Dexterous hand finger, dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and solves the problems that the dexterous hand capable of realizing motion decoupling between two degrees of freedom of bending and side swaying of the dexterous hand finger is complex in structure and poor in reliability. The dexterous hand finger comprises a side swing assembly, a first knuckle, a first connecting rod assembly, a second connecting rod assembly, a first driving assembly and a second driving assembly. The side swing assembly, the first knuckle, the first connecting rod assembly, the second connecting rod assembly and the first driving assembly form a space crank sliding block mechanism so as to drive the knuckles to rotate around the second axis, and bending of the first knuckle is achieved. And the knuckles can rotate around the first axis under the driving of the second driving assembly, so that the lateral swinging of the first knuckles is realized. The first end of the second connecting rod assembly and the second end of the first connecting rod assembly form a spherical pair, motion decoupling between the two freedom degrees of bending and side swing is achieved, the structure is simple, and the reliability of the dexterous hand finger is improved.

Description

Technical Field

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

[0002] The dexterous hand is the end effector of the robot's interaction with the environment. The flexibility and reliability of the dexterous hand have an important impact on the operation of the robot. Most dexterous hands in related technologies adopt a degree of freedom arrangement similar to that of human hands. Two joints are set at the base of the dexterous hand fingers to achieve the two degrees of freedom of bending and lateral swinging of the fingers. The difficulty in designing two degrees of freedom of dexterous hand fingers lies in achieving the decoupling of the movement between the two degrees of freedom of bending and lateral swinging.

[0003] At present, the dexterous hand that can achieve motion decoupling between the two degrees of freedom of bending and lateral swing of the dexterous hand fingers has a complex structure and poor reliability. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a dexterous hand finger, a dexterous hand and a robot, which solve the problem of complex structure and poor reliability of the dexterous hand that can achieve motion decoupling between the two degrees of freedom of bending and lateral swing of the dexterous hand fingers.

[0005] In a first aspect, an embodiment of the present application provides a dexterous hand finger, which is applied to a dexterous hand, wherein the dexterous hand includes a palm substrate and at least one of the dexterous hand fingers; wherein the dexterous hand finger includes: a side-swing assembly, which is rotatably connected to the palm substrate around a first axis; a first finger joint, which is rotatably connected to the side-swing assembly around a second axis, and the second axis is perpendicular to the first axis; a first connecting rod assembly, wherein the first end of the first connecting rod assembly is rotatably connected to the first finger joint around a third axis, and the third axis is parallel to the second axis; a second connecting rod assembly, wherein the first end of the second connecting rod assembly forms a spherical pair with the second end of the first connecting rod assembly; a first drive assembly, comprising a fixed part and a movable part connected to each other, the fixed part The fixed part is connected to the palm base plate, and the second end of the second connecting rod assembly is rotatably connected relative to the movable part around a fourth axis, and the fourth axis is parallel to the first axis, wherein the fixed part can drive the movable part to move in a first direction, so as to utilize the movable part to drive the second connecting rod assembly to move, and the second connecting rod assembly drives the first connecting rod assembly to move, so that the first connecting rod assembly drives the first finger joint to rotate around the second axis, and the first direction is perpendicular to the fourth axis; a second driving assembly is connected to the side swing assembly, and is configured to drive the side swing assembly to rotate relative to the palm base plate around the first axis, so as to utilize the side swing assembly to drive the first finger joint to rotate around the first axis.

[0006] In some embodiments, the first link assembly includes: a first link, a first end of the first link is rotatably connected to the first knuckle around the third axis; a first component is connected to the second end of the first link; the second link assembly includes: a second link, a second end of the second link is rotatably connected relative to the movable part around the fourth axis; a second component is connected to the first end of the second link; wherein, the first component and the second component form a ball joint.

[0007] In some embodiments, the movable part has a first plane and a second plane that are relatively set, and a third plane that is perpendicular to the first plane and the second plane, and the first plane, the second plane and the third plane all extend along the first direction; the first driving component also includes: a limiting part, having a first limiting surface and a second limiting surface that are relatively set, and a third limiting surface that is perpendicular to the first limiting surface and the second limiting surface, and the first limiting surface, the second limiting surface and the third limiting surface all extend along the first direction; wherein, the first limiting surface is adjacent to and parallel to the first plane, and the second limiting surface is adjacent to and parallel to the second plane, and the first limiting surface and the second limiting surface are jointly configured to limit the displacement of the movable part in a second direction, and the second direction is perpendicular to the first direction; wherein, the third limiting surface is adjacent to and parallel to the third plane, and the third limiting surface is configured to limit the displacement of the movable part in a third direction, and the third direction is perpendicular to the first direction and perpendicular to the second direction.

[0008] In some embodiments, the fixed part includes: a first driving source connected to the palm base plate; a screw connected to the first driving source and rotates under the drive of the first driving source; wherein the movable part includes: a screw nut threadedly connected to the screw, and the second end of the second connecting rod is rotatably connected relative to the screw nut around the fourth axis.

[0009] In some embodiments, the palm base plate has a first through hole and a first keyway connected to the first through hole; wherein the side swing assembly includes: a side swing member having a second through hole; a pin shaft including a first shaft segment and a second shaft segment connected to each other, the diameter of the first shaft segment is larger than the diameter of the second shaft segment, the end surface of the first shaft segment close to the second shaft segment abuts against the side swing member, the second shaft segment passes through the first through hole and the second through hole, and the second shaft segment has a second keyway; a key partially extends into the first keyway and partially extends into the second keyway; a locking member is threadedly connected to an end of the second shaft segment away from the first shaft segment to prevent the pin shaft from escaping from the first through hole and the second through hole.

[0010] In some embodiments, the palm substrate has a protruding portion, and the first through hole passes through the protruding portion; the side swing piece has a first connecting portion and a second connecting portion that are relatively arranged, and the second through hole passes through the first connecting portion and the second connecting portion, wherein the protruding portion extends between the first connecting portion and the second connecting portion; wherein the first shaft section abuts against a side of the first connecting portion away from the protruding portion, and the locking piece abuts against a side of the second connecting portion away from the protruding portion; wherein the first connecting portion also has an avoidance notch connected to the second through hole, and the avoidance notch is configured to allow the key to enter and exit the second through hole.

[0011] In some embodiments, the first connecting part has a first bearing hole, the first bearing hole is coaxial with and connected to the second through hole, the second connecting part has a second bearing hole, the second bearing hole is coaxial with and connected to the second through hole; the first shaft segment includes a first sub-shaft segment and a second sub-shaft segment connected to each other, the diameter of the first sub-shaft segment is larger than the diameter of the second sub-shaft segment, and the end face of the second sub-shaft segment close to the second shaft segment abuts the side swing member; wherein, the side swing assembly also includes: a first bearing, the inner ring of the first bearing is clearance fit with the second shaft segment, and the outer ring of the first bearing is interference fit with the first bearing hole; a second bearing, the inner ring of the second bearing is clearance fit with the second sub-shaft segment, and the outer ring of the second bearing is interference fit with the second bearing hole.

[0012] In some embodiments, the palm substrate has a palm surface and a palm back surface that are relatively arranged; the side swing assembly also includes: a first elastic member, the first end of the first elastic member is connected to the side of the first knuckle close to the palm back surface, and the second end of the first elastic member is connected to the side of the side swing member close to the palm back surface.

[0013] In some embodiments, the palm substrate has a palm surface and a back palm surface that are relatively arranged; the dexterous hand fingers also include: a knuckle assembly, which is rotatably connected to the end of the first knuckle away from the side swing assembly around a fifth axis, and the fifth axis is parallel to the second axis; a second elastic member, the first end of the second elastic member is connected to the side of the first knuckle close to the back palm surface, and the second end of the second elastic member is connected to the side of the knuckle assembly close to the back palm surface; a third drive assembly is arranged on the palm substrate or the first knuckle, and the third drive assembly is connected to the knuckle assembly, and is configured to drive the knuckle assembly to bend toward the palm surface.

[0014] In a second aspect, an embodiment of the present application provides a dexterous hand, comprising: a palm substrate; and at least one dexterous hand finger mentioned in the first aspect, connected to the palm substrate.

[0015] In a third aspect, an embodiment of the present application provides a robot, comprising: a main body; and at least one dexterous hand mentioned in the second aspect, connected to the main body.

[0016] A dexterous finger provided in an embodiment of the present application is applied to a dexterous hand, and includes a side swing assembly, a first finger joint, a first connecting rod assembly, a second connecting rod assembly, a first driving assembly, and a second driving assembly. Specifically, the side swing assembly is rotatably connected to the palm base plate around a first axis. The first finger joint is rotatably connected to the side swing assembly around a second axis, and the second axis is perpendicular to the first axis. The first end of the first connecting rod assembly is rotatably connected to the first finger joint around a third axis, and the third axis is parallel to the second axis. The first end of the second connecting rod assembly forms a spherical pair with the second end of the first connecting rod assembly. The first driving assembly includes a fixed part and a movable part connected to each other, the fixed part is connected to the palm base plate, the second end of the second connecting rod assembly is rotatably connected relative to the movable part around a fourth axis, and the fourth axis is parallel to the first axis, wherein the fixed part can drive the movable part to move in a first direction, so as to use the movable part to drive the second connecting rod assembly to move, and the second connecting rod assembly drives the first connecting rod assembly to move, so that the first connecting rod assembly drives the first finger joint to rotate around the second axis to achieve the bending of the first finger joint. The second driving assembly is connected to 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 utilize the side swing assembly to drive the first finger joint to rotate around the first axis to achieve side swing of the first finger joint.

[0017] In other words, the side-swing assembly, the first finger joint, the first connecting rod assembly, the second connecting rod assembly and the first driving assembly form a spatial crank slider mechanism, which can drive the finger joint to rotate around the second axis, thereby realizing the bending of the first finger joint. Driven by the second driving assembly, the finger joint can rotate around the first axis, thereby realizing the side-swing of the first finger joint. The first end of the second connecting rod assembly forms a spherical pair with the second end of the first connecting rod assembly, thereby realizing the motion decoupling between the two degrees of freedom of bending and side-swing, and the structure is simple, thereby reducing the probability of failure of the dexterous hand and improving the reliability of the fingers of the dexterous hand.

[0018] In addition, by utilizing the first connecting rod assembly and the second connecting rod assembly to form a spatial connecting rod, there is no need to use a large gear transmission, thereby reducing the size of the dexterous hand fingers and making the size of the dexterous hand fingers closer to that of human hands. In addition, the connection method between the side swing assembly, the first finger joint, the first connecting rod assembly, the second connecting rod assembly, the first drive assembly and the second drive assembly is mainly a rotational connection, which has higher precision than the tendon connection method of the related art. The transmission method of the present application is mainly a connecting rod transmission, which has higher transmission efficiency than the gear transmission and tendon connection. Therefore, the dexterous hand fingers provided in the embodiment of the present application not only realize the motion decoupling between the two degrees of freedom of bending and side swing of the dexterous hand fingers, but also improve the motion accuracy of the dexterous hand and reduce the size of the dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components.

[0020] Figure 1 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in one embodiment of the present application.

[0021] Figure 2 Shown Figure 1 A partial enlarged view of the dexterous hand fingers in area A is shown.

[0022] Figure 3 Shown is a front view of the fingers of a dexterous hand provided in one embodiment of the present application.

[0023] Figure 4 Shown Figure 3 The cross-sectional schematic diagram of the dexterous hand fingers in the BB direction is shown.

[0024] Figure 5 Shown Figure 4 A partial enlarged view of the dexterous hand fingers in area C is shown.

[0025] Figure 6 Shown Figure 5 A partial enlarged view of the dexterous hand fingers in area D is shown.

[0026] Figure 7 Shown Figure 4 A partial enlarged view of the dexterous hand fingers in area E is shown.

[0027] Figure 8 Shown is a side view of the fingers of a dexterous hand provided in one embodiment of the present application.

[0028] Fig. 9 Shown Figure 7 Schematic cross-sectional view of the dexterous hand fingers in the FF direction.

[0029] Fig.10 Shown Figure 8 A partial enlarged view of the dexterous hand fingers in area G is shown.

[0030] Fig.11 Shown Figure 7 The schematic cross-sectional view of the dexterous hand fingers in the HH direction is shown.

[0031] Fig.12Shown is a schematic structural diagram of a robot provided in one embodiment of the present application.

[0032] Reference numerals:

[0033] 1. Robot; 2. Main body; 3. Dexterous hand; 10. Dexterous hand finger; 100. Side swing assembly; 110. Side swing member; 111. Second through hole; 112. First connecting part; 113. Second connecting part; 114. Avoidance gap; 115. First bearing hole; 116. Second bearing hole; 120. Pin; 121. First shaft section; 122. Second shaft section; 123. Second keyway; 124. First sub-shaft section; 125. Second sub-shaft section; 130. Key; 140. Locking member; 150. First bearing; 160. Second bearing; 170. First elastic member; 200. First finger joint; 300. First connecting rod assembly; 310. First connecting rod; 320. First component; 400. Second connecting rod assembly; 410. Second connecting rod; 420. Second component; 500. First driving assembly; 510. Fixing member ;511, first driving source;512, lead screw;520, movable part;521, first plane;522, second plane;523, third plane;524, lead screw nut;530, limiting part;531, first limiting surface;532, second limiting surface;533, third limiting surface;600, second driving assembly;610, side swing driving wheel;620, second driving source;700, finger joint assembly;710, second elastic part;720, second finger joint;730, third finger joint;20, palm base plate;21, first through hole;22, first key groove;23, raised part;24, palm surface;25, palm back surface;L1, first axis;L2, second axis;L3, third axis;L4, fourth axis;L5, fifth axis;L6, sixth axis;Y, first direction;X1, second direction;X2, third direction. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] As an important branch of robotics, dexterous hand technology has achieved great results after decades of development, and some representative dexterous hands have been born, such as the Stanford / JPL hand, the Utah / MIT hand, the DLR hand, the NASA hand, etc. Some progress is mainly reflected in mechanical structure, drive, sensing, integration and control. However, due to the limitations of motor technology, electronic product manufacturing technology, etc., the dexterous hands of related technologies have not yet reached a satisfactory level of integration. The difficulty in designing dexterous hand fingers with two degrees of freedom lies in achieving the motion decoupling between the two degrees of freedom of bending and swaying. At present, the dexterous hands that can achieve the motion decoupling between the two degrees of freedom of bending and swaying of the dexterous hand fingers have complex structures and poor reliability.

[0036] At present, there are two ways to achieve motion decoupling between the two degrees of freedom of bending and lateral swing, one is to use gear transmission, and the other is to use tendon rope transmission. For the gear transmission method, the decoupling of bending and lateral swing motion is mainly achieved by using two pairs of gear differential motion. However, the volume of gears is generally large, resulting in a larger size of the dexterous hand using gear transmission. For the tendon rope transmission method, the decoupling of bending and lateral swing motion is mainly achieved by using tendons passing through the center of each joint axis of the finger. However, it is difficult to ensure that the tendons strictly pass through the center of the joint axis. Therefore, there is a large decoupling error, resulting in low motion accuracy of the dexterous hand using tendon rope transmission. In addition, tendons have disadvantages such as low life and poor maintainability.

[0037] In order to solve at least one of the above problems, the embodiment of the present application provides a dexterous hand finger, which is applied to the dexterous hand, including a side swing assembly, a first finger joint, a first connecting rod assembly, a second connecting rod assembly, a first driving assembly and a second driving assembly. Specifically, the side swing assembly is rotatably connected to the palm base plate around a first axis. The first finger joint is rotatably connected to the side swing assembly around a second axis, and the second axis is perpendicular to the first axis. The first end of the first connecting rod assembly is rotatably connected to the first finger joint around a third axis, and the third axis is parallel to the second axis. The first end of the second connecting rod assembly forms a spherical pair with the second end of the first connecting rod assembly. The first driving assembly includes a fixed part and a movable part connected to each other, the fixed part is connected to the palm base plate, and the second end of the second connecting rod assembly is rotatably connected relative to the movable part around a fourth axis, and the fourth axis is parallel to the first axis, wherein the fixed part can drive the movable part to move in a first direction, so as to use the movable part to drive the second connecting rod assembly to move, and the second connecting rod assembly drives the first connecting rod assembly to move, so that the first connecting rod assembly drives the first finger joint to rotate around the second axis to achieve the bending of the first finger joint. The second driving assembly is connected to the side swing assembly and is configured to drive the side swing assembly to rotate relative to the palm base around the first axis, so as to use the side swing assembly to drive the first finger joint to rotate around the first axis to achieve side swing of the first finger joint.

[0038] In other words, the side-swing assembly, the first finger joint, the first connecting rod assembly, the second connecting rod assembly and the first driving assembly form a spatial crank slider mechanism, which can drive the finger joint to rotate around the second axis, thereby realizing the bending of the first finger joint. Driven by the second driving assembly, the finger joint can rotate around the first axis, thereby realizing the side-swing of the first finger joint. The first end of the second connecting rod assembly forms a spherical pair with the second end of the first connecting rod assembly, thereby realizing the motion decoupling between the two degrees of freedom of bending and side-swing, and the structure is simple, thereby reducing the probability of failure of the dexterous hand and improving the reliability of the fingers of the dexterous hand.

[0039] In addition, by utilizing the first connecting rod assembly and the second connecting rod assembly to form a spatial connecting rod, there is no need to use a large gear transmission, thereby reducing the size of the dexterous hand fingers and making the size of the dexterous hand fingers closer to that of human hands. In addition, the connection method between the side swing assembly, the first finger joint, the first connecting rod assembly, the second connecting rod assembly, the first drive assembly and the second drive assembly is mainly a rotational connection, which has higher precision than the tendon connection method of the related art. The transmission method of the present application is mainly a connecting rod transmission, which has higher transmission efficiency than the gear transmission and tendon connection. Therefore, the dexterous hand fingers provided in the embodiment of the present application not only realize the motion decoupling between the two degrees of freedom of bending and side swing of the dexterous hand fingers, but also improve the motion accuracy of the dexterous hand and reduce the size of the dexterous hand.

[0040] In addition, the lifespan and maintainability of the side swing assembly, first knuckle, first connecting rod assembly, second connecting rod assembly, first drive assembly and second drive assembly of the dexterous hand fingers provided in the embodiment of the present application are higher than those of the tendon rope. Therefore, the dexterous hand fingers provided in the embodiment of the present application have a longer lifespan and better maintainability than the dexterous hand using tendon rope transmission.

[0041] The specific structures of the dexterous hand fingers, the dexterous hand and the robot are explained below with reference to the accompanying drawings and specific embodiments.

[0042] Figure 1 Shown is a schematic diagram of the structure of the fingers of a dexterous hand provided in one embodiment of the present application. Figure 2 Shown Figure 1 A partial enlarged view of the dexterous hand fingers in area A is shown. Figure 3 Shown is a front view of the fingers of a dexterous hand provided in one embodiment of the present application. Figure 4 Shown Figure 3 The cross-sectional schematic diagram of the dexterous hand fingers in the BB direction is shown. Figure 5 Shown Figure 4 The following is a partial enlarged view of the dexterous hand fingers in area C. Figures 1 to 5 As shown, the dexterous hand finger 10 includes a side swing assembly 100 , a first finger joint 200 , a first link assembly 300 , a second link assembly 400 , a first drive assembly 500 and a second drive assembly 600 .

[0043] 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 includes a main body 2 and a dexterous hand 3, and the dexterous hand 3 is arranged on the main body 2. The main body 2 can be the structure of the body part of a humanoid robot, or the structure of the arm part of an industrial robot, which is not specifically limited in this application.

[0044] The dexterous hand 3 includes a palm substrate 20 and at least one dexterous hand finger 10. The dexterous hand finger 10 is arranged on the palm substrate 20. The palm substrate 20 can be connected to the main body 2. The palm substrate 20 can be a plate-like structure similar to the palm.

[0045] The side swing assembly 100 is rotatably connected to the palm base plate 20 around a first axis L1. The first axis L1 may 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 may be Figure 1 The U-shaped structure shown may also be an L-shaped structure or a rectangular structure, which is not specifically limited in the present application. For example, the side swing assembly 100 may be integrally formed or may be assembled from multiple parts.

[0046] The first finger joint 200 is rotatably connected to the side swing assembly 100 around the second axis L2. 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 finger joint 200 can be a finger joint connected to the root joint. In practical applications, the dexterous hand finger 10 can also include a finger joint assembly connected to the first finger joint 200, and the finger joint assembly can include a second finger joint and a third finger joint that are rotatably connected.

[0047] like Figure 2 As shown, the first end of the first connecting rod assembly 300 is rotatably connected to the first finger joint 200 around the third axis L3. The third axis L3 is parallel to the second axis L2. The first end of the second connecting rod assembly 400 and the second end of the first connecting rod assembly 300 form a spherical pair. A spherical pair is a kinematic pair in which two components of the kinematic pair can make three independent relative rotations around a sphere center.

[0048] For example, the first connecting rod assembly 300 can be a straight rod, a curved rod, or other irregular shapes, which are not specifically limited in this application. In practical applications, the first connecting rod assembly 300 can have some curved structures, air-avoiding structures, etc. according to the available space conditions to make full use of the space and improve the compactness of the dexterous hand finger 10.

[0049] The first driving assembly 500 includes a fixed member 510 and a movable member 520 connected to each other. The fixed member 510 is connected to the palm base plate 20, and the second end of the second connecting rod assembly 400 is rotatably connected to the movable member 520 around the fourth axis L4, and the fourth axis L4 is parallel to the first axis L1. The fixed member 510 can drive the movable member 520 to move along the first direction Y, so that the movable member 520 drives the second connecting rod assembly 400 to move, and the second connecting rod assembly 400 drives the first connecting rod assembly 300 to move, so that the first connecting rod assembly 300 drives the first finger joint 200 to rotate around the second axis L2, and the first direction Y is perpendicular to the fourth axis L4.

[0050] The relative rotation between the above components can be achieved by hinges or other structures, as long as they can be rotated around the corresponding axis. The present application does not limit the specific rotation method. For example, the two components that rotate relative to each other can be provided with axial holes, and then a movable shaft is used to penetrate the axial holes of the two components that rotate relative to each other, so as to achieve the relative rotation of the two components. For example, a bearing can also be provided between the movable shaft and the two components to improve the flexibility of rotation.

[0051] Exemplarily, the fixed member 510 may be a motor and a screw. The movable member 520 may be a screw nut. The motor drives the screw to rotate, and the screw drives the screw nut to move along the first direction Y. Exemplarily, the fixed member 510 may be a cylinder barrel structure of a cylinder, and the movable member 520 may be a cylinder rod structure of a cylinder, and the cylinder barrel structure drives the cylinder rod structure to extend and retract along the first direction Y, that is, to realize the movement of the cylinder rod structure along the first direction Y.

[0052] The second drive assembly 600 is connected to the side swing assembly 100, and is configured to drive the side swing assembly 100 to rotate relative to the palm base plate 20 around the first axis L1, so as to use the side swing assembly 100 to drive the first finger joint 200 to rotate around the first axis L1. Exemplarily, the second drive assembly 600 can be a motor, that is, the motor is directly used to drive the side swing assembly 100 to rotate. Exemplarily, the second drive assembly 600 can include a motor and a pulley transmission assembly, that is, the motor drives the pulley transmission assembly to move, and the pulley transmission assembly drives the side swing assembly 100 to rotate.

[0053] The side swing assembly 100, the first finger joint 200, the first connecting rod assembly 300, the second connecting rod assembly 400 and the first driving assembly 500 form a crank slider mechanism. Figure 5As shown, the first finger joint 200 can be considered as a crank of the crank slider mechanism, the first connecting rod assembly 300 and the second connecting rod assembly 400 can be considered as connecting rods of the crank slider mechanism, and the movable member 520 of the first driving assembly 500 can be considered as a slider of the crank slider mechanism. The crank slider mechanism can drive the first finger joint 200 to rotate around the second axis L2, thereby realizing the bending of the first finger joint 200.

[0054] Driven by the second driving assembly 600 , the first knuckle 200 can rotate around the first axis L1 , thereby achieving lateral swing of the first knuckle 200 .

[0055] The first end of the second link assembly 400 forms a spherical pair with the second end of the first link assembly 300, realizing the motion decoupling between the two degrees of freedom of bending and swaying, and the structure is simple, reducing the probability of failure of the dexterous hand and improving the reliability of the dexterous hand. In other words, when the first knuckle 200 sways sideways around the first axis L1, the first link assembly 300 can rotate with the first knuckle 200 without affecting the bending of the first knuckle 200, that is, the bending and swaying of the first knuckle 200 are independent of each other.

[0056] Exemplarily, the angle between the crank rotation axis and the sliding direction of the slider of the 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 (i.e., the second axis L2) of the present application is variable. When the first finger joint 200 generates a side swing angle, 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 520, i.e., the first direction Y) becomes the difference between 90 degrees and the side swing angle. In other words, the first connecting rod assembly 300 and the second connecting rod assembly 400 of the present application form a spatial connecting rod assembly, and the side swing assembly 100, the first finger joint 200, the first connecting rod assembly 300, the second connecting rod assembly 400 and the first driving assembly 500 of the present application form a spatial crank slider mechanism.

[0057] In addition, the dexterous hand finger 10 provided in the embodiment of the present application includes a side swing assembly 100, a first finger joint 200, a first connecting rod assembly 300, a second connecting rod assembly 400, a first driving assembly 500 and a second driving assembly 600, that is, the first connecting rod assembly 300 and the second connecting rod assembly 400 are used to realize transmission, and there is no need to use a large gear transmission, which reduces the size of the dexterous hand finger 10 and makes the size of the dexterous hand finger 10 closer to that of a human hand finger. In practical applications, the size of the dexterous hand finger 10 provided in the embodiment of the present application can be in a 1:1 ratio with the size of a human hand finger.

[0058] In addition, the connection method between the side swing assembly 100, the first finger joint 200, the first connecting rod assembly 300, the second connecting rod assembly 400, the first drive assembly 500 and the second drive assembly 600 of the dexterous hand finger 10 provided in the embodiment of the present application is mainly a rotational connection, which has higher precision than the tendon rope connection method of the related art. The transmission method of the present application is mainly a connecting rod transmission, which has higher transmission efficiency than the gear transmission and tendon rope connection. Therefore, the dexterous hand finger 10 provided in the embodiment of the present application not only realizes the motion decoupling between the two degrees of freedom of bending and side swing of the dexterous hand finger 10, but also improves the motion accuracy 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.

[0059] In addition, the connecting rod assembly 300 has great rigidity and strength, so the connecting rod assembly 300 is used as a transmission to make the strength of the dexterous hand finger 10 better and the transmission efficiency higher.

[0060] In addition, the lifespan and maintainability of the side swing assembly 100, the first finger joint 200, the first connecting rod assembly 300, the second connecting rod assembly 400, the first drive assembly 500 and the second drive assembly 600 of the dexterous hand finger 10 provided in the embodiment of the present application are higher than those of the tendon rope. Therefore, the dexterous hand finger 10 provided in the embodiment of the present application has a longer lifespan and better maintainability than the dexterous hand using tendon rope transmission.

[0061] In some embodiments, Figure 5 As shown, the first link assembly 300 includes a first link 310 and a first component 320. The second link assembly 400 includes a second link 410 and a second component 420.

[0062] The first end of the first link 310 is rotatably connected to the first knuckle 200 around the third axis L3. The first component 320 is connected to the second end of the first link 310.

[0063] The second end of the second link 410 is rotatably connected to the movable member 520 around the fourth axis L4. The second component 420 is connected to the first end of the second link 410.

[0064] The first component 320 and the second component 420 form a ball joint. The ball joint forms a spherical pair, which has a simple structure and high reliability, and further improves the reliability of the dexterous hand finger 10.

[0065] Exemplarily, the first component 320 and the second component 420 may be fisheye bearings. For example, the first component 320 includes an inner ring of the fisheye bearing, and the second component 420 includes an outer ring of the fisheye bearing. Exemplarily, the first component 320 and the second component 420 may be ball bearings. For example, the first component 320 includes a ball head of the ball bearing, and the second component 420 includes a ball seat of the ball bearing.

[0066] Figure 6 Shown Figure 5 A partial enlarged view of the dexterous hand fingers in area D is shown. Figure 7 Shown Figure 4 A partial enlarged view of the dexterous hand fingers in area E is shown. Figure 8 Shown is a side view of the fingers of a dexterous hand provided in one embodiment of the present application. Fig. 9 Shown Figure 7 Schematic cross-sectional view of the dexterous hand fingers in the FF direction. Fig.10 Shown Figure 8 A partial enlarged view of the dexterous hand fingers in area G is shown. Fig.11 Shown Figure 7 The schematic cross-sectional view of the dexterous hand fingers in the HH direction is shown.

[0067] In some embodiments, Fig.11 As shown, the movable member 520 has a first plane 521 and a second plane 522 that are oppositely arranged, and a third plane 523 that is perpendicular to the first plane 521 and the second plane 522. The first plane 521, the second plane 522 and the third plane 523 all extend along the first direction Y.

[0068] The first driving assembly 500 further includes a limiter 530. The limiter 530 has a first limiter surface 531 and a second limiter surface 532 that are arranged opposite to each other, and a third limiter surface 533 that is perpendicular to the first limiter surface 531 and the second limiter surface 532. The first limiter surface 531, the second limiter surface 532 and the third limiter surface 533 all extend along the first direction Y.

[0069] The first limiting surface 531 is adjacent to and parallel to the first plane 521 , and the second limiting surface 532 is adjacent to and parallel to the second plane 522 . The first limiting surface 531 and the second limiting surface 532 are jointly configured to limit the displacement of the movable member 520 in the second direction X1 , and the second direction X1 is perpendicular to the first direction Y.

[0070] The third limiting surface 533 is adjacent to and parallel to the third plane 523 , and is configured to limit the displacement of the movable member 520 in a third direction X2 , which is perpendicular to the first direction Y and the second direction X1 .

[0071] By setting the limit member 530, the first limit surface 531, the second limit surface 532 and the third limit surface 533 are used to limit the displacement of the movable member 520 in the second direction X1 and the third direction X2, so as to realize three-sided guidance of the movable member 520 and improve the guidance reliability and guidance accuracy of the movable member 520.

[0072] In some embodiments, the fixing member 510 includes a first driving source 511 and a screw 512. The first driving source 511 is connected to the palm base plate 20. The screw 512 is connected to the first driving source 511 and rotates under the drive of the first driving source 511. The movable member 520 includes a screw nut 524. The screw nut 524 is screwed to the screw 512, and the second end of the second connecting rod 410 is rotatably connected with the screw nut 524 around the fourth axis L4.

[0073] The first driving source 511 can be a motor or a rotary electric cylinder, as long as it is a structure that can provide rotational force, and this application does not make any specific limitation.

[0074] The bending drive of the dexterous finger 10 is realized by the cooperation of the screw rod 512 and the screw nut 524. The screw rod 512 can not only drive the screw nut 524 to move linearly, but also guide the screw nut 524. The structure is simple and the driving effect is good.

[0075] In some embodiments, Figure 6 As shown, the palm base plate 20 has a first through hole 21 and a first key slot 22 communicating with the first through hole 21. The side swing assembly 100 includes a side swing member 110, a pin shaft 120, a key 130 and a locking member 140.

[0076] The side swing member 110 has a second through hole 111. The pin 120 includes a first shaft section 121 and a second shaft section 122 connected to each other. The diameter of the first shaft section 121 is larger than the diameter of the second shaft section 122. The end surface of the first shaft section 121 close to the second shaft section 122 abuts against the side swing member 110, and the second shaft section 122 passes through the first through hole 21 and the second through hole 111. The second shaft section 122 has a second key groove 123. The key 130 partially extends into the first key groove 22 and partially extends into the second key groove 123. The locking member 140 is threadedly connected to one end of the second shaft section 122 away from the first shaft section 121 to prevent the pin 120 from coming out of the first through hole 21 and the second through hole 111.

[0077] For example, the side swing member 110 may be Figure 1 The U-shaped structure shown may also be an L-shaped structure or a rectangular structure, which is not specifically limited in the present application. Exemplarily, the side swing member 110 may be integrally formed or assembled from multiple parts. Exemplarily, the key 130 may be a flat key or other types of keys, such as a U-shaped key. Exemplarily, the locking member 140 may be a bolt, a screw, etc.

[0078] In actual application, it is only necessary to unscrew the locking piece 140 from the pin 120, then pull the pin 120 out of the first through hole 21 and the second through hole 111, and then remove the second connecting rod assembly 400 from the movable part 520, and then the side swing assembly 100, the first finger joint 200, the first connecting rod assembly 300, and the second connecting rod assembly 400 can be removed from the dexterous hand 3 as a whole, thereby realizing the rapid replacement of the dexterous hand fingers 10.

[0079] In some embodiments, Figure 6 and Fig.10 As shown, the palm base plate 20 has a protruding portion 23 , and the first through hole 21 passes through the protruding portion 23 .

[0080] The side swing member 110 has a first connecting portion 112 and a second connecting portion 113 that are arranged opposite to each other, and the second through hole 111 penetrates the first connecting portion 112 and the second connecting portion 113. The protrusion 23 extends between the first connecting portion 112 and the second connecting portion 113.

[0081] The first shaft section 121 abuts against a side of the first connection portion 112 away from the protruding portion 23 , and the locking member 140 abuts against a side of the second connection portion 113 away from the protruding portion 23 .

[0082] The first connecting portion 112 also has an avoidance gap 114 connected to the second through hole 111. The avoidance gap 114 is configured to allow the key 130 to enter and exit the second through hole 111, so that when the pin shaft 120 is disassembled, the key 130 can be disassembled together, further improving the convenience of replacing the dexterous hand finger 10.

[0083] In addition, by extending the protrusion 23 between the first connection portion 112 and the second connection portion 113, a guide can be provided for the relative rotation between the side swing piece 110 and the palm base plate 20, thereby providing stability for the rotation of the side swing piece 110.

[0084] In some embodiments, the first connecting portion 112 has a first bearing hole 115, which is coaxial with and communicates with the second through hole 111, and the second connecting portion 113 has a second bearing hole 116, which is coaxial with and communicates with the second through hole 111. The first shaft segment 121 includes a first sub-shaft segment 124 and a second sub-shaft segment 125 connected to each other, the diameter of the first sub-shaft segment 124 is larger than the diameter of the second sub-shaft segment 125, and the end surface of the second sub-shaft segment 125 close to the second shaft segment 122 abuts against the side swing member 110.

[0085] The roll assembly 100 further includes a first bearing 150 and a second bearing 160 .

[0086] The inner ring of the first bearing 150 is clearance-fitted with the second shaft segment 122, and the outer ring of the first bearing 150 is interference-fitted with the first bearing hole 115. The inner ring of the second bearing 160 is clearance-fitted with the second sub-shaft segment 125, and the outer ring of the second bearing 160 is interference-fitted with the second bearing hole 116. Exemplarily, the first bearing 150 can be a deep groove ball bearing, a cylindrical roller bearing, or an angular contact bearing, which is not specifically limited in this application. Exemplarily, the second bearing 160 can be a deep groove ball bearing, a cylindrical roller bearing, or an angular contact bearing, which is not specifically limited in this application.

[0087] By providing the first bearing 150 and the second bearing 160, the side swing member 110 can be better supported, and the rotation accuracy of the side swing member 110 can be improved. In addition, the first bearing 150 and the second bearing 160 are used to support the first connecting portion 112 and the second connecting portion 113 respectively, thereby improving the stability of the side swing member 110. In other words, while facilitating the replacement of the dexterous hand finger 10, the stability of the side swing member 110 is improved.

[0088] In some embodiments, the palm substrate 20 has a palm surface 24 and a palm back surface 25 that are oppositely disposed.

[0089] The side swing assembly 100 further includes a first elastic member 170. The first end of the first elastic member 170 is connected to the side of the first knuckle 200 close to the back of the palm 25, and the second end of the first elastic member 170 is connected to the side of the side swing member 110 close to the back of the palm 25, so that the first elastic member 170 can be used to tighten the first knuckle 200 and the side swing member 110, thereby eliminating the gap between the first knuckle 200 and the side swing member 110, the gap between the first connecting rod assembly 300 and the first knuckle 200, and the gap between the first connecting rod assembly 300 and the second connecting rod assembly 400.

[0090] Exemplarily, the first elastic member 170 may be a tension spring, or an elastic rubber member, etc. Exemplarily, the first elastic member 170 is detachably connected to the first knuckle 200. For example, the first knuckle 200 has a first hanging hole, the first end of the first elastic member 170 has a first hook, and the first hook is hung on the first hanging hole. Exemplarily, the first elastic member 170 is detachably connected to the side swing member 110. For example, the side swing member 110 has a second hanging hole, the second end of the first elastic member 170 has a second hook, and the second hook is hung on the second hanging hole.

[0091] In some embodiments, the palm substrate 20 has a palm surface 24 and a palm back surface 25 that are arranged opposite to each other. Figure 7 As shown, the dexterous finger 10 further includes a knuckle assembly 700, a second elastic member 710 and a third driving assembly (not shown in the figure).

[0092] The finger joint assembly 700 is rotatably connected to an end of the first finger joint 200 away from the side swing assembly 110 around a fifth axis L5. The fifth axis L5 is parallel to the second axis L2.

[0093] The first end of the second elastic member 710 is connected to the side of the first knuckle 200 close to the back of the palm 25, and the second end of the second elastic member 710 is connected to the side of the knuckle assembly 700 close to the back of the palm 25. For example, the second elastic member 710 can be a tension spring, or a rubber member with elasticity.

[0094] Exemplarily, the second elastic member 710 is detachably connected to the first knuckle 200. For example, the first knuckle 200 has a third hanging hole, the first end of the second elastic member 710 has a third hook, and the third hook is hung in the third hanging hole. Exemplarily, the second elastic member 710 is detachably connected to the knuckle assembly 700. For example, the knuckle assembly 700 has a fourth hanging hole, the second end of the second elastic member 710 has a fourth hook, and the fourth hook is hung in the fourth hanging hole.

[0095] The third driving component is disposed on the palm base plate 20 or the first finger joint 200 . The third driving component is connected to the finger joint component 700 and is configured to drive the finger joint component 700 to bend toward the palm surface 24 .

[0096] By providing the second elastic member 710, the first knuckle 200 and the knuckle assembly 700 can be tightened, so that after the knuckle assembly 700 is bent, the elastic force of the second elastic member 710 can be used to move the knuckle assembly 700 closer to the back of the palm 25, thereby restoring the knuckle assembly 700 to a straight state.

[0097] The second driving assembly 600 includes: a side swing driving wheel 610 and a second driving source 620. The side swing driving wheel 610 is connected to the side swing assembly 100, and the second driving source 620 is connected to the palm base plate 20 and the side swing driving wheel 610, and is configured to drive the side swing driving wheel 610 to move, so that the side swing driving wheel 610 drives the side swing member 110 to rotate around the first axis L1.

[0098] The second driving source 620 can be a motor, or a rotary electric cylinder, a pneumatic cylinder, etc., which is not specifically limited in this application.

[0099] Exemplarily, the knuckle assembly 700 may include a second knuckle 720 and a third knuckle 730 that are rotatably connected to each other. The second knuckle 720 may be rotatably connected to an end of the first knuckle 200 away from the side swing assembly 110 around a fifth axis L5. The third knuckle 730 may be rotatably connected to an end of the second knuckle 720 away from the first knuckle 200 around a sixth axis L6. There may be multiple second elastic members 710. The first end of at least one second elastic member 710 is connected to a side of the first knuckle 200 close to the back of the palm 25, and the second end of the second elastic member 710 is connected to a side of the second knuckle 720 close to the back of the palm 25. The first end of at least another second elastic member 710 is connected to a side of the second knuckle 720 close to the back of the palm 25, and the second end of the second elastic member 710 is connected to a side of the third knuckle 730 close to the back of the palm 25.

[0100] Fig.12 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present application. The embodiment of the present application also provides a dexterous hand 3, which is applied to the robot 1. Fig.12 As shown, the dexterous hand 3 includes a palm substrate 20 and the dexterous hand fingers 10 mentioned in the above embodiment. The dexterous hand fingers 10 are arranged on the palm substrate 20 and connected to the palm substrate 20.

[0101] Since the dexterous hand 3 includes the dexterous hand fingers 10, the robot 1 also has all the technical features and technical effects of the dexterous hand fingers 10, which will not be repeated here.

[0102] The embodiment of the present application also provides a robot 1. Fig.12 As shown, the robot 1 includes a main body 2 and the dexterous hand 3 mentioned in the above embodiment. The dexterous hand 3 is connected to the main body 2.

[0103] Since the robot 1 includes the dexterous hand 3 mentioned in the above embodiment, the robot 1 has all the technical features and technical effects of the dexterous hand 3, which will not be described in detail here.

[0104] In the embodiments of the present application, if the connection form is not clearly defined, the connection form may be a detachable connection form such as bolts and nuts, screws, buckles, magnets, etc. If there is no special requirement for a non-detachable connection form in some connections, a non-detachable connection may be made by welding, bonding, etc.

[0105] The phrases "one embodiment", "an embodiment", etc. mentioned in the specification indicate that the embodiment described may include a specific feature, structure or characteristic, but not every embodiment may include the specific feature, structure or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, whether explicitly or not explicitly described.

[0106] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0107] Additionally, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one component or feature to other components or features as shown in the figures. The spatially relative terms are intended to encompass different orientations of the component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0108] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0109] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A dexterous finger, characterized in that: Applied to a dexterous hand, the dexterous hand comprises a palm substrate and at least one finger of the dexterous hand; Wherein, the dexterous hand fingers include: A side swing assembly, rotatably connected to the palm base plate around a first axis; a first finger joint, rotatably connected to the side swing assembly about a second axis, the second axis being perpendicular to the first axis; a first connecting rod assembly, wherein a first end of the first connecting rod assembly is rotatably connected to the first finger joint about a third axis, and the third axis is parallel to the second axis; a second connecting rod assembly, wherein a first end of the second connecting rod assembly forms a spherical pair with a second end of the first connecting rod assembly; A first driving assembly, comprising a fixed member and a movable member connected to each other, wherein the fixed member is connected to the palm base plate, and the second end of the second link assembly is rotatably connected relative to the movable member around a fourth axis, wherein the fourth axis is parallel to the first axis, wherein the fixed member can drive the movable member to move along a first direction, so that the movable member drives the second link assembly to move, and the second link assembly drives the first link assembly to move, so that the first link assembly drives the first finger joint to rotate around the second axis, and the first direction is perpendicular to the fourth axis; The second driving assembly is connected to 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 use the side swing assembly to drive the first finger joint to rotate around the first axis.

2. The dexterous hand finger according to claim 1, characterized in that: The first connecting rod assembly comprises: a first connecting rod, a first end of the first connecting rod being rotatably connected to the first finger joint about the third axis; A first component connected to the second end of the first connecting rod; The second connecting rod assembly comprises: a second connecting rod, a second end of which is rotatably connected relative to the movable member about the fourth axis; A second component connected to the first end of the second connecting rod; The first component and the second component form a ball joint.

3. The dexterous hand finger according to claim 1 or 2, characterized in that: The movable member has a first plane and a second plane which are arranged opposite to each other, and a third plane which is perpendicular to both the first plane and the second plane, and the first plane, the second plane and the third plane all extend along the first direction; The first drive assembly also includes: A limiting member having a first limiting surface and a second limiting surface arranged opposite to each other, and a third limiting surface perpendicular to the first limiting surface and the second limiting surface, wherein the first limiting surface, the second limiting surface and the third limiting surface all extend along the first direction; The first limiting surface is adjacent to and parallel to the first plane, the second limiting surface is adjacent to and parallel to the second plane, and the first limiting surface and the second limiting surface are jointly configured to limit the displacement of the movable member in a second direction, and the second direction is perpendicular to the first direction; The third limiting surface is adjacent to and parallel to the third plane, and is configured to limit the displacement of the movable member in a third direction, which is perpendicular to the first direction and the second direction.

4. The dexterous hand finger according to claim 3, characterized in that: The fixing member comprises: A first driving source connected to the palm substrate; A screw rod connected to the first driving source and driven to rotate by the first driving source; Wherein, the movable parts include: A screw nut is threadedly connected to the screw, and the second end of the second connecting rod is rotatably connected to the screw nut around the fourth axis.

5. The dexterous hand finger according to claim 1 or 2, characterized in that: The palm substrate has a first through hole and a first key groove communicating with the first through hole; Wherein, the side swing assembly comprises: The side swing piece has a second through hole; A pin shaft, comprising a first shaft section and a second shaft section connected to each other, wherein the diameter of the first shaft section is larger than the diameter of the second shaft section, an end surface of the first shaft section close to the second shaft section abuts against the side swing member, the second shaft section passes through the first through hole and the second through hole, and the second shaft section has a second keyway; a key, partially extending into the first keyway and partially extending into the second keyway; A locking member is threadedly connected to an end of the second shaft segment away from the first shaft segment to prevent the pin shaft from escaping from the first through hole and the second through hole.

6. The dexterous hand finger according to claim 5, characterized in that: The palm substrate has a convex portion, and the first through hole passes through the convex portion; The side swing member has a first connecting portion and a second connecting portion that are arranged opposite to each other, the second through hole passes through the first connecting portion and the second connecting portion, wherein the protrusion extends between the first connecting portion and the second connecting portion; Wherein, the first shaft section abuts against a side of the first connecting portion away from the protruding portion, and the locking member abuts against a side of the second connecting portion away from the protruding portion; Wherein, the first connecting portion further has an avoidance gap connected to the second through hole, and the avoidance gap is configured to allow the key to enter and exit the second through hole.

7. The dexterous hand finger according to claim 6, characterized in that: The first connecting portion has a first bearing hole, the first bearing hole is coaxial with and communicated with the second through hole, the second connecting portion has a second bearing hole, the second bearing hole is coaxial with and communicated with the second through hole; the first shaft segment includes a first sub-shaft segment and a second sub-shaft segment connected to each other, the diameter of the first sub-shaft segment is larger than the diameter of the second sub-shaft segment, and the end surface of the second sub-shaft segment close to the second shaft segment abuts against the side swing member; Wherein, the side swing assembly also includes: a first bearing, wherein the inner ring of the first bearing is clearance-fitted with the second shaft segment, and the outer ring of the first bearing is interference-fitted with the first bearing hole; A second bearing, wherein the inner ring of the second bearing is clearance-fitted with the second sub-shaft segment, and the outer ring of the second bearing is interference-fitted with the second bearing hole.

8. The dexterous hand finger according to claim 5, characterized in that: The palm substrate comprises a palm center surface and a palm back surface which are arranged opposite to each other; The side swing assembly also includes: A first elastic member, wherein a first end of the first elastic member is connected to a side of the first knuckle close to the back of the palm, and a second end of the first elastic member is connected to a side of the side swing member close to the back of the palm.

9. The dexterous hand finger according to claim 1 or 2, characterized in that: The palm substrate comprises a palm center surface and a palm back surface which are arranged opposite to each other; The dexterous hand fingers also include: a finger joint assembly, rotatably connected to an end of the first finger joint away from the side swing assembly about a fifth axis, wherein the fifth axis is parallel to the second axis; a second elastic member, wherein a first end of the second elastic member is connected to a side of the first knuckle close to the back of the palm, and a second end of the second elastic member is connected to a side of the knuckle assembly close to the back of the palm; The third driving component is arranged on the palm substrate or the first finger joint. The third driving component is connected to the finger joint component and is configured to drive the finger joint component to bend toward the palm surface.

10. A dexterous hand, characterized in that: include: Palm baseplate; At least one dexterous hand finger according to any one of claims 1 to 9 is connected to the palm substrate.

11. A robot, characterized in that: include: main body; At least one dexterous hand according to claim 10, connected to the body.

Images