Finger assembly of dexterous hand and dexterous hand

Abstract

The invention discloses a finger assembly of a dexterous hand and the dexterous hand. The finger assembly of the dexterous hand comprises a far knuckle, a near knuckle, a connecting base and a driving unit. A pivoting part and a supporting part positioned on the outer side of the pivoting part are arranged on the connecting seat; a rotating part and a matching part located on the outer side of the rotating part are arranged at the rear end of the far knuckle, the rotating part is pivoted to the pivoting part so that the far knuckle can rotate around the first axis relative to the connecting base, and the supporting part and the matching part are detachably fixed together through a locking piece; buffering pieces are arranged between the far knuckles and the connecting base and used for applying stress to the far knuckles so that the matching parts of the far knuckles can always keep the tendency of swinging towards the supporting parts around the first axis. The front end of the near knuckle is pivoted to the connecting base, and the output end of the driving unit is connected to the connecting base so as to drive the connecting base to rotate relative to the near knuckle. The finger assembly can be suitable for more application scenes so as to expand the application range of the dexterous hand.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a finger assembly of a dexterous hand and the dexterous hand. Background Art

[0002] The dexterous hand is the end effector of a humanoid robot, which is used to enable the humanoid robot to perform some complex and precise tasks. The dexterous hand generally imitates the structure of the human hand, including a palm and multiple finger assemblies. Each finger assembly generally includes two knuckles, of which the knuckle close to the palm is the proximal knuckle, and the knuckle far from the palm is the distal knuckle. The distal knuckle and the proximal knuckle are hinged and matched, and are equipped with a drive unit to drive the distal knuckle to rotate relative to the proximal knuckle. Through precise control of the drive unit, the distal knuckle can swing to the required angle in the inner and outer directions relative to the proximal knuckle, so that the dexterous hand can complete the specified task.

[0003] The finger assemblies of existing dexterous hands are usually used in conjunction with dexterous hands to achieve grasping actions. With the continuous development of humanoid robot technology, the finger assemblies of dexterous hands are required to perform more tasks, such as using a single finger to push an object outward, or pushing an object when multiple finger assemblies on the dexterous hand are deployed. During this process, the drive unit drives the distal knuckles to swing outward, and the distal knuckles will be subjected to rigid impact from the object, thereby causing damage to the distal knuckles. In this way, the structure of the existing finger assemblies limits the scope of application of the dexterous hands. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention aims to provide a finger assembly of a dexterous hand and a dexterous hand to expand the application scenarios of the dexterous hand.

[0005] The purpose of the present invention is achieved by the following technical solutions: The finger assembly of the dexterous hand includes a distal knuckle, a proximal knuckle, a connecting seat, and a driving unit; The connecting seat is provided with a pivoting portion and a supporting portion located outside the pivoting portion; The rear end of the distal phalanx is provided with a rotating portion and a matching portion located outside the rotating portion, the rotating portion is pivotally connected to the pivoting portion so that the distal phalanx can rotate relative to the connecting seat around the first axis, and the supporting portion and the matching portion are detachably fixed together by a locking member, so that when the locking member connects the supporting portion and the matching portion, the supporting portion and the matching portion are in a first state in which they abut against each other and are fixed together, and when the locking member is removed from the supporting portion and the matching portion, the supporting portion and the matching portion are in a second state in which they can rotate relative to each other around the first axis; A buffer is provided between the distal finger joint and the connecting seat, and the buffer is used to apply a stress to the distal finger joint so that the matching part of the distal finger joint always maintains a tendency to swing around the first axis toward the supporting part; The front end of the proximal finger joint is pivotally connected to the connecting seat, and the output end of the driving unit is connected to the connecting seat to drive the connecting seat to rotate relative to the proximal finger joint.

[0006] According to the finger assembly of the embodiment of the present invention, a locking piece can be selected to fix the mating part of the distal knuckle and the supporting part of the connecting seat together. The distal knuckle and the connecting seat are fixed together to ensure that the finger assembly can be better used for tasks such as grasping objects. The locking piece can also be removed from the mating part and the supporting part. When the finger assembly performs the task of moving an object, the distal knuckle is prevented from being subjected to rigid impact from the object, thereby protecting the finger assembly. The finger assembly can be suitable for more application scenarios, thereby expanding the scope of application of dexterous hands.

[0007] In a preferred embodiment, the buffer is a torsion spring, one end of which is connected to the connecting seat, and the other end of which abuts against the distal knuckle.

[0008] In a preferred embodiment, the buffer is a magnet, which is mounted on one of the connection seat and the distal finger joint, and the magnet cooperates with the other of the connection seat and the distal finger joint in a magnetic attraction manner. The buffer is configured as a torsion spring or a magnet, so that the buffer occupies a small installation space and is easy to assemble between the distal finger joint and the connection seat.

[0009] In a preferred embodiment, the supporting portion is a first plane located at the front side of the connecting seat, and the matching portion is a second plane located at the rear end of the distal phalanx. When the first plane and the second plane are in the second state, the stress provided by the buffer member causes the second plane to be close to the first plane to limit the maximum angle of the distal phalanx to swing outward relative to the connecting seat. In the limiting mechanism composed of the matching portion and the supporting portion, the two planes are matched to each other to limit the area of ​​the distal phalanx to match the connecting seat. The larger area of ​​the plane matches to disperse the stress, avoiding stress concentration when the distal phalanx is swung outward to contact the connecting seat due to the stress of the buffer member, thereby protecting the distal phalanx and the connecting seat.

[0010] In a preferred embodiment, the rotating part is two connecting ears protruding backward from the rear end of the distal phalanx and opposite to each other on the left and right sides, the pivoting part of the connecting seat is placed between the two connecting ears, and the two connecting ears and the pivoting part are pivotally connected together by a rotating shaft that crosses the three of them, and the first axis is the central axis of the rotating shaft. By using the connecting ears protruding from the rear end of the distal phalanx and the pivoting part of the connecting seat, the distal phalanx and the connecting seat can be easily assembled together and the freedom of relative rotation between the two can be guaranteed. At the same time, the two connecting ears can form a limiting structure with the pivoting part to limit the freedom of movement of the distal phalanx in the left and right directions relative to the connecting seat, so that the distal phalanx is more stable when swinging relative to the connecting seat.

[0011] In a preferred embodiment, a portion of the second plane located outside the connecting ear is provided with a screw hole extending toward the front end of the distal phalanx, a through hole extending from the rear side thereof to the first plane is provided on the connecting seat, and the locking member is a locking screw, which passes through the through hole from the back to the front and is screwed into the screw hole. The distal phalanx and the connecting seat are connected by the locking screw, so that the supporting part and the matching part can be quickly switched between the first state and the second state, and in the first state, the locking screw can reduce the matching clearance between the second plane and the first plane as much as possible to improve the accuracy of the finger assembly.

[0012] In a preferred embodiment, a mounting chamber is formed inside the proximal phalanx, and an opening is formed at the front end of the proximal phalanx. A part of the connecting seat is placed in the opening. The two ends of the rotating shaft are respectively penetrated through the side walls of the proximal phalanx located on both sides of the opening to pivotally connect the connecting seat with the proximal finger. Both ends of the rotating shaft are screwed with a connecting screw, and the two connecting screws are respectively pressed on the outer surfaces of the two side walls of the proximal phalanx. The front end of the proximal phalanx is connected to the rotating shaft by the two connecting screws, so that the connecting seat can rotate relative to the proximal phalanx around the central axis of the rotating shaft. The opening at the front end of the proximal phalanx is used to accommodate a part of the connecting seat, so that the entire finger assembly is more compact.

[0013] In a preferred embodiment, the drive unit is installed in the installation chamber of the proximal knuckle, and includes a motor, a reducer, a screw, a movable rod and a nut. The body of the reducer is pivotally matched with the proximal knuckle, the body of the motor is fixed on the reducer, and the output shaft of the motor is connected to the input end of the reducer, the screw is connected to the output end of the reducer and extends forward, the nut is sleeved on the screw and cooperates with the screw thread, the movable rod is fixed on the nut, and the movable rod is pivotally connected to the connecting seat so that the connecting seat can rotate around the second axis relative to the movable rod, and the second axis is parallel to the first axis and staggered with each other. Installing the drive unit in the installation chamber of the proximal knuckle makes the entire finger assembly structure more compact, and using the proximal knuckle to wrap the drive unit protects the drive unit and prevents the movable parts on the drive unit from being exposed.

[0014] In a preferred embodiment, the rear end of the distal phalanx is provided with a groove that is recessed forward for accommodating the connecting seat, and the matching portion is the front end surface of the groove. The groove provided at the rear end of the distal phalanx accommodates a part of the connecting seat, making the overall structure of the finger assembly more compact.

[0015] The dexterous hand comprises the finger assembly of the dexterous hand mentioned above.

[0016] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1It is a schematic diagram of the decomposition structure of the present invention; Figure 2 It is a schematic diagram of the assembly structure of the present invention; Figure 3 for Figure 1 Structural schematic diagram of the middle connecting seat; Figure 4 for Figure 1 Schematic diagram of the structure of the middle proximal phalanx; Figure 5 A schematic diagram of a working state of the present invention; Figure 6 It is another working state schematic diagram of the present invention.

[0018] In the figure: 10, distal knuckle; 11, second plane; 111, connecting ear; 12, screw hole; 13, rotating shaft; 131, connecting screw; 20, proximal knuckle; 201, opening; 21, side wall; 22, connecting hole; 30, connecting seat; 31, pivot part; 311, first axial hole; 32, first plane; 33, second axial hole; 34, locking screw; 35, through hole; 36, mounting groove; 40, torsion spring; 50, magnet; 61, motor; 62, reducer; 63, screw rod; 64, nut; 65, movable rod. DETAILED DESCRIPTION

[0019] Below, in conjunction with the accompanying drawings and specific embodiments, the present invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and the limitations of the present application cannot be understood.

[0020] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0021] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0022] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] Please refer to Figure 1-4 As shown, a finger assembly of a dexterous hand of the present invention is specifically a thumb assembly of a dexterous hand, and the finger assembly includes a distal phalanx 10, a proximal phalanx 20, a connecting seat 30 and a driving unit; a pivoting portion 31 and a supporting portion are provided on the connecting seat 30, and the supporting portion is offset to the outside by a certain distance compared with the pivoting portion 31; a rotating portion and a matching portion are provided at the rear end of the distal phalanx 10, and the rotating portion is located at the inner side of the rear end of the distal phalanx 10, and the matching portion is offset to the outside by a certain distance relative to the rotating portion; the rotating portion is pivotally connected to the pivoting portion 31, so that the distal phalanx 10 can rotate around the first axis O 1 rotates in the inner and outer directions relative to the connecting seat 30, thereby enabling the matching portion to swing in the inner and outer directions relative to the supporting portion; the supporting portion and the matching portion are detachably fixed together by a locking member, and when the supporting portion and the matching portion are connected by the locking member, the matching portion and the supporting portion abut against each other and are fixedly connected together by the locking member, that is, the supporting portion and the matching portion are in a first state of relative fixation; the locking member can also be detached from the supporting portion and the matching portion, so that the supporting portion and the matching portion can rotate relatively around the first axis O1, that is, the supporting portion and the matching portion are in a second state of relative rotation.

[0024] A buffer is provided between the distal knuckle 10 and the connecting seat 30, and the buffer is used to apply stress to the distal knuckle 10, so that the matching portion of the distal knuckle 10 always maintains a tendency to swing toward the supporting portion around the first axis. When the supporting portion and the matching portion are in the above-mentioned second state, the stress provided by the buffer makes the matching portion always abut against the supporting portion of the connecting seat 30. At this time, based on the limiting effect of the abutment between the matching portion and the supporting portion, the distal knuckle 10 is at the maximum outward swinging angle relative to the connecting seat 30, that is, the distal knuckle 10 cannot continue to swing outward relative to the connecting seat 30. When the distal knuckle 10 is subjected to an external force toward the inside, the distal knuckle 10 can swing inward relative to the connecting seat 30 around the first axis O1, that is, in the above-mentioned second state, the distal knuckle 10 can only move relative to the connecting seat 30 under an external force from the outside to the inside. The front end of the proximal knuckle 20 is pivotally connected to the connecting seat 30, and the output end of the driving unit is connected to the connecting seat 30, and the driving unit can drive the connecting seat 30 to rotate relative to the proximal knuckle 20. In the first state mentioned above, since the locking member locks the supporting portion and the matching portion together, the distal knuckle 10 and the connecting seat 30 are rigidly connected together, and the driving unit drives the connecting seat 30 to rotate relative to the proximal knuckle 20, that is, drives the distal knuckle 10 to rotate relative to the proximal knuckle 20. In the second state mentioned above, due to the stress applied by the buffer member to the distal knuckle 10 and the limiting mechanism formed by the cooperation between the supporting portion and the matching portion, when the driving unit drives the connecting seat 30 to move inward, the distal knuckle 10 can move inward with the connecting seat 30, and when the distal knuckle 10 is subjected to an external force from the outside to the inside, the distal knuckle 10 can swing inward relative to the connecting seat 30.

[0025] The finger assembly of the present invention can be used in a variety of different scenarios, such as Figure 5 As shown, when the dexterous hand only performs the task of grasping an object, the locking member is used to fix the matching portion of the distal knuckle 10 and the supporting portion of the connecting seat 30 together, and the distal knuckle 10 is rigidly matched with the connecting seat 30. Figure 6 As shown, when the dexterous hand is used to perform the task of pushing an object, the locking member is removed from the supporting portion and the matching portion. At this time, the distal knuckle 10 can swing inward relative to the connecting seat 30, and the object to be pushed is located on the outside of the fingers of the dexterous hand. The driving unit drives the connecting seat 30 to swing outward relative to the proximal knuckle 20, so as to utilize the distal knuckle 10 to push the object from the inside to the outside. When the distal knuckle 10 contacts the object, the buffer member acts as a buffer between the distal knuckle 10 and the connecting seat 30, so that when the distal knuckle 10 contacts the object, the distal knuckle 10 will not be subjected to the rigid impact of the object. The buffering effect of the buffer member is utilized to protect the distal knuckle 10 and prevent the distal knuckle 10 from being subjected to the rigid impact.

[0026] In the present invention, a locking piece can be selected to fix the mating portion of the distal knuckle 10 and the supporting portion of the connecting seat 30 together. The distal knuckle 10 and the connecting seat 30 are fixed together to ensure that the finger assembly can be better used for tasks such as grasping objects. The locking piece can also be selected to be removed from the mating portion and the supporting portion. When the finger assembly performs the task of moving an object, the distal knuckle 10 is prevented from being subjected to rigid impact from the object, thereby protecting the finger assembly. This makes the finger assembly suitable for more application scenarios, thereby expanding the scope of application of dexterous hands.

[0027] The buffer component of the present invention can be a component that applies an elastic stress between the distal knuckle 10 and the connecting seat 30, or it can be a component that applies a magnetic force between the distal knuckle 10 and the connecting seat 30; for example, in one embodiment, the buffer component is a torsion spring 40, and the torsion spring 40 can be mounted on an axis used to connect the pivot portion 31 and the rotating portion, one end of the torsion spring 40 is connected to the connecting seat 30, and the other end is pressed against the distal knuckle 10. Through the elastic stress provided by the torsion spring 40, the distal knuckle 10 always maintains a tendency to swing outward around the first axis O1 relative to the connecting seat 30, and then the supporting portion and the mating portion are pressed against each other when in the above-mentioned second state.

[0028] In another embodiment, the buffer is a magnet 50, which is installed in a mounting groove 36 provided on the connecting seat 30. The magnet 50 can absorb the rear end of the distal phalanx 10, and utilize the magnetic attraction between the magnet 50 and the distal phalanx 10 to make the distal phalanx 10 always maintain a tendency to swing outward around the first axis O1 relative to the connecting seat 30, so that the support portion and the matching portion are pressed against each other when they are in the above-mentioned second state. Of course, the magnet 50 can also be fixed to the rear end of the distal phalanx 10 to generate a magnetic attraction between the magnet 50 and the connecting seat 30, or a magnetic member can be provided on the rear end of the distal phalanx 10 and the connecting seat 30 respectively, and the two magnetic members can cooperate in a magnetic attraction manner so that the support portion and the matching portion are pressed against each other when they are in the above-mentioned second state. The torsion spring 40 and the magnet 50 may be provided between the distal phalanx 10 and the connection seat 30. Of course, the buffer is not limited to the torsion spring 40 and the magnet 50. For example, the buffer may be a tension spring or other elastic element in the form of a structure connected between the matching portion of the distal phalanx 10 and the supporting portion of the connection seat 30. The buffer is provided as a torsion spring 40 or a magnet 50, so that the buffer occupies a small installation space, and is easy to assemble between the distal phalanx 10 and the connection seat 30.

[0029] In a preferred embodiment, the supporting portion is a first plane 32 located on the front side of the connecting seat 30, and the matching portion is a second plane 11 located on the rear end of the distal phalanx 10. When the locking member is removed and the supporting portion and the matching portion are in the second state, that is, the first plane 32 and the second plane 11 are in the second state, the stress provided by the buffer member causes the second plane 11 to swing outward to a state of being abutting against the first plane 32. The first plane 32 and the second plane 11 cooperate with each other to limit the maximum angle of the distal phalanx 10 to swing outward relative to the connecting seat 30 around the first axis O1. In the limiting mechanism composed of the matching portion and the supporting portion, the two planes are fitted to each other, thereby making the area of ​​the distal phalanx 10 and the connecting seat 30 larger. The stress is dispersed by the matching of the larger area planes to avoid stress concentration when the distal phalanx 10 is swung outward due to the stress of the buffer member to contact the connecting seat 30, thereby protecting the distal phalanx 10 and the connecting seat 30.

[0030] The above-mentioned rotating part is two connecting ears 111 protruding backward from the rear end of the distal phalanx 10. The connecting ears 111 can specifically protrude backward from the above-mentioned second plane 11. The two connecting ears 111 are arranged opposite to each other on the left and right. The pivoting part 31 of the connecting seat 30 is placed between the two connecting ears 111. The first shaft hole 311 is arranged on the pivoting part 31. The shaft 13 crosses the shaft holes of the two connecting ears 111 and the first shaft hole 311 of the pivoting part 31, and the two connecting ears 111 are pivotally connected with the pivoting part 31. The first axis O1 is the central axis of the rotating shaft 13. By using the rotating shaft 13 to cross the connecting ears 111 protruding from the rear end of the distal phalanx 10 and the pivoting part 31 of the connecting seat 30, the distal phalanx 10 and the connecting seat 30 can be conveniently assembled together and the freedom of relative rotation between the two can be ensured. At the same time, the two connecting ears 111 can form a limiting structure with the pivoting portion 31 to limit the freedom of movement of the distal finger joint 10 relative to the connecting seat 30 in the left and right directions, so that the distal finger joint 10 can swing more smoothly relative to the connecting seat 30.

[0031] The portion of the second plane 11 located outside the connecting ear 111 is provided with a screw hole 12 extending toward the front end of the distal phalanx 10, and the connecting seat 30 is provided with a through hole 35 extending from the rear side thereof to the first plane 32. The locking member is a locking screw 34, which passes through the through hole 35 from the back to the front and is screwed into the screw hole 12. By tightening the locking screw 34, the connecting seat 30 and the distal phalanx 10 can be fixed together, and the second plane 11 and the first plane 32 are made close. By connecting the distal phalanx 10 and the connecting seat 30 through the locking screw 34, the support part and the matching part can be quickly switched between the first state and the second state, and in the first state, the locking screw 34 can reduce the matching clearance between the second plane 11 and the first plane 32 as much as possible to improve the accuracy of the finger assembly.

[0032] An installation chamber is formed inside the proximal knuckle 20. The installation chamber is located at the front end of the proximal knuckle 20 to form an opening 201. A part of the connection seat 30 is placed in the opening 201. The two ends of the rotating shaft 13 are respectively penetrated through the side walls 21 on the proximal knuckle 20 on both sides of the opening 201. Specifically, a connection hole 22 is provided on the side wall 21. The two ends of the rotating shaft 13 are respectively penetrated into the connection holes 22 on the two side walls 21 when passing through the two connection ears 111, so that the connection seat 30 and the proximal knuckle 20 are pivotally connected together. The two ends of the rotating shaft 13 are respectively screwed with a connection screw 131. The two connection screws 131 are respectively pressed on the outer surface of the two side walls 21 of the proximal knuckle 20. The front end of the proximal knuckle 20 is connected to the rotating shaft 13 by the two connection screws 131, so that the connection seat 30 can rotate relative to the proximal knuckle 20 around the central axis of the rotating shaft 13. The opening 201 at the front end of the proximal knuckle 20 is used to accommodate a part of the connection seat 30, so that the entire finger assembly is more compact. The distal knuckle 10, the connecting seat 30 and the proximal knuckle 20 are pivotally connected together by the rotating shaft 13, and the axis of rotation of the distal knuckle 10 relative to the connecting seat 30 and the axis of rotation of the connecting seat 30 relative to the proximal knuckle 20 coincide with each other, and are both the above-mentioned first axis O1. In other embodiments, the axis of rotation of the distal knuckle 10 relative to the connecting seat 30 may not coincide with the axis of rotation of the connecting seat 30 relative to the proximal knuckle 20.

[0033] The driving unit is installed in the installation chamber of the proximal knuckle 20, and includes a motor 61, a reducer 62, a screw 63, a movable rod 65, and a nut 64. The body of the reducer 62 is pivotally matched with the proximal knuckle 20, the body of the motor 61 is fixed on the reducer 62, and the output shaft of the motor 61 is connected to the input end of the reducer 62, the screw 63 is connected to the output end of the reducer 62 and extends forward, the nut 64 is sleeved on the screw 63 and threadedly matched with the screw 63, the movable rod 65 is fixed on the nut 64, and the movable rod 65 is pivotally connected to the second axial hole 33 of the connecting seat 30 so that the connecting seat 30 can rotate around the second axis O2 relative to the movable rod 65, and the second axis O2 is parallel to the first axis O1 and staggered with each other; starting the motor 61 can drive the movable rod 65 to move forward and backward, and then drive the connecting seat 30 to swing around the first axis O1 through the movable rod 65, so that the distal knuckle 10 can rotate around the first axis O1 in the inward and outward directions relative to the proximal knuckle 20. The drive unit is installed in the installation cavity of the proximal knuckle 20 to make the structure of the entire finger assembly more compact. The drive unit is wrapped by the proximal knuckle 20 to protect the drive unit and prevent the movable parts on the drive unit from being exposed.

[0034] In other embodiments, the rear end of the distal phalanx 10 is provided with a groove that is recessed forward, and the matching portion is the front end surface of the groove; for example, Figure 1On the basis of the structure shown, a groove is provided on the second plane 11 of the distal phalanx 10, which is recessed forward to form the above-mentioned groove, so that the groove can accommodate a portion of the front side of the connecting seat 30, and a matching portion matching the supporting portion of the connecting seat 30 is formed by the front end surface of the groove. The groove provided at the rear end of the distal phalanx 10 accommodates a portion of the connecting seat 30, making the overall structure of the finger assembly more compact.

[0035] The structure of the finger assembly of the present invention is described above only through the distance of the thumb assembly. The finger assembly of the present invention is not only applicable to the thumb of a dexterous hand, but also to the index finger, middle finger, ring finger and little finger of a dexterous hand.

[0036] The dexterous hand of the present invention includes the finger assembly of the dexterous hand described above. The other structures of the dexterous hand are the same as those in the prior art and will not be described in detail here.

[0037] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0038] The above implementation modes are only preferred implementation modes of the embodiments of the present invention and cannot be used to limit the protection scope of the embodiments of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the embodiments of the present invention shall fall within the scope of protection required by the embodiments of the present invention.

Claims

1. A finger assembly of a dexterous hand, characterized in that: It includes a distal knuckle, a proximal knuckle, a connecting seat, and a driving unit; The connecting seat is provided with a pivoting portion and a supporting portion located outside the pivoting portion; The rear end of the distal phalanx is provided with a rotating portion and a matching portion located outside the rotating portion, the rotating portion is pivotally connected to the pivoting portion so that the distal phalanx can rotate relative to the connecting seat around the first axis, and the supporting portion and the matching portion are detachably fixed together by a locking member, so that when the locking member connects the supporting portion and the matching portion, the supporting portion and the matching portion are in a first state in which they abut against each other and are fixed together, and when the locking member is removed from the supporting portion and the matching portion, the supporting portion and the matching portion are in a second state in which they can rotate relative to each other around the first axis; A buffer is provided between the distal finger joint and the connecting seat, and the buffer is used to apply a stress to the distal finger joint so that the matching part of the distal finger joint always maintains a tendency to swing around the first axis toward the supporting part; The front end of the proximal finger joint is pivotally connected to the connecting seat, and the output end of the driving unit is connected to the connecting seat to drive the connecting seat to rotate relative to the proximal finger joint.

2. The finger assembly of the dexterous hand according to claim 1, characterized in that: The buffer is a torsion spring, one end of which is connected to the connecting seat, and the other end of which is pressed against the distal knuckle.

3. The finger assembly of the dexterous hand according to claim 1, characterized in that: The buffer is a magnet, which is mounted on one of the connecting seat and the distal finger joint, and the magnet cooperates with the other of the connecting seat and the distal finger joint in a magnetic attraction manner.

4. The finger assembly of the dexterous hand according to claim 1, characterized in that: The supporting portion is a first plane located on the front side of the connecting seat, and the matching portion is a second plane located at the rear end of the distal phalanx. When the first plane and the second plane are in the second state, the stress provided by the buffer component makes the second plane abut against the first plane to limit the maximum angle of the distal phalanx to swing outward relative to the connecting seat.

5. The finger assembly of the dexterous hand according to claim 4, characterized in that: The rotating part is two connecting ears protruding backward from the rear end of the distal finger joint and arranged opposite to each other on the left and right. The pivoting part of the connecting seat is placed between the two connecting ears, and the two connecting ears and the pivoting part are pivotally connected together through a rotating shaft that crosses the three of them. The first axis is the central axis of the rotating shaft.

6. The finger assembly of the dexterous hand according to claim 5, characterized in that: The portion of the second plane located outside the connecting ear is provided with a screw hole extending toward the front end of the distal knuckle, and the connecting seat is provided with a through hole extending from its rear side to the first plane. The locking piece is a locking screw, which passes through the through hole from back to front and is screwed into the screw hole.

7. The finger assembly of the dexterous hand according to claim 5, characterized in that: An installation chamber is formed inside the proximal knuckle, and an opening is formed in the installation chamber at the front end of the proximal knuckle. A portion of the connecting seat is placed in the opening, and both ends of the rotating shaft are respectively penetrated through the side walls of the proximal knuckle located on both sides of the opening to pivotally connect the connecting seat and the proximal knuckle together. Both ends of the rotating shaft are screwed with a connecting screw, and the two connecting screws are respectively pressed on the outer surfaces of the two side walls of the proximal knuckle.

8. The finger assembly of the dexterous hand according to claim 7, characterized in that: The driving unit is installed in the installation chamber of the proximal knuckle, and includes a motor, a reducer, a screw, a movable rod and a nut. The body of the reducer is pivotally matched with the proximal knuckle, the body of the motor is fixed on the reducer, and the output shaft of the motor is connected to the input end of the reducer, the screw is connected to the output end of the reducer and extends forward, the nut is sleeved on the screw and cooperates with the screw thread, the movable rod is fixed on the nut, and the movable rod is pivotally connected to the connecting seat so that the connecting seat can rotate around a second axis relative to the movable rod, and the second axis is parallel to the first axis and staggered with each other.

9. The finger assembly of the dexterous hand according to claim 1, characterized in that: The rear end of the distal finger joint is provided with a groove which is recessed forward and used for accommodating the connecting seat, and the matching part is the front end surface of the groove.

10. A dexterous hand, characterized in that A finger assembly of a dexterous hand comprising any one of claims 1-9.

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