Figure 1 Schematic diagram of the three-dimensional structure after removing the thumb protection shell and finger protection shell;

[0025] Figure 3 This 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 connecting block, the palm shell and the thumb assembly in the present invention;

[0027] Figure 5 This 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 In the present invention Figure 5 Schematic diagram of the cross-sectional structure;

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

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

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

[0032] In the picture:

[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. Driving 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 pulley; 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 easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0041] Example 1:

[0042] See 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 provided on the side of the finger assembly 4 and 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 a 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 a 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 outside of the first thumb joint 32, the second thumb joint 33 and the third thumb joint 34 are all provided with a thumb protection shell 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 inside the palm shell 2 near the first thumb joint 32. 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] Several 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 robotic arm through the connecting block 1, and the overall orientation of the finger structure of the dexterous hand is adjusted by the robotic arm to suit it for clamping operations. 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 synchronously adjust a certain angle. 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. 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] Example 2:

[0050] The technical solution is basically the same as that of embodiment 1, 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, and 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, and a second wire wheel 53, 323 is fixedly mounted 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 is wound around the first wire wheel 52, 322, and the No. 1 pipe rope 54, 324 is arranged through the first pipe groove 11 and is respectively connected to the thumb assembly 3 and The end joints of the finger components 4 are fixedly connected, and a No. 2 pipe rope 55, 325 is wound around the second pulley 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 component 3 and the finger component 4. The No. 1 pipe rope 54 and the No. 2 pipe rope 55 are evenly provided with a number 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 are slidably installed with an extrusion protrusion 58 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 an oil leakage channel 581.

[0051] The first wire pulley 52, 322 is fixedly mounted with a first wire clamp 521, 3221 on its side edge, the second wire pulley 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 spool 52, 322 and the second spool 53, 323 to rotate forward. At this time, the first spool 52, 322 will drive the No. 1 pipe rope 54, 324 to unwind, and the second spool 53, 323 will drive 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 spool 52, 322 will drive the No. 1 pipe rope 54, 324 to rewind, and the second spool 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 into the No. 1 pipe rope 54, 324 or the No. 2 pipe rope 55, 325, and the lubricating oil will flow out through the oil leakage channel 581 to the oil leakage hole 10, and then flow into the joints of each joint through the oil leakage hole 10, thereby achieving 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 return to its original position, and at the same time, the sponge block 56 will reabsorb the lubricating oil to a saturated state;

[0055] As the finger structure of the dexterous hand is used for a longer period of time, 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 orientation 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.

[0056] One thing 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 robotic arm through the connecting block 1, and the overall orientation of the finger structure of the dexterous hand is adjusted by the robotic arm to suit the gripping operation. When gripping, 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 rotates to a certain angle and drives the second thumb joint 33 and the third thumb joint 34 to adjust a certain angle synchronously. 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. With the mutual cooperation of the thumb component 3, the individual or coordinated actions of each joint can be realized, thereby flexibly completing various gripping 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.

[0059] 2. When clamping, the bidirectional motor 51, 321 is started, and the bidirectional motor 51, 321 drives the first spool 52, 322 and the second spool 53, 323 to rotate forward. At this time, the first spool 52, 322 drives the No. 1 pipe rope 54, 324 to unwind, and the second spool 53, 323 drives the No. 2 pipe rope 55, 325 to rewind. The No. 2 pipe rope 55, 325 realizes 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 the first spool 52, 322 drives the No. 1 pipe rope 54, 324 to rewind, and the second spool 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 rewinding 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. At the same time, the oil leakage channel 581 will 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, thereby achieving 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 return to its original position, and at the same time, the sponge block 56 will reabsorb the lubricating oil to a saturated state;

[0061] 4: As the finger structure of the dexterous hand is used for a longer period of time, 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 orientation 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 basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A finger structure for 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 connecting 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 connecting block (1); a thumb assembly (3) is provided 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 fitted on the joints of the thumb assembly (3) and the finger assembly (4); 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; The joint lubrication component (5) includes A bidirectional motor (51, 321) is provided inside the palm shell (2) and the thumb assembly (3); A first spool (52, 322) is fixedly mounted on the output shaft of the bidirectional motor (51, 321); A second spool (53, 323) is fixedly mounted on one side of the first spool (52, 322) and located on the output shaft of the bidirectional motor (51, 321); A No. 1 pipe rope (54, 324) is wound around the first wire wheel (52, 322), and the No. 1 pipe rope (54, 324) is arranged to pass through 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) is wound around the second wire wheel (53, 323), and the second pipe rope (55, 325) is arranged through the second pipe groove (12) and is fixedly connected to the end joints of the thumb component (3) and the finger component (4) respectively; A plurality of sponge blocks (56) are evenly arranged inside the first pipe rope (54') and the second pipe rope (55'); Extrusion spring (57), each sponge block (56) is provided with a hollow groove, and an extrusion 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) includes a rotating motor (311). The rotating motor (311) is fixedly installed at a position near the first thumb joint (32) inside the palm shell (2). The output shaft of the rotating motor (311) is fixedly connected to a driving bevel gear (312). A driven bevel gear (314) is meshed above the driving bevel gear (312). The driven bevel gear (314) is rotatably arranged on a 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). 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 provided 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 the side of the palm shell (2) away from the connecting block (1), a second finger joint (42) is hingedly connected to the end of the first finger joint (41) away from the palm shell (2), and a third finger joint (43) is hingedly connected to the 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 provided 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 rubber gaskets (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 an oil leakage channel (581).

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