Multi-joint bionic dexterous artificial hand finger

Abstract

A multi-joint bionic dexterous artificial hand finger belongs to the technical field of mechanical bionic hands and comprises a finger body. The rotating mechanism is arranged in an inner cavity in one side of the finger body, the rotating mechanism comprises a first rotating rod, one end of the first rotating rod penetrates through the finger body and is fixedly provided with a fingertip, and the surface of the first rotating rod is fixedly provided with a limiting ring located in the finger body; in the rotating process of a limiting ring, a first rotating rod and a fingertip can be limited, then the fingertip can drive a protective sleeve to rotate by 180 degrees, then the protective sleeve can move to the top end of a finger body, and then the finger body and the protective sleeve can grab fragile objects; and finally, the fingertips are rotated by 180 degrees through the driving motor, so that the grabbing state of the finger body can be flexibly adjusted according to the characteristics of an object, and the adaptability and universality of the finger body in practical application are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical bionic hands, and in particular relates to a multi-joint bionic dexterous artificial hand finger. Background Art

[0002] As an outstanding achievement of the deep cross-integration of multiple high-tech fields such as bionics, robotics, medical engineering and materials science, the original design intention of multi-joint bionic dexterous prosthetic fingers is far more than a simple functional replacement, but strives to restore and surpass the complex functions and extraordinary flexibility of human fingers to the greatest extent. These prosthetic fingers not only simulate the anatomical structure of human fingers, including the basic layout of bones, joints, muscles and nervous systems, but also achieve high-precision simulation of finger bending, extension, rotation and subtle movements through precise mechanical design and advanced control algorithms. These simulated complex functions and flexibility of human fingers provide more natural and convenient auxiliary tools for people with physical disabilities; At present, when the fingers of traditional multi-joint bionic dexterous prosthetic hands grasp objects, they often rely on preset grasping modes or fixed force feedback mechanisms, and it is difficult to flexibly adjust in real time according to the physical characteristics of the grasped objects (such as hardness, shape, weight, surface material, etc.). For example, when the prosthetic hand needs to handle fragile objects (such as glassware, eggs, etc.), due to the relatively hard material of its fingertips and the lack of sufficient flexibility or tactile feedback mechanism, it is easy to apply excessive force during the grasping process, resulting in damage to the objects, which will reduce the adaptability and versatility in practical applications. Summary of the invention

[0003] In order to solve the problem in the above background technology that the grasping state cannot be switched according to the characteristics of the object, the present invention provides a multi-joint bionic dexterous artificial hand finger.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solutions: a multi-joint bionic dexterous artificial hand finger, comprising a finger body; A rotating mechanism is arranged in an inner cavity on one side of a finger body, the rotating mechanism includes a first rotating rod, one end of the first rotating rod penetrates the finger body and is fixedly installed with a fingertip, a limiting ring located inside the finger body is fixedly installed on the surface of the first rotating rod, and the surface of the limiting ring is in contact with the inner wall of the first rotating rod, a gear ring is fixedly installed on the surface of the first rotating rod, a motor is fixedly installed in the inner cavity of the finger body, a gear meshing with the gear ring is fixedly installed on the output end of the motor, and a protective cover is arranged on one side of the fingertip surface.

[0005] Preferably, it also includes: a pushing mechanism, which is arranged in the inner cavity of the fingertip, the pushing mechanism includes a telescopic rod, the telescopic rod is arranged in the inner cavity of the fingertip, a first mounting plate is fixedly installed on one end of the telescopic rod, the surfaces of the fingertip and the protective cover are provided with a fixing groove, a contact strip located inside the fixing groove is fixedly installed on one side of the first mounting plate, a connecting plate is fixedly installed on the other side of the first mounting plate, a first sliding groove is opened on the surface of the connecting plate, a screw rod located in the inner cavity of the fingertip is fixedly installed on one side of the gear, a moving block is threadedly connected to the surface of the screw rod, a sliding block located inside the first sliding groove is fixedly installed on one side of the moving block, and the sliding block can slide inside the first sliding groove.

[0006] Preferably, it also includes: a fixing mechanism, which is arranged inside both sides of the fingertips, the fixing mechanism includes a square groove, the square groove is opened inside both sides of the fingertips, a spring is fixedly installed in the inner cavity of the square groove, a first support plate is fixedly installed at one end of the spring, a fixing plate is fixedly installed at the top of the first support plate, plug blocks located inside the square groove are fixedly installed on both sides of the inside of the protective cover, a limit block located inside the plug block is fixedly installed on one side of the fixing plate, the inside of the square groove is rotatably connected with a second rotating rod, and a push rod is fixedly installed on the surface of the second rotating rod.

[0007] Preferably, a damping block is fixedly installed inside one side of the finger body, and the surface of the damping block contacts the surface of the limiting ring.

[0008] Preferably, a second mounting plate is fixedly mounted on the inner cavity of the fingertip, the number of the second mounting plates is two, a slide rail located inside the moving block is fixedly mounted on opposite sides of the two second mounting plates, and the moving block can slide on the surface of the slide rail.

[0009] Preferably, a second support plate located on the surface of the screw rod is fixedly mounted in the inner cavity of the fingertip, and the screw rod can rotate inside the second support plate.

[0010] Preferably, second slide grooves are provided on both sides of the surface of the slide rail, and rollers are rollingly connected inside the second slide grooves. The rollers are located inside the moving block and are rotationally connected to the moving block.

[0011] Preferably, a through hole is opened on one side of the fingertip, and the screw rod is located inside the through hole.

[0012] Preferably, the sliding block is cylindrical in design, and the surface of the sliding block is smooth in design, and the surface of the sliding block fits with the inner wall of the first sliding groove.

[0013] Preferably, the number of the telescopic rods is four, and the telescopic rod array is distributed at the bottom end of the first mounting plate.

[0014] Working principle and working process of the present invention: First, when the operator is using the finger body and needs to adjust the grasping state, he can drive the motor to rotate the gear, and the gear will drive the first rotating rod and the gear ring to rotate, and the gear ring will drive the limit ring and the fingertip to rotate. During the rotation process, the limit ring can limit the first rotating rod and the fingertip. Then the fingertip will drive the protective cover to rotate 180 degrees, and then the protective cover will move to the top of the finger body. Then, when the finger body grasps fragile objects, the surface of the protective cover will contact the objects. Since the surface of the protective cover is relatively soft, the objects can be protected when grasping the objects to avoid breaking. When the gear rotates, the lead screw will rotate, and then the moving block will move on the surface of the lead screw, and the moving block will drive the sliding block to move inside the first slide slot. Since the first slide slot is designed to be inclined, when the sliding block moves, it will drive the connecting plate and the first mounting plate to move, and the first mounting plate will drive the contact strip to move inside the fixed slot. After the protective cover rotates to 180 degrees, the contact strip will be completely exposed, and then the contact strip and the protective cover can contact the object at the same time, thereby increasing the stability of the finger body in grasping. When the protective cover is worn out due to long-term use and needs to be replaced, the second rotating rod and the push rod can be rotated, and then one end of the push rod will contact the surface of the fixed plate and push the fixed plate and the first support plate to move. Then the fixed plate will drive the limit block away from the inside of the plug block, and then the limit on the protective cover will be cancelled. The operator can remove the protective cover from the surface of the first rotating rod for replacement, and finally complete the operation process.

[0015] Beneficial effects of the present invention: The present invention drives the motor to rotate the gear, which drives the first rotating rod and the gear ring to rotate, and the gear ring drives the limiting ring and the fingertip to rotate. During the rotation process, the limiting ring can limit the first rotating rod and the fingertip, and then the fingertip drives the protective cover to rotate 180 degrees, and then the protective cover moves to the top of the finger body, and then the finger body and the protective cover can grasp fragile objects, and finally the fingertip is rotated 180 degrees by the driving motor, so that the grasping state of the finger body can be flexibly adjusted according to the characteristics of the object, thereby improving its adaptability and versatility in practical applications; The present invention links the lead screw to rotate when the gear rotates, and then the moving block moves on the surface of the lead screw, the moving block drives the sliding block to move inside the first slide groove, the first slide groove drives the connecting plate and the first mounting plate to move, the first mounting plate drives the contact strip to move inside the fixed groove, and after the protective cover rotates one hundred and eighty degrees, the contact strip is fully exposed, and then the contact strip and the protective cover can grab the object at the same time, and finally the contact strip is moved by the gear-linked lead screw, so that the finger body contacts the object while forming a wider contact area. The expansion of the contact area increases the friction, and the high friction design can ensure that the finger body can firmly grasp the object to avoid accidental dropping or damage.

[0016] The present invention rotates the second rotating rod and the pushing rod, and then one end of the pushing rod contacts the surface of the fixed plate and pushes the fixed plate and the first supporting plate to move. Then the fixed plate drives the limiting block away from the interior of the plug-in block, and then the limiting of the protective sleeve is cancelled. The operator can remove the protective sleeve from the surface of the first rotating rod for replacement, and finally the limiting block is pushed away from the interior of the plug-in block by rotating the pushing rod, so that the operator can replace the worn protective sleeve conveniently, thereby improving the convenience of replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of disassembling the finger body of the present invention; Figure 3 This is a schematic diagram of a cutaway view of a finger body according to the present invention; Figure 4 It is a schematic diagram of a cutaway view of a fingertip of the present invention; Figure 5 It is a schematic diagram showing the damping block of the present invention; Figure 6 This is a schematic diagram showing the first chute of the present invention; Figure 7 It is a schematic diagram of a cross-sectional slide rail of the present invention; Figure 8 It is a schematic diagram showing the fixing mechanism of the present invention.

[0018] In the figure: 1. finger body; 2. first rotating rod; 3. fingertip; 4. limiting ring; 5. motor; 6. gear; 7. gear ring; 8. protective cover; 9. telescopic rod; 10. first mounting plate; 11. contact strip; 12. fixed groove; 13. connecting plate; 14. first slide groove; 15. screw rod; 16. moving block; 17. sliding block; 18. square groove; 19. plug-in block; 20. spring; 21. first support plate; 22. fixed plate; 23. limiting block; 24. second rotating rod; 25. pushing rod; 26. damping block; 27. second mounting plate; 28. slide rail; 29. ​​second support plate; 30. second slide groove; 31. roller. DETAILED DESCRIPTION

[0019] See also Figures 1 to 8 Shown is an embodiment of the present invention.

[0020] A multi-joint bionic dexterous artificial hand finger, comprising a finger body 1; A rotating mechanism is arranged in an inner cavity on one side of the finger body 1, and the rotating mechanism includes a first rotating rod 2, one end of the first rotating rod 2 passes through the finger body 1 and is fixedly installed with a fingertip 3, a limit ring 4 located inside the finger body 1 is fixedly installed on the surface of the first rotating rod 2, and the surface of the limit ring 4 is in contact with the inner wall of the first rotating rod 2, a gear ring 7 is fixedly installed on the surface of the first rotating rod 2, a motor 5 is fixedly installed in the inner cavity of the finger body 1, a gear 6 meshing with the gear ring 7 is fixedly installed on the output end of the motor 5, and a protective cover 8 is arranged on one side of the surface of the fingertip 3.

[0021] The above scheme is adopted: when the grasping state of the finger body 1 needs to be adjusted during its operation, the motor 5 can be driven to rotate the gear 6, because the gear 6 is meshed with the gear ring 7, and then the gear 6 will drive the gear ring 7 to rotate, and the gear ring 7 will drive the first rotating rod 2 and the fingertip 3 to rotate, and the fingertip 3 will drive the protective sleeve 8 to rotate, and then the protective sleeve 8 will rotate 180 degrees, and then the protective sleeve 8 will move to the top of the finger body 1, and then when grasping fragile objects, the surface of the protective sleeve 8 will contact the object, and since the surface of the protective sleeve 8 is relatively soft, when grasping the object, the object can be protected to avoid being broken, and finally the motor 5 is driven to rotate the fingertip 3 180 degrees, so that the grasping state of the finger body 1 can be flexibly adjusted according to the characteristics of the object, thereby improving its adaptability and versatility in practical applications; When grasping harder objects, the motor 5 can be driven again to make the gear 6 rotate in the opposite direction. The gear 6 will drive the first rotating rod 2 and the fingertip 3 to rotate in the opposite direction, and then the fingertip 3 will be rotated one hundred and eighty degrees again. Then the protective cover 8 will move to the bottom end of the finger body 1, and then the finger body 1 can be driven to grasp the harder objects.

[0022] like Figure 4 , Figure 6 and Figure 7 As shown, it also includes: a pushing mechanism, which is arranged in the inner cavity of the fingertip 3, the pushing mechanism includes a telescopic rod 9, the telescopic rod 9 is arranged in the inner cavity of the fingertip 3, one end of the telescopic rod 9 is fixedly installed with a first mounting plate 10, the surfaces of the fingertip 3 and the protective cover 8 are provided with a fixing groove 12, one side of the first mounting plate 10 is fixedly installed with a contact strip 11 located inside the fixing groove 12, the other side of the first mounting plate 10 is fixedly installed with a connecting plate 13, the surface of the connecting plate 13 is provided with a first slide groove 14, one side of the gear 6 is fixedly installed with a screw rod 15 located in the inner cavity of the fingertip 3, the surface of the screw rod 15 is threadedly connected with a moving block 16, one side of the moving block 16 is fixedly installed with a sliding block 17 located inside the first slide groove 14, and the sliding block 17 can slide inside the first slide groove 14.

[0023] The above scheme is adopted: through the design of the pushing mechanism, while the gear 6 drives the gear ring 7 to rotate, the gear 6 will link the lead screw 15 to rotate. Since the lead screw 15 is threadedly connected to the moving block 16, the moving block 16 will move on the surface of the lead screw 15, and then the moving block 16 will drive the sliding block 17 to move inside the first slide groove 14. Since the first slide groove 14 is designed to be inclined, when the sliding block 17 moves, it will drive the connecting plate 13 to move, and the connecting plate 13 will drive the first mounting plate 10 and the contact strip 11 to move, and then the contact strip 11 will move inside the fixed groove 12. After the fingertip 3 rotates one hundred and eighty degrees, the surface of the first mounting plate 10 will contact the inner wall of the fingertip 3. When the finger body 1 grasps the object, the contact strip 11 will also come into contact with the object. Since the surface of the contact strip 11 is rough and relatively soft, it will be deformed during grasping. Then the contact strip 11 and the protective cover 8 will come into contact with the object at the same time, thereby increasing the grasping stability of the finger body 1. Finally, the contact strip 11 is moved by the gear 6 and the lead screw 15, so that the finger body 1 can form a wider contact area while contacting the object. The expansion of the contact area increases the friction. The high friction design can ensure that the finger body 1 can firmly grasp the object to avoid accidental dropping or damage. When the fingertip 3 is reset, the screw rod 15 will rotate in the opposite direction, and then the moving block 16 will reset on the surface of the screw rod 15, and then the sliding block 17 will drive the connecting plate 13 and the first mounting plate 10 to reset, and then the first mounting plate 10 will drive the contact strip 11 to shrink into the inside of the fixed groove 12, and finally, when the protective cover 8 is not used to grasp the object, the contact strip 11 will shrink into the inside of the fingertip 3, and then the fingertip 3 can protect the contact strip 11.

[0024] like Figure 8As shown, it also includes: a fixing mechanism, which is arranged inside the two sides of the fingertip 3, the fixing mechanism includes a square groove 18, the square groove 18 is opened inside the two sides of the fingertip 3, the inner cavity of the square groove 18 is fixedly installed with a spring 20, one end of the spring 20 is fixedly installed with a first support plate 21, the top of the first support plate 21 is fixedly installed with a fixing plate 22, both sides of the inside of the protective cover 8 are fixedly installed with an insert block 19 located inside the square groove 18, one side of the fixing plate 22 is fixedly installed with a limit block 23 located inside the insert block 19, the inside of the square groove 18 is rotatably connected with a second rotating rod 24, and the surface of the second rotating rod 24 is fixedly installed with a push rod 25.

[0025] The above scheme is adopted: through the design of the fixing mechanism, when the protective sleeve 8 is worn out after long-term use and needs to be replaced, the second rotating rod 24 can be rotated, and the second rotating rod 24 will drive the pushing rod 25 to rotate, and then one end of the pushing rod 25 will contact the surface of the fixing plate 22, and will push the fixing plate 22 and the first supporting plate 21 to move. When the first supporting plate 21 moves, the spring 20 will be compressed, and then the fixing plate 22 will drive the limiting block 23 away from the inside of the plug block 19, and then the limiting of the protective sleeve 8 will be cancelled. Then the operator can remove the protective sleeve 8 from the surface of the first rotating rod 2 for replacement, and finally the limiting block 23 is pushed away from the inside of the plug block 19 by rotating the pushing rod 25, so that the operator can replace the worn protective sleeve 8 conveniently, thereby improving the convenience of replacement; Then the unused protective cover 8 can be put on the surface of the fingertip 3, and the insert block 19 can be reinserted into the square groove 18, and then the second rotating rod 24 can be released, and then the compressed spring 20 will push the first supporting plate 21 and the fixing plate 22 to reset, and then the fixing plate 22 will push the limit block 23 to enter the insert block 19 again, so that the protective cover 8 can be fixed on the surface of the fingertip 3, and then the grasping work can be continued.

[0026] like Figure 5 As shown, a damping block 26 is fixedly installed inside one side of the finger body 1, and the surface of the damping block 26 contacts the surface of the limiting ring 4.

[0027] The above-mentioned solution is adopted: through the design of the damping block 26, since the surface of the damping block 26 is in contact with the limiting ring 4, when the limiting ring 4 rotates, the damping effect of the rotation of the limiting ring 4 will be increased, thereby reducing the jitter and instability of the fingertip 3 during rotation, thereby ensuring the stability of the rotation of the fingertip 3.

[0028] like Figure 7As shown, the inner cavity of the fingertip 3 is fixedly installed with a second mounting plate 27, the number of the second mounting plates 27 is two, and the slide rail 28 located inside the moving block 16 is fixedly installed on the opposite side of the two second mounting plates 27, and the moving block 16 can slide on the surface of the slide rail 28, and the inner cavity of the fingertip 3 is fixedly installed with a second support plate 29 located on the surface of the screw rod 15, and the screw rod 15 can rotate inside the second support plate 29.

[0029] The above scheme is adopted: through the design of the second mounting plate 27 and the slide rail 28, when the moving block 16 moves, it will move on the surface of the slide rail 28. Since the slide rail 28 is designed to be square, the moving block 16 can be limited to ensure the stability of the movement of the moving block 16. Through the design of the second support plate 29, when the screw rod 15 rotates, it will move inside the second support plate 29, and then the second support plate 29 can support and limit the screw rod 15.

[0030] like Figure 7 As shown, a second slide groove 30 is opened on both sides of the surface of the slide rail 28, and a roller 31 is rollingly connected inside the second slide groove 30. The roller 31 is located inside the moving block 16 and is rotationally connected to the moving block 16. A through hole is opened on one side of the fingertip 3, and the screw rod 15 is located inside the through hole.

[0031] The above scheme is adopted: through the design of the second slide groove 30 and the roller 31, when the moving block 16 moves, the roller 31 will be driven to move. Since the surface of the roller 31 contacts the inner wall of the second slide groove 30, when the moving block 16 moves, the roller 31 will roll inside the second slide groove 30, thereby making the moving block 16 move more smoothly. Through the design of the fingertip 3, since the fingertip 3 is an arc-shaped design, when the fingertip 3 rotates, the screw rod 15 will not interfere with the rotation of the fingertip 3, and after the fingertip 3 rotates one hundred and eighty degrees, the screw rod 15 will block the rotation of the fingertip 3 to prevent the fingertip 3 from rotating too much, causing the position of the protective cover 8 to shift.

[0032] like Figure 6 and Figure 7 As shown, the sliding block 17 is cylindrical in design, and the surface of the sliding block 17 is smooth in design. The surface of the sliding block 17 fits the inner wall of the first sliding groove 14. The number of telescopic rods 9 is four, and the telescopic rods 9 are distributed in an array at the bottom end of the first mounting plate 10.

[0033] The above solution is adopted: through the design of the sliding block 17, since the surface of the sliding block 17 is smoothly designed and fits with the inner wall of the first sliding groove 14, the sliding block 17 can move smoothly inside the first sliding groove 14. Through the design of the telescopic rod 9, when the first mounting plate 10 moves, the telescopic rod 9 will shrink accordingly, and the telescopic rod 9 can limit the moving direction of the first mounting plate 10.

[0034] The working principle and use process of the present invention: First, when the operator is using the finger body 1 and needs to adjust the grasping state, the motor 5 can be driven to rotate the gear 6, and the gear 6 will drive the first rotating rod 2 and the gear ring 7 to rotate, and the gear ring 7 will drive the limiting ring 4 and the fingertip 3 to rotate. During the rotation of the limiting ring 4, the first rotating rod 2 and the fingertip 3 can be limited. Then the fingertip 3 will drive the protective cover 8 to rotate 180 degrees, and then the protective cover 8 will move to the top of the finger body 1. Then, when the finger body 1 grasps fragile objects, the surface of the protective cover 8 will contact the objects. Since the surface of the protective cover 8 is relatively soft, the objects can be protected when grasping to avoid breaking. When the gear 6 rotates, the lead screw 15 will be linked to rotate, and then the moving block 16 will move on the surface of the lead screw 15, and the moving block 16 will drive the sliding block 17 to move inside the first slide groove 14. Since the first slide groove 14 is designed to be inclined, when the sliding block 17 moves, it will drive the connecting plate 13 and the first mounting plate 10 to move, and the first mounting plate 10 will drive the contact strip 11 to move inside the fixed groove 12. After the protective cover 8 rotates to 180 degrees, the contact strip 11 will be completely exposed, and then the contact strip 11 and the protective cover 8 can contact with the object at the same time, thereby increasing the stability of the finger body 1 in grasping; When the protective sleeve 8 is worn out due to long-term use and needs to be replaced, the second rotating rod 24 and the pushing rod 25 can be rotated, and then one end of the pushing rod 25 will contact the surface of the fixed plate 22, and will push the fixed plate 22 and the first support plate 21 to move, and then the fixed plate 22 will drive the limit block 23 away from the inside of the plug block 19, and then the limit on the protective sleeve 8 will be cancelled, and the operator can remove the protective sleeve 8 from the surface of the first rotating rod 2 for replacement, and finally complete the operation process.

Claims

1. A multi-joint bionic dexterous artificial hand finger, characterized by: It includes a finger body (1); A rotating mechanism is arranged in an inner cavity on one side of a finger body (1), the rotating mechanism comprising a first rotating rod (2), one end of the first rotating rod (2) passes through the finger body (1) and is fixedly mounted with a fingertip (3), a surface of the first rotating rod (2) is fixedly mounted with a limiting ring (4) located inside the finger body (1), and the surface of the limiting ring (4) is in contact with the inner wall of the first rotating rod (2), a surface of the first rotating rod (2) is fixedly mounted with a gear ring (7), the inner cavity of the finger body (1) is fixedly mounted with a motor (5), an output end of the motor (5) is fixedly mounted with a gear (6) meshing with the gear ring (7), and a protective cover (8) is arranged on one side of the surface of the fingertip (3).

2. The multi-joint bionic dexterous artificial hand finger according to claim 1, characterized in that: The invention also comprises: a pushing mechanism, which is arranged in the inner cavity of the fingertip (3), the pushing mechanism comprising a telescopic rod (9), the telescopic rod (9) being arranged in the inner cavity of the fingertip (3), one end of the telescopic rod (9) being fixedly mounted with a first mounting plate (10), the surfaces of the fingertip (3) and the protective cover (8) being provided with a fixing groove (12), one side of the first mounting plate (10) being fixedly mounted with a contact strip (11) located inside the fixing groove (12), the other side of the first mounting plate (10) being fixedly mounted with a connecting plate (13), the surface of the connecting plate (13) being provided with a first sliding groove (14), one side of the gear (6) being fixedly mounted with a screw rod (15) located in the inner cavity of the fingertip (3), the surface of the screw rod (15) being threadedly connected with a moving block (16), one side of the moving block (16) being fixedly mounted with a sliding block (17) located inside the first sliding groove (14), and the sliding block (17) being able to slide inside the first sliding groove (14).

3. The multi-joint bionic dexterous artificial hand finger according to claim 1, characterized in that: The invention also comprises: a fixing mechanism, which is arranged inside the two sides of the fingertip (3), the fixing mechanism comprises a square groove (18), the square groove (18) is opened inside the two sides of the fingertip (3), a spring (20) is fixedly installed in the inner cavity of the square groove (18), a first support plate (21) is fixedly installed at one end of the spring (20), a fixing plate (22) is fixedly installed at the top of the first support plate (21), an insert block (19) located inside the square groove (18) is fixedly installed on both sides of the inside of the protective sleeve (8), a limit block (23) located inside the insert block (19) is fixedly installed on one side of the fixing plate (22), a second rotating rod (24) is rotatably connected inside the square groove (18), and a push rod (25) is fixedly installed on the surface of the second rotating rod (24).

4. The multi-joint bionic dexterous artificial hand finger according to claim 1, characterized in that: A damping block (26) is fixedly installed inside one side of the finger body (1), and the surface of the damping block (26) is in contact with the surface of the limiting ring (4).

5. The multi-joint bionic dexterous artificial hand finger according to claim 1, characterized in that: A second mounting plate (27) is fixedly mounted in the inner cavity of the fingertip (3), the number of the second mounting plates (27) being two, and a slide rail (28) located inside the moving block (16) is fixedly mounted on opposite sides of the two second mounting plates (27), and the moving block (16) is capable of sliding on the surface of the slide rail (28).

6. The multi-joint bionic dexterous artificial hand finger according to claim 1, characterized in that: A second support plate (29) located on the surface of the screw rod (15) is fixedly mounted in the inner cavity of the fingertip (3), and the screw rod (15) is capable of rotating inside the second support plate (29).

7. The multi-joint bionic dexterous artificial hand finger according to claim 5, characterized in that: Second slide grooves (30) are provided on both sides of the surface of the slide rail (28), and rollers (31) are rollingly connected inside the second slide grooves (30). The rollers (31) are located inside the moving block (16) and are rotationally connected to the moving block (16).

8. The multi-joint bionic dexterous artificial hand finger according to claim 1, characterized in that: A through hole is provided on one side of the fingertip (3), and the screw rod (15) is located inside the through hole.

9. The multi-joint bionic dexterous artificial hand finger according to claim 2, characterized in that: The sliding block (17) is cylindrical in design, and the surface of the sliding block (17) is smooth in design, and the surface of the sliding block (17) fits the inner wall of the first sliding groove (14).

10. The multi-joint bionic dexterous artificial hand finger according to claim 2, characterized in that: The number of the telescopic rods (9) is four, and the telescopic rods (9) are arranged in an array at the bottom end of the first mounting plate (10).

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