Dexterous hand fingers, dexterous hand, and robot

Abstract

The application relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and solves the problems of complex structure and poor reliability of a dexterous hand finger which can realize motion decoupling between two degrees of freedom of bending and side swing of the dexterous hand finger. The dexterous hand finger comprises 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. 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 to drive the finger joint to rotate around a second axis, realizing bending of the first finger joint. The finger joint can rotate around a first axis under the driving of the second driving assembly, realizing side swing of the first finger joint. The first end of the second connecting rod assembly and the second end of the first connecting rod assembly form a spherical pair, realizing motion decoupling between the two degrees of freedom of bending and side swing, and the structure is simple, and the reliability of the dexterous hand finger is improved.

Description

TECHNICAL FIELD

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

[0002] The dexterous hand is a terminal actuator of the robot interacting with the environment, and the flexibility and reliability of the dexterous hand have an important influence on the operation of the robot. The dexterous hand in the related art mostly adopts a degree of freedom arrangement similar to a human hand, the root of the dexterous hand finger is provided with two joints to realize the movement of two degrees of freedom of the finger, i.e. bending and side swinging. The design difficulty of the dexterous hand finger of two degrees of freedom lies in realizing the movement decoupling between the two degrees of freedom of bending and side swinging.

[0003] At present, the dexterous hand capable of realizing the movement decoupling between the two degrees of freedom of bending and side swinging of the dexterous hand finger has a complex structure and poor reliability. SUMMARY

[0004] Therefore, the embodiments of the present application provide a dexterous hand finger, a dexterous hand and a robot, which solve the problem of the complex structure and poor reliability of the dexterous hand capable of realizing the movement decoupling between the two degrees of freedom of bending and side swinging of the dexterous hand finger.

[0005] In a first aspect, the embodiments of the present application provide a dexterous hand finger applied to a dexterous hand, the dexterous hand comprising a palm base plate and at least one dexterous hand finger; wherein the dexterous hand finger comprises: a side swinging assembly rotatably connected to the palm base plate about a first axis; a first phalanx rotatably connected to the side swinging assembly about a second axis, the second axis being perpendicular to the first axis; a first connecting rod assembly, a first end of the first connecting rod assembly being rotatably connected to the first phalanx about a third axis, the third axis being parallel to the second axis; a second connecting rod assembly, a first end of the second connecting rod assembly forming a spherical pair with a second end of the first connecting rod assembly; a first driving assembly comprising a fixed part and a movable part connected to each other, the fixed part being connected to the palm base plate, a second end of the second connecting rod assembly being rotatably connected to the movable part about a fourth axis, the fourth axis being parallel to the first axis, wherein the fixed part can drive the movable part to move in a first direction to drive the second connecting rod assembly to move by using the movable part, the second connecting rod assembly drives the first connecting rod assembly to move to drive the first phalanx to rotate about the second axis, the first direction being perpendicular to the fourth axis; and a second driving assembly connected to the side swinging assembly and configured to drive the side swinging assembly to rotate about the first axis relative to the palm base plate to drive the first phalanx to rotate about the first axis by using the side swinging assembly.

[0006] In some embodiments, the first linkage assembly comprises: a first linkage, a first end of the first linkage being rotatably connected with the first knuckle about the third axis; a first component, a second end of the first linkage being connected with the first component; the second linkage assembly comprises: a second linkage, a second end of the second linkage being rotatably connected with the movable piece about the fourth axis; a second component, a first end of the second linkage being connected with the second component; wherein the first component and the second component form a spherical hinge.

[0007] In some embodiments, the movable piece has a first plane and a second plane arranged oppositely, and a third plane perpendicular to the first plane and the second plane, the first plane, the second plane and the third plane all extend along the first direction; the first driving assembly further comprises: a limiting piece, having a first limiting plane and a second limiting plane arranged oppositely, and a third limiting plane perpendicular to the first limiting plane and the second limiting plane, the first limiting plane, the second limiting plane and the third limiting plane all extend along the first direction; wherein the first limiting plane is adjacent to and parallel with the first plane, the second limiting plane is adjacent to and parallel with the second plane, the first limiting plane and the second limiting plane are collectively configured to limit displacement of the movable piece in a second direction, the second direction being perpendicular to the first direction; wherein the third limiting plane is adjacent to and parallel with the third plane, the third limiting plane is configured to limit displacement of the movable piece in a third direction, the third direction being perpendicular to the first direction and perpendicular to the second direction.

[0008] In some embodiments, the fixed piece comprises: a first driving source, connected with the palm base plate; a lead screw, connected with the first driving source, rotating under driving of the first driving source; wherein the movable piece comprises: a lead screw nut, screwed with the lead screw, the second end of the second linkage being rotatably connected with the lead screw nut about the fourth axis.

[0009] In some embodiments, the palm base plate has a first through hole and a first key groove in communication with the first through hole; wherein the side swing assembly comprises: a side swing piece, having a second through hole; a pin shaft, comprising a first shaft segment and a second shaft segment connected with each other, a diameter of the first shaft segment being greater than a diameter of the second shaft segment, an end surface of the first shaft segment close to the second shaft segment being in abutment with the side swing piece, the second shaft segment passing through the first through hole and the second through hole, the second shaft segment having a second key groove; a key, partially extending into the first key groove and partially extending into the second key groove; a locking piece, screwed with an end of the second shaft segment away from the first shaft segment, to prevent the pin shaft from being pulled out of the first through hole and the second through hole.

[0010] In some embodiments, the palm substrate has a protrusion, the first through hole penetrates the protrusion; the side swing piece has oppositely arranged first and second connecting portions, the second through hole penetrates the first and second connecting portions, wherein the protrusion extends into the first and second connecting portions; wherein the first shaft segment is in abutment with the first connecting portion on a side away from the protrusion, and the locking piece is in abutment with the second connecting portion on a side away from the protrusion; wherein the first connecting portion further has an avoidance notch in communication with 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 portion has a first bearing hole coaxial and in communication with the second through hole, and the second connecting portion has a second bearing hole coaxial and in communication with the second through hole; the first shaft segment includes first and second sub-shaft segments connected to each other, the diameter of the first sub-shaft segment is greater than that of the second sub-shaft segment, and the end surface of the second sub-shaft segment close to the second shaft segment is in abutment with the side swing piece; wherein the side swing assembly further comprises: a first bearing, an inner ring of the first bearing is in clearance fit with the second shaft segment, and an outer ring of the first bearing is in interference fit with the first bearing hole; a second bearing, an inner ring of the second bearing is in clearance fit with the second sub-shaft segment, and an outer ring of the second bearing is in interference fit with the second bearing hole.

[0012] In some embodiments, the palm substrate has oppositely arranged palm heart surface and palm back surface; the side swing assembly further comprises: a first elastic piece, a first end of the first elastic piece is connected to a side of the first phalanx close to the palm back surface, and a second end of the first elastic piece is connected to a side of the side swing piece close to the palm back surface.

[0013] In some embodiments, the palm substrate has oppositely arranged palm heart surface and palm back surface; the dexterous hand finger further comprises: a phalanx assembly rotatably connected to an end of the first phalanx away from the side swing assembly about a fifth axis, the fifth axis is parallel to the second axis; a second elastic piece, a first end of the second elastic piece is connected to a side of the first phalanx close to the palm back surface, and a second end of the second elastic piece is connected to a side of the phalanx assembly close to the palm back surface; and a third driving assembly arranged on the palm substrate or the first phalanx, the third driving assembly is connected to the phalanx assembly and is configured to drive the phalanx assembly to bend towards the palm heart surface.

[0014] In a second aspect, embodiments of the present application provide a dexterous hand, comprising: a palm substrate; at least one dexterous hand finger of the first aspect mentioned.

[0015] In a third aspect, the embodiments of the present application provide a robot, comprising: a main body; and at least one dexterous hand according to the second aspect and connected to the main body.

[0016] The dexterous hand finger provided by the embodiments of the present application is applied to a dexterous hand, and comprises a side swing assembly, a first phalanx, 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 a palm base plate about a first axis. The first phalanx is rotatably connected to the side swing assembly about a second axis, and the second axis is perpendicular to the first axis. A first end of the first connecting rod assembly is rotatably connected to the first phalanx about a third axis, and the third axis is parallel to the second axis. A first end of the second connecting rod assembly forms a spherical pair with a second end of the first connecting rod assembly. The first driving assembly comprises a fixed part and a movable part connected to each other, the fixed part is connected to the palm base plate, and a second end of the second connecting rod assembly is rotatably connected to the movable part about 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 drive the second connecting rod assembly to move by using the movable part, drive the first connecting rod assembly to move by using the second connecting rod assembly, and drive the first phalanx to rotate about the second axis by using the first connecting rod assembly, so as to realize the bending of the first phalanx. The second driving assembly is connected to the side swing assembly and is configured to drive the side swing assembly to rotate about the first axis relative to the palm base plate, so as to drive the first phalanx to rotate about the first axis by using the side swing assembly, and realize the side swing of the first phalanx.

[0017] In other words, the side swing assembly, the first phalanx, 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 phalanx to rotate about the second axis, and realize the bending of the first phalanx. The phalanx can rotate about the first axis under the driving of the second driving assembly, and realize the side swing of the first phalanx. The first end of the second connecting rod assembly forms a spherical pair with the second end of the first connecting rod assembly, realizes the motion decoupling between the two degrees of freedom of bending and side swing, and has a simple structure, reduces the probability of failure of the dexterous hand, and improves the reliability of the dexterous hand finger.

[0018] In addition, the first connecting rod assembly and the second connecting rod assembly form a spatial connecting rod, without using a gear transmission with a large volume, so as to reduce the size of the dexterous hand finger, and make the size of the dexterous hand finger closer to that of a human hand finger. In addition, the connection modes among the side swing assembly, the first phalanx, the first connecting rod assembly, the second connecting rod assembly, the first driving assembly and the second driving assembly are mainly rotary connections, and the precision is higher than that of the tendon connection mode in the related art. The transmission mode of the present application is mainly connecting rod transmission, and the transmission efficiency is higher than that of the gear transmission and the tendon connection. Therefore, the dexterous hand finger provided by the embodiments 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, but also improves the motion precision of the dexterous hand and reduces the size of the dexterous hand. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description thereof taken in conjunction with the accompanying drawings, in which:

[0020] Figure 1 Fig. 1 shows a structural schematic diagram of a dexterous hand finger according to an embodiment of the present application.

[0021] Figure 2 Fig. 2 shows a front view of the dexterous hand finger according to an embodiment of the present application. Figure 1 Fig. 3 shows a partial enlarged view of the dexterous hand finger in A area.

[0022] Figure 3 Fig. 4 shows a sectional schematic diagram of the dexterous hand finger in B-B direction.

[0023] Figure 4 Fig. 5 shows a partial enlarged view of the dexterous hand finger in C area. Figure 3 Fig. 6 shows a sectional schematic diagram of the dexterous hand finger in C-C direction.

[0024] Figure 5 Fig. 7 shows a partial enlarged view of the dexterous hand finger in D area. Figure 4 Fig. 8 shows a sectional schematic diagram of the dexterous hand finger in D-D direction.

[0025] Figure 6 Fig. 9 shows a partial enlarged view of the dexterous hand finger in E area. Figure 5 Fig. 10 shows a sectional schematic diagram of the dexterous hand finger in E-E direction.

[0026] Figure 7 Fig. 11 shows a partial enlarged view of the dexterous hand finger in F area. Figure 4 Fig. 12 shows a sectional schematic diagram of the dexterous hand finger in F-F direction.

[0027] Figure 8 Fig. 13 shows a side view of the dexterous hand finger according to an embodiment of the present application.

[0028] Figure 9 Fig. 14 shows a partial enlarged view of the dexterous hand finger in G area. Figure 7 Fig. 15 shows a sectional schematic diagram of the dexterous hand finger in G-G direction.

[0029] Figure 10 Fig. 16 shows a partial enlarged view of the dexterous hand finger in H area. Figure 8 Fig. 17 shows a sectional schematic diagram of the dexterous hand finger in H-H direction.

[0030] Figure 11 Fig. 18 shows a partial enlarged view of the dexterous hand finger in I area. Figure 7 Fig. 19 shows a sectional schematic diagram of the dexterous hand finger in I-I direction.

[0031] Figure 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, screw rod; 520, movable part; 521, first plane; 522, second plane; 523, third plane; 524, screw rod 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 keyway; 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 accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0035] As an important branch of robot technology, dexterous hand technology has made great progress and some representative dexterous hands have been developed, such as Stanford / JPL hand, Utah / M.I.T hand, DLR hand, NASA hand and so on. Some progress is mainly reflected in mechanical structure, driving, sensing, integration and control. However, due to the limitations of motor technology and electronic product manufacturing technology, the integration of related technologies of dexterous hand has not reached a satisfactory level. The design difficulty of a two-degree-of-freedom dexterous hand finger lies in the motion decoupling between the two degrees of freedom of bending and side swing. At present, the dexterous hand structure capable of achieving the motion decoupling between the two degrees of freedom of bending and side swing of the dexterous hand finger is complex and has poor reliability.

[0036] Currently, there are two ways to achieve the motion decoupling between the two degrees of freedom of bending and side swing, one is to use gear transmission, and the other is to use tendon transmission. For the gear transmission mode, two pairs of gear differential motion are mainly used to achieve the decoupling of bending and side swing motion. However, the volume of the gear is generally large, resulting in a large size of the dexterous hand using the gear transmission. For the tendon transmission mode, the tendon is mainly used to pass through the center of each joint axis of the finger to achieve the decoupling of bending and side swing motion. However, it is difficult to ensure that the tendon strictly passes through the center of the joint axis, and therefore, there is a large decoupling error, resulting in low motion accuracy of the dexterous hand using the tendon transmission. In addition, the tendon also has the disadvantages of low service life and poor maintainability.

[0037] In order to solve at least one of the above problems, the embodiments of the present application provide a dexterous hand finger applied to a dexterous hand, comprising a side swing assembly, a first phalanx, 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 with a palm base plate about a first axis. The first phalanx is rotatably connected with the side swing assembly about a second axis, and the second axis is perpendicular to the first axis. A first end of the first connecting rod assembly is rotatably connected with the first phalanx about a third axis, and the third axis is parallel to the second axis. A first end of the second connecting rod assembly forms a spherical pair with a second end of the first connecting rod assembly. The first driving assembly comprises a fixed part and a movable part connected with each other, the fixed part is connected with the palm base plate, and a second end of the second connecting rod assembly is rotatably connected with the movable part about 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 drive the second connecting rod assembly to move by using the movable part, drive the first connecting rod assembly to move by using the second connecting rod assembly, and drive the first phalanx to rotate about the second axis by using the first connecting rod assembly, so as to realize the bending of the first phalanx. The second driving assembly is connected with the side swing assembly and is configured to drive the side swing assembly to rotate about the first axis relative to the palm base plate, so as to drive the first phalanx to rotate about the first axis by using the side swing assembly, and realize the side swing of the first phalanx.

[0038] In other words, the side swing assembly, the first phalanx, 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 phalanx to rotate around the second axis, realizing the bending of the first phalanx. The phalanx can rotate around the first axis under the driving of the second driving assembly, realizing the side swing of the first phalanx. The first end of the second connecting rod assembly and the second end of the first connecting rod assembly form a spherical pair, realizing the motion decoupling between the two degrees of freedom of bending and side swing, and the structure is simple, the probability of failure of the dexterous hand is reduced, and the reliability of the dexterous hand finger is improved.

[0039] In addition, the first connecting rod assembly and the second connecting rod assembly form a spatial connecting rod, without using a gear transmission with a large volume, so that the size of the dexterous hand finger is reduced, and the size of the dexterous hand finger is closer to that of a human hand finger. In addition, the connection mode between the side swing assembly, the first phalanx, the first connecting rod assembly, the second connecting rod assembly, the first driving assembly and the second driving assembly is mainly rotary connection, which is more accurate than the tendon connection mode of the related art, and the transmission mode of the present application is mainly connecting rod transmission, which is more efficient than the gear transmission and tendon connection. Therefore, the dexterous hand finger provided in the embodiments 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, but also improves the motion accuracy of the dexterous hand and reduces the size of the dexterous hand.

[0040] In addition, the service life and maintainability of the side swing assembly, the first phalanx, the first connecting rod assembly, the second connecting rod assembly, the first driving assembly and the second driving assembly of the dexterous hand finger provided in the embodiments of the present application are higher than those of the tendon, and therefore, the service life of the dexterous hand finger provided in the embodiments of the present application is longer and the maintainability is better than those of the dexterous hand using the tendon transmission.

[0041] The specific structure of the dexterous hand finger, the dexterous hand and the robot will be described below in combination with the drawings and specific embodiments.

[0042] Figure 1 Fig. 1 shows a structure schematic diagram of a dexterous hand finger provided in an embodiment of the present application. Figure 2 Fig. 2 shows a structure schematic diagram of a dexterous hand provided in an embodiment of the present application. Figure 1 Fig. 3 shows a partial enlarged view of the dexterous hand finger in region A. Figure 3 Fig. 4 shows a front view of the dexterous hand finger provided in an embodiment of the present application. Figure 4 Fig. 5 shows a structure schematic diagram of a robot provided in an embodiment of the present application. Figure 3 Fig. 6 shows a cross-sectional schematic diagram of the dexterous hand finger in B-B direction. Figure 5 Fig. 7 shows a partial enlarged view of the dexterous hand finger in region C. Figure 4 Fig. 8 shows a partial enlarged view of the dexterous hand finger in region D. Figure 1 to Figure 5 As shown in the figure, the dexterous hand finger 10 includes a side swing assembly 100, a first phalanx 200, a first connecting rod assembly 300, a second connecting rod assembly 400, a first driving assembly 500 and a second driving 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. For example, the robot 1 includes a main body 2 and a dexterous hand 3, and the dexterous hand 3 is provided on the main body 2. The main body 2 can be the body structure of a humanoid robot or the arm structure of an industrial robot, and this application does not make specific limitations.

[0044] The dexterous hand 3 includes a palm substrate 20 and at least one dexterous hand finger 10. The dexterous hand finger 10 is disposed 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 a palm.

[0045] The side swing assembly 100 is rotatably connected to the palm base 20 around the first axis L1. The first axis L1 can be perpendicular to the palm base 20. The first axis L1 is the side swing axis of the dexterous hand finger 10. Figure 1 The U-shaped structure shown may also be an L-shaped structure or a rectangular structure, which is not specifically limited in this application. For example, the side swing assembly 100 may be integrally formed or assembled from multiple parts.

[0046] The first phalanx 200 is rotatably connected to the side swing assembly 100 about a 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 phalanx 200 can be the phalanx connected to the root joint. In practical applications, the dexterous hand finger 10 can also include a phalanx assembly connected to the first phalanx 200, and the phalanx assembly can include a second phalanx and a third phalanx 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 knuckle 200 about a third axis L3. The third axis L3 is parallel to the second axis L2. The first end of the second connecting rod assembly 400 forms a spherical pair with the second end of the first connecting rod assembly 300. A spherical pair is a kinematic pair in which two components can perform three independent relative rotations about a sphere.

[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 actual applications, the first connecting rod assembly 300 can be configured with some curved structures, airtight structures, etc. according to the available space, so as to fully utilize the space and improve the compactness of the dexterous hand finger 10.

[0049] The first driving assembly 500 comprises a fixed part 510 and a movable part 520 connected with each other. The fixed part 510 is connected with the palm base plate 20, and the second end of the second connecting rod assembly 400 is rotatably connected with the movable part 520 relative to the fourth axis L4, which is parallel to the first axis L1. The fixed part 510 can drive the movable part 520 to move along the first direction Y, so as to drive the second connecting rod assembly 400 to move by the movable part 520, drive the first connecting rod assembly 300 to move by the second connecting rod assembly 400, and drive the first knuckle 200 to rotate around the second axis L2 by the first connecting rod assembly 300. The first direction Y is perpendicular to the fourth axis L4.

[0050] The relative rotation between the above components can be realized by hinging or other structures as long as the rotation around the corresponding axis is realized, and the specific rotation mode is not limited in the application. Exemplarily, the two components relative to each other can be provided with shaft holes, and then an activity shaft is inserted into the shaft holes of the two components to realize the relative rotation of the two components. Exemplarily, a bearing can be further arranged between the activity shaft and the two components to improve the flexibility of rotation.

[0051] Exemplarily, the fixed part 510 can be a motor and a lead screw. The movable part 520 can be a lead screw nut. The motor drives the lead screw to rotate, and the lead screw drives the lead screw nut to move along the first direction Y. Exemplarily, the fixed part 510 can be a cylinder structure of a gas cylinder, and the movable part 520 can be a cylinder rod structure of the gas cylinder. The cylinder structure drives the cylinder rod structure to stretch and contract along the first direction Y, that is, to realize the movement of the cylinder rod structure along the first direction Y.

[0052] The second driving assembly 600 is connected with the side swing assembly 100 and is configured to drive the side swing assembly 100 to rotate around the first axis L1 relative to the palm base plate 20, so as to drive the first knuckle 200 to rotate around the first axis L1 by the side swing assembly 100. Exemplarily, the second driving assembly 600 can be a motor, that is, directly driving the side swing assembly 100 to rotate by the motor. Exemplarily, the second driving assembly 600 can comprise a motor and a belt wheel transmission assembly, that is, driving the belt wheel transmission assembly to move by the motor, and driving the side swing assembly 100 to rotate by the belt wheel transmission assembly.

[0053] The side swing assembly 100, the first knuckle 200, the first connecting rod assembly 300, the second connecting rod assembly 400 and the first driving assembly 500 form a crank slider mechanism. Specifically, as shown in Figure 5As shown, the first phalanx 200 can be considered as a crank of a crank-slider mechanism, the first link assembly 300 and the second link assembly 400 can be considered as links of the crank-slider mechanism, and the movable piece 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 phalanx 200 to rotate around the second axis L2, and realize the bending of the first phalanx 200.

[0054] Under the driving of the second driving assembly 600, the first phalanx 200 can rotate around the first axis L1, and realize the side swing of the first phalanx 200.

[0055] The first end of the second link assembly 400 and the second end of the first link assembly 300 form a spherical pair, realize the motion decoupling between the two degrees of freedom of bending and side swing, have a simple structure, reduce the failure probability of the dexterous hand, and improve the reliability of the dexterous hand. In other words, when the first phalanx 200 performs side swing around the first axis L1, the first link assembly 300 can rotate with the first phalanx 200, and does not affect the bending of the first phalanx 200, that is, the bending and side swing of the first phalanx 200 are independent of each other.

[0056] Exemplarily, the angle between the rotation axis of the crank of the traditional crank-slider mechanism and the sliding direction of the slider is 90 degrees, and the position and posture of the rotation axis of the crank remain unchanged. However, the posture of the rotation axis of the crank (i.e., the second axis L2) of the present application is variable. When the first phalanx 200 generates a side swing angle, the included angle between the rotation axis of the crank (i.e., the second axis L2) and the sliding direction of the slider (i.e., the movement direction of the movable piece 520, that is, the first direction Y) becomes the difference between 90 degrees and the side swing angle. In other words, the first link assembly 300 and the second link assembly 400 of the present application form a spatial link assembly, and the side swing assembly 100, the first phalanx 200, the first link assembly 300, the second link 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 by the embodiment of the present application comprises the side swing assembly 100, the first phalanx 200, the first link assembly 300, the second link assembly 400, the first driving assembly 500, and the second driving assembly 600, that is, the transmission is realized by using the first link assembly 300 and the second link assembly 400, without using a gear transmission with a large size, thereby reducing the size of the dexterous hand finger 10, and making the size of the dexterous hand finger 10 closer to that of a human hand finger. In actual application, the size ratio of the dexterous hand finger 10 provided by the embodiment of the present application to the human hand finger can be 1:1.

[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 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 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 precision of the dexterous hand finger 10, reduces the size of the dexterous hand finger 10, reduces the weight of the dexterous hand finger 10, and facilitates the integration of the dexterous hand finger 10.

[0059] In addition, the connecting rod assembly 300 has high rigidity and strength, so using the connecting rod assembly 300 as a transmission can make the dexterous hand fingers 10 stronger 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, as 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 about 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 about 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, further improving the reliability of the dexterous hand finger 10.

[0065] Exemplarily, the first component 320 and the second component 420 can be a fish-eye bearing. For example, the first component 320 comprises an inner ring of the fish-eye bearing, and the second component 420 comprises an outer ring of the fish-eye bearing. Exemplarily, the first component 320 and the second component 420 can be a ball bearing. For example, the first component 320 comprises a ball head of the ball bearing, and the second component 420 comprises a ball seat of the ball bearing.

[0066] Figure 6 A side view of the dexterous hand finger is shown. Figure 5 An enlarged view of the dexterous hand finger in the D region is shown. Figure 7 A side view of the dexterous hand finger is shown. Figure 4 An enlarged view of the dexterous hand finger in the E region is shown. Figure 8 A side view of the dexterous hand finger is shown. Figure 9 A side view of the dexterous hand finger is shown. Figure 7 A cross-sectional view of the dexterous hand finger in the F-F direction is shown. Figure 10 A side view of the dexterous hand finger is shown. Figure 8 An enlarged view of the dexterous hand finger in the G region is shown. Figure 11 A side view of the dexterous hand finger is shown. Figure 7 A cross-sectional view of the dexterous hand finger in the H-H direction is shown.

[0067] In some embodiments, as Figure 11 As shown, the movable member 520 has a first plane 521 and a second plane 522 arranged oppositely, and a third plane 523 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 comprises a limiting member 530. The limiting member 530 has a first limiting surface 531 and a second limiting surface 532 arranged oppositely, and a third limiting surface 533 perpendicular to the first limiting surface 531 and the second limiting surface 532. The first limiting surface 531, the second limiting surface 532, and the third limiting surface 533 all extend along the first direction Y.

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

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

[0071] By setting the limiting piece 530, the displacement of the movable piece 520 in the second direction X1 and the third direction X2 is limited by the first limiting surface 531, the second limiting surface 532 and the third limiting surface 533, three-face guidance of the movable piece 520 is achieved, and the guidance reliability and guidance accuracy of the movable piece 520 are improved.

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

[0073] The first driving source 511 can be a motor or a rotary cylinder, as long as it is a structure capable of providing rotary force, which is not limited in the application.

[0074] Through the cooperation of the lead screw 512 and the lead screw nut 524, the bending driving of the dexterous hand finger 10 is achieved. The lead screw 512 can not only drive the lead screw nut 524 to move linearly, but also guide the lead screw nut 524, which has a simple structure and good driving effect.

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

[0076] The side swing piece 110 has a second through hole 111. The pin shaft 120 includes a first shaft segment 121 and a second shaft segment 122 connected with each other. The diameter of the first shaft segment 121 is larger than that of the second shaft segment 122. The end face of the first shaft segment 121 close to the second shaft segment 122 abuts against the side swing piece 110, the second shaft segment 122 passes through the first through hole 21 and the second through hole 111, and the second shaft segment 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 piece 140 is screwed with the end of the second shaft segment 122 away from the first shaft segment 121, so as to prevent the pin shaft 120 from being pulled out of the first through hole 21 and the second through hole 111.

[0077] Exemplarily, the side swing piece 110 can be a U-shaped structure as shown in Figure 1 , or an L-shaped structure, or a rectangular structure, which is not limited in the application. Exemplarily, the side swing piece 110 can be integrally formed, or assembled by multiple parts. Exemplarily, the key 130 can be a flat key, or other types of keys, for example, a U-shaped key. Exemplarily, the locking piece 140 can be a bolt, a screw, etc.

[0078] In practical application, the side swing assembly 100, the first knuckle 200, the first linkage assembly 300, the second linkage assembly 400 can be disassembled from the dexterous hand 3 by only unscrewing the locking member 140 from the pin shaft 120, extracting the pin shaft 120 from the first through hole 21 and the second through hole 111, and disassembling the second linkage assembly 400 from the movable member 520, thereby realizing quick replacement of the dexterous hand finger 10.

[0079] In some embodiments, as shown in Figs. 1 and 2, the palm base plate 20 has a protruding portion 23, and the first through hole 21 penetrates the protruding portion 23. Figure 6 Figure 10 As shown in Figs. 1 and 2, the palm base plate 20 has a protruding portion 23, and the first through hole 21 penetrates the protruding portion 23.

[0080] The side swing member 110 has oppositely arranged first and second connecting portions 112 and 113, and the second through hole 111 penetrates the first and second connecting portions 112 and 113. The protruding portion 23 extends between the first and second connecting portions 112 and 113.

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

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

[0083] In addition, by extending the protruding portion 23 between the first and second connecting portions 112 and 113, guidance for relative rotation of the side swing member 110 and the palm base plate 20 is provided, thereby providing stability for rotation of the side swing member 110.

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

[0085] The side swing assembly 100 further includes first and second bearings 150 and 160.

[0086] ​The inner ring of the first bearing 150 is in clearance fit with the second shaft segment 122, and the outer ring of the first bearing 150 is in interference fit with the first bearing hole 115. The inner ring of the second bearing 160 is in clearance fit with the second sub-shaft segment 125, and the outer ring of the second bearing 160 is in interference fit 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 limited in the present 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 limited in the present application.

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

[0088] In some embodiments, the palm substrate 20 has a palm side 24 and a back side 25 arranged oppositely.

[0089] The side swing assembly 100 further comprises a first elastic member 170. A first end of the first elastic member 170 is connected to a side of the first knuckle 200 close to the back side 25, and a second end of the first elastic member 170 is connected to a side of the side swing piece 110 close to the back side 25, so that the first elastic member 170 can be used to pull the first knuckle 200 and the side swing piece 110, and the gaps between the first knuckle 200 and the side swing piece 110, the first connecting rod assembly 300 and the first knuckle 200, and the first connecting rod assembly 300 and the second connecting rod assembly 400 can be eliminated.

[0090] Exemplarily, the first elastic member 170 can be a tension spring, or a rubber member with elasticity, 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, and a first hook of the first end of the first elastic member 170 is hung in the first hanging hole. Exemplarily, the first elastic member 170 is detachably connected to the side swing piece 110. For example, the side swing piece 110 has a second hanging hole, and a second hook of the second end of the first elastic member 170 is hung in the second hanging hole.

[0091] In some embodiments, the palm substrate 20 has a palm side 24 and a back side 25 arranged oppositely. As shown in Figure 7 The dexterous hand finger 10 further comprises a knuckle assembly 700, a second elastic member 710, and a third driving assembly (not shown in the figure).

[0092] The knuckle assembly 700 is rotatably connected to the end of the first knuckle 200 away from the side swing assembly 110 about 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 dorsal surface 25, and the second end of the second elastic member 710 is connected to the side of the knuckle assembly 700 close to the dorsal surface 25. Exemplarily, the second elastic member 710 can be a tension spring, or a rubber member with elasticity, etc.

[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, and the first end of the second elastic member 710 has a third hook which 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, and the second end of the second elastic member 710 has a fourth hook which is hung in the fourth hanging hole.

[0095] The third driving assembly is arranged on the palm base plate 20 or the first knuckle 200, and is connected to the knuckle assembly 700 and configured to drive the knuckle assembly 700 to bend towards the palm surface 24.

[0096] By arranging the second elastic member 710, the first knuckle 200 and the knuckle assembly 700 can be pulled tight, so that after the knuckle assembly 700 is bent, the side of the knuckle assembly 700 close to the dorsal surface 25 is moved by the elastic force of the second elastic member 710, so that the knuckle assembly 700 returns to the 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 connected to 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 assembly 110 to rotate about the first axis L1.

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

[0099] Exemplarily, the knuckle assembly 700 can include a second knuckle 720 and a third knuckle 730 rotatably connected with each other. The second knuckle 720 can be rotatably connected with an end of the first knuckle 200 away from the side swing assembly 110 about a fifth axis L5. The third knuckle 730 can be rotatably connected with an end of the second knuckle 720 away from the first knuckle 200 about a sixth axis L6. The number of the second elastic members 710 can be multiple. A first end of at least one second elastic member 710 is connected with a side of the first knuckle 200 close to the dorsal side 25, and a second end of the second elastic member 710 is connected with a side of the second knuckle 720 close to the dorsal side 25. A first end of at least another second elastic member 710 is connected with a side of the second knuckle 720 close to the dorsal side 25, and a second end of the second elastic member 710 is connected with a side of the third knuckle 730 close to the dorsal side 25.

[0100] Figure 12 Fig. 1 shows a structural schematic diagram of a robot provided by an embodiment of the present application. Embodiments of the present application also provide a dexterous hand 3 applied to the robot 1. As shown in Figure 12 The dexterous hand 3 includes the palm base plate 20 and the dexterous hand finger 10 mentioned in the above embodiments. The dexterous hand finger 10 is arranged on the palm base plate 20 and connected with the palm base plate 20.

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

[0102] Embodiments of the present application also provide a robot 1. As shown in Figure 12 The robot 1 includes the main body 2 and the dexterous hand 3 mentioned in the above embodiments. The dexterous hand 3 is connected with the main body 2.

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

[0104] In the embodiments of the present application, if the form of connection is not explicitly limited, the form of connection can be bolt and nut, screw, buckle, magnetic attraction and other detachable connection forms. In some connections, if there is no special requirement for the form of non-detachable cooperation, non-detachable connection can be achieved by welding, bonding and other methods.

[0105] Reference throughout this specification to "an embodiment", "certain embodiments", "exemplary embodiment", "one embodiment", and so on, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0106] It should be understood that "on", "above", and "on top" in the present disclosure should be interpreted in the broadest relative terms consistent with the description, such that "on" means not only "directly on" but also "on" with intervening features or layers therebetween, and "above" or "on top" means not only "above" or "on top of" but also "above" or "on top of" with no intervening features or layers therebetween (i.e., directly on).

[0107] Furthermore, spatial relative terms, e.g., "beneath", "below", "lower", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatial relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatial relative descriptors used herein interpreted accordingly.

[0108] It should be noted that, as used in this document, the terms "includes", "including", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the phrase "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0109] The above description is merely illustrative of the application, and is not intended to limit the scope of the application. As such, any modification or equivalent arrangement within the spirit or scope of the application should be included within the scope of the 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 fingers of the dexterous hand 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 drive assembly comprising a fixed member and a movable member connected to each other, the fixed member being connected to the palm base plate, the second end of the second link assembly being rotatably connected relative to the movable member about a fourth axis, the fourth axis being parallel to the first axis, wherein the fixed member is capable of driving the movable member to move in 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 knuckle to rotate about 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 includes: a first connecting rod, wherein a first end of the first connecting rod is 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 includes: a second connecting rod, a second end of the second connecting rod being 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 that are opposite to each other, and a third plane that 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 further 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 both 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 includes: a first driving source connected to the palm substrate; a screw rod connected to the first driving source and rotating under the drive of 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 includes: The side swing member has a second through hole; The pin shaft includes a first shaft segment and a second shaft segment connected to each other, wherein the diameter of the first shaft segment is larger than the diameter of the second shaft segment, an end surface of the first shaft segment adjacent to the second shaft segment abuts against the side rocker member, and 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 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 falling out of 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 raised portion, and the first through hole passes through the raised portion; The side rocker has a first connecting portion and a second connecting portion that are 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 escape notch communicating with the second through hole, and the escape notch 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, which is coaxial with and communicates with the second through hole. The second connecting portion has a second bearing hole, which is coaxial with and communicates with the second through hole. The first shaft segment includes a first sub-segment and a second sub-segment connected to each other. The diameter of the first sub-segment is larger than that of the second sub-segment. The end surface of the second sub-segment adjacent to the second shaft segment abuts against the side rocker member. Wherein, the side swing assembly further 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; The second bearing has an inner ring that is clearance-fitted with the second sub-shaft segment, and an outer ring that is interference-fitted with the second bearing hole.

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

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