Finger assembly of dexterous hand and dexterous hand

Abstract

The present invention discloses a finger assembly of a dexterous hand and a dexterous hand, wherein the finger assembly of the dexterous hand comprises a distal phalanx, a proximal phalanx, a connecting seat, and a driving unit; a pivoting portion and a supporting portion located outside the pivoting portion are provided on the connecting seat; a rotating portion and a matching portion located outside the rotating portion are provided at the rear end of the distal phalanx, the rotating portion being pivotally connected to the pivoting portion so that the distal phalanx can rotate relative to the connecting seat around a first axis, and the supporting portion and the matching portion being detachably fixed together by a locking member; a buffering member is provided between the distal phalanx and the connecting seat, the buffering member being used to apply a stress to the distal phalanx so that the matching portion of the distal phalanx always maintains a tendency to swing around the first axis toward the supporting portion; the front end of the proximal phalanx 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 phalanx. The finger assembly of the present invention can be applied to more application scenarios to expand the scope of application 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] A dexterous hand is the end effector of a humanoid robot, enabling it to perform complex and precise tasks. It typically mimics the structure of a human hand, consisting of a palm and multiple finger assemblies. Each finger assembly typically includes two knuckles: the knuckle closest to the palm is the proximal knuckle, and the knuckle farther from the palm is the distal knuckle. The distal and proximal knuckles are articulated and equipped with a drive unit that rotates the distal knuckle relative to the proximal knuckle. Precise control of the drive unit allows the distal knuckle to swing inwards and outwards relative to the proximal knuckle to the desired angle, enabling the dexterous hand to complete its assigned 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 unfolded. During this process, the drive unit drives the distal knuckle to swing outward, and the distal knuckle will be subjected to rigid impact from the object, thereby causing damage to the distal knuckle. Therefore, the structure of the existing finger assembly limits the scope of application of the dexterous hand. 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 purpose of the present invention is 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 adopting the following technical solutions:

[0006] Finger assembly of the dexterous hand, including distal knuckle, proximal knuckle, connecting seat, and driving unit;

[0007] The connecting seat is provided with a pivoting portion and a supporting portion located outside the pivoting portion;

[0008] The rear end portion 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 a first axis, and the supporting portion and the matching portion are detachably fixed together by a locking member, so that when the locking member is connected to 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;

[0009] 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 portion of the distal finger joint always maintains a tendency to swing around the first axis toward the supporting portion;

[0010] The front end of the proximal knuckle 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 knuckle.

[0011] According to the finger assembly of an embodiment of the present invention, a locking piece can be selected to fix the matching 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 matching 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. This makes the finger assembly suitable for more application scenarios, thereby expanding the scope of application of dexterous hands.

[0012] In a preferred embodiment, the buffer is a torsion spring, one end of the torsion spring is connected to the connecting seat, and the other end of the torsion spring abuts against the distal knuckle.

[0013] In a preferred embodiment, the buffer is a magnet, mounted on one of the connecting base and the distal phalanx, and magnetically engaged with the other of the connecting base and the distal phalanx. The buffer is configured as a torsion spring or a magnet, minimizing the installation space occupied by the buffer and facilitating assembly between the distal phalanx and the connecting base.

[0014] In a preferred embodiment, the supporting portion is a first plane located in front of the connecting seat, and the mating portion is a second plane located at the rear end of the distal phalanx. When the first and second planes are in the second state, the stress provided by the buffer member causes the second plane to abut against the first plane, thereby limiting the maximum angle at which the distal phalanx can swing outward relative to the connecting seat. In the limiting mechanism formed by the mating portion and the supporting portion, the two planes are aligned with each other to provide a limit, thereby increasing the area of ​​mating between the distal phalanx and the connecting seat. The larger area of ​​the planes disperses stress, preventing stress concentration when the distal phalanx is subjected to the stress of the buffer member and swings outward to contact the connecting seat, thereby protecting the distal phalanx and the connecting seat.

[0015] In a preferred embodiment, the pivoting portion comprises two connecting ears protruding rearward from the rear end of the distal phalanx and disposed in opposite directions. The pivotal connection of the connecting base is positioned between the two connecting ears, and the two connecting ears and the pivotal connection are pivotally connected together via a rotating shaft that traverses the three, with the first axis being the central axis of the rotating shaft. With the rotating shaft traversing the connecting ears protruding from the rear end of the distal phalanx and the pivotal connection of the connecting base, the distal phalanx and the connecting base can be conveniently assembled together while ensuring relative rotational freedom. Furthermore, the two connecting ears and the pivotal connection form a limiting structure that limits the freedom of movement of the distal phalanx in the left-right direction relative to the connecting base, ensuring smoother swinging of the distal phalanx relative to the connecting base.

[0016] In a preferred embodiment, a screw hole extending toward the front end of the distal phalanx is provided on the portion of the second plane located outside the connecting ear. The connecting base is provided with a through-hole extending from its rear side to the first plane. The locking member is a locking screw that passes through the through-hole from back to front and is then threaded into the screw hole. Connecting the distal phalanx and the connecting base with the locking screw facilitates rapid switching of the support portion and the mating portion between the first and second positions. In the first position, the locking screw minimizes the clearance between the second plane and the first plane, thereby improving the accuracy of the finger assembly.

[0017] In a preferred embodiment, a mounting chamber is formed within the proximal phalanx, with an opening formed at the front end of the proximal phalanx. A portion of the connector is positioned within the opening. The ends of the rotating shaft are respectively inserted through the side walls of the proximal phalanx on either side of the opening to pivotally connect the connector to the proximal finger. Connecting screws are threaded onto each end of the rotating shaft, which are press-fitted onto the outer surfaces of the two side walls of the proximal phalanx. The two connecting screws connect the front end of the proximal phalanx to the rotating shaft, allowing the connector to rotate relative to the proximal phalanx about the central axis of the rotating shaft. The opening at the front end of the proximal phalanx accommodates a portion of the connector, making the entire finger assembly more compact.

[0018] In a preferred embodiment, the drive unit is installed in the installation chamber of the proximal phalanx, 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 phalanx, the body of the motor is fixed to 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 is threadedly matched with the screw, the movable rod is fixed to the nut, and the movable rod is pivotally connected to the connecting seat so that the connecting seat can rotate relative to the movable rod around a second axis, 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 phalanx makes the entire finger assembly structure more compact, and using the proximal phalanx to wrap the drive unit protects the drive unit and prevents the movable parts on the drive unit from being exposed.

[0019] In a preferred embodiment, the rear end of the distal phalanx is provided with a groove that is recessed forward for accommodating the connector, and the mating portion is the front end surface of the groove. The groove provided at the rear end of the distal phalanx accommodates a portion of the connector, making the overall structure of the finger assembly more compact.

[0020] The dexterous hand comprises the finger assembly of the dexterous hand.

[0021] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The exemplary 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

[0022] Figure 1 It is a schematic diagram of the decomposition structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the assembly structure of the present invention;

[0024] Figure 3 for Figure 1 Schematic diagram of the structure of the middle connecting seat;

[0025] Figure 4 for Figure 1 Schematic diagram of the structure of the middle proximal phalanx;

[0026] Figure 5 A schematic diagram of a working state of the present invention;

[0027] Figure 6 This is another working state schematic diagram of the present invention.

[0028] 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 portion; 311, first axial hole; 32, first plane; 33, second axial hole; 34, locking screw; 35, through hole; 36, mounting slot; 40, torsion spring; 50, magnet; 61, motor; 62, reducer; 63, screw rod; 64, nut; 65, movable rod. DETAILED DESCRIPTION

[0029] Below, the present invention is further described in conjunction with the accompanying drawings and specific embodiments. 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. Unless otherwise specified, the materials and equipment used in this embodiment can be purchased from the market. Examples of the 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 this application, and cannot be understood as limiting this application.

[0030] In the description of this application, it should be understood that the terms "upper," "lower," "front," "back," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.

[0031] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "connected," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a fixed connection, a connection through an intermediary medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0032] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. In addition, the terms "including," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to the process, method, product, or apparatus.

[0033] Please refer to Figure 1-4As shown in the figure, 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 pivot 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 to the pivot portion 31; a rotating portion and a matching portion are provided at the rear end of the distal phalanx 10, the rotating portion is located at a position closer to the inside 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 pivot portion 31 so that the distal phalanx 10 can rotate around the first axis O 1 rotates in the inward and outward directions relative to the connecting seat 30, thereby allowing the matching portion to have the freedom to swing in the inward and outward directions relative to the supporting portion; the supporting portion and the matching portion are detachably fixed together by a locking member. 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 fixed together by the locking member, that is, the supporting portion and the matching portion are in a first relatively fixed state; the locking member can also be removed from the supporting portion and the matching portion, so that the supporting portion and the matching portion can rotate relative to each other around the first axis O1, that is, the supporting portion and the matching portion are in a second relatively rotatable state.

[0034] A buffer is provided between the distal knuckle 10 and the connecting seat 30, which 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 causes the matching portion to always rest 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 inward, 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.

[0035] 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 objects, the locking member is used to fix the matching portion of the distal phalanx 10 and the supporting portion of the connecting seat 30 together. At this time, the distal phalanx 10 and the connecting seat 30 are rigidly matched. Figure 6 As shown, when the dexterous hand is used to perform the task of moving an object, the locking part is removed from the supporting part and the matching part. At this time, the distal knuckle 10 can swing inward relative to the connecting seat 30, and the object to be moved 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 move the object from the inside to the outside. When the distal knuckle 10 contacts the object, the buffer part plays a buffering role 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 part is used to protect the distal knuckle 10 and prevent the distal knuckle 10 from being subjected to rigid impact.

[0036] In the present invention, a locking piece can be used to fix the matching part of the distal knuckle 10 and the supporting part 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 removed from the matching part and the supporting part. 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 the dexterous hand.

[0037] 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 for connecting 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.

[0038] 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 attract 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, thereby causing the support portion and the matching portion to abut against each other when 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 to cause the support portion and the matching portion to abut against each other when in the above-mentioned second state. A torsion spring 40 and a magnet 50 may be provided between the distal phalanx 10 and the connecting base 30. Of course, the buffer is not limited to the torsion spring 40 and magnet 50 described above. For example, a tension spring or other elastic element may be connected between the mating portion of the distal phalanx 10 and the supporting portion of the connecting base 30. The buffer is provided as a torsion spring 40 or a magnet 50, which minimizes the installation space occupied by the buffer and facilitates assembly between the distal phalanx 10 and the connecting base 30.

[0039] 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 at the rear end of the distal phalanx 10. When the locking part is disassembled and the supporting portion and the matching portion are in the second state, that is, when the first plane 32 and the second plane 11 are in the second state, the stress provided by the buffer part causes the second plane 11 to swing outward to a state of being abutted on 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 together to limit the limit, so that the area of ​​the distal phalanx 10 and the connecting seat 30 is larger. The stress is dispersed by the matching of the larger area planes, thereby avoiding stress concentration when the distal phalanx 10 is swung outward by the stress of the buffer part to contact the connecting seat 30, thereby protecting the distal phalanx 10 and the connecting seat 30.

[0040] The aforementioned rotating portion is two connecting ears 111 protruding backward from the rear end of the distal phalanx 10. The connecting ears 111 may specifically protrude backward from the aforementioned second plane 11. The two connecting ears 111 are disposed opposite each other on the left and right sides. The pivot portion 31 of the connecting seat 30 is positioned between the two connecting ears 111. A first axial hole 311 is provided on the pivot portion 31. An axial hole is provided on the connecting ears 111. The rotating shaft 13 passes through the axial holes of the two connecting ears 111 and the first axial hole 311 of the pivot portion 31, pivotally connecting the two connecting ears 111 and the pivot portion 31 together. The first axis O1 is the central axis of the rotating shaft 13. By using the rotating shaft 13 to pass through the connecting ears 111 protruding from the rear end of the distal phalanx 10 and the pivot portion 31 of the connecting seat 30, the distal phalanx 10 and the connecting seat 30 can be conveniently assembled together and their relative rotational freedom can be ensured. At the same time, the two connecting ears 111 can form a limiting structure with the pivot portion 31 to limit the freedom of movement of the distal phalanx 10 in the left and right directions relative to the connecting base 30, so that the distal phalanx 10 can swing more smoothly relative to the connecting base 30.

[0041] A screw hole 12 extending toward the front end of the distal phalanx 10 is provided on the portion of the second plane 11 located outside the connecting ear 111. A through hole 35 extending from the rear side of the connecting base 30 to the first plane 32 is provided. The locking member is a locking screw 34. The locking screw 34 passes through the through hole 35 from the back to the front and is screwed into the screw hole 12. Tightening the locking screw 34 can fix the connecting base 30 and the distal phalanx 10 together and make the second plane 11 and the first plane 32 close together. Connecting the distal phalanx 10 and the connecting base 30 through the locking screw 34 facilitates the rapid switching of the support portion and the mating portion between the first state and the second state. In the first state, the locking screw 34 can minimize the mating clearance between the second plane 11 and the first plane 32 to improve the accuracy of the finger assembly.

[0042] A mounting chamber is formed within the proximal phalanx 20, with an opening 201 formed at the front end of the proximal phalanx 20. A portion of the connector 30 is positioned within the opening 201. The two ends of the rotating shaft 13 are respectively inserted through the side walls 21 of the proximal phalanx 20, located on either side of the opening 201. Specifically, connecting holes 22 are provided on the side walls 21. The two ends of the rotating shaft 13, after passing through the two connecting ears 111, respectively penetrate into the connecting holes 22 on the side walls 21, thereby pivotally connecting the connector 30 to the proximal phalanx 20. A connecting screw 131 is screwed onto each end of the rotating shaft 13, which is pressed against the outer surfaces of the side walls 21 of the proximal phalanx 20. The front end of the proximal phalanx 20 is connected to the rotating shaft 13 via the two connecting screws 131, allowing the connector 30 to rotate relative to the proximal phalanx 20 about the central axis of the rotating shaft 13. The opening 201 at the front end of the proximal phalanx 20 is used to accommodate a portion of the connector 30, making the entire finger assembly more compact. The distal phalanx 10, the connecting seat 30 and the proximal phalanx 20 are pivotally connected together by the rotating shaft 13. The axis of rotation of the distal phalanx 10 relative to the connecting seat 30 and the axis of rotation of the connecting seat 30 relative to the proximal phalanx 20 coincide with each other and are both the above-mentioned first axis O1. In other embodiments, the axis of rotation of the distal phalanx 10 relative to the connecting seat 30 may not coincide with the axis of rotation of the connecting seat 30 relative to the proximal phalanx 20.

[0043] The driving unit is installed in the installation chamber of the proximal knuckle 20, and includes a motor 61, a reducer 62, a screw rod 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 rod 63 is connected to the output end of the reducer 62 and extends forward, the nut 64 is sleeved on the screw rod 63 and threadedly matched with the screw rod 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. 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 back and forth, 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 phalanx 20 to make the entire finger assembly structure more compact. The drive unit is wrapped with the proximal phalanx 20 to protect the drive unit and prevent the movable parts on the drive unit from being exposed.

[0044] In other embodiments, the rear end of the distal phalanx 10 is provided with a groove that is concave forward, and the matching portion is the front end surface of the groove; for example, Figure 1In addition to the structure shown, a groove is provided on the second flat surface 11 of the distal phalanx 10, which is recessed forward to form the aforementioned groove. The groove is capable of accommodating a portion of the front side of the connector 30, with the front end of the groove forming a mating portion that mates with the support portion of the connector 30. The groove provided at the rear end of the distal phalanx 10 accommodates a portion of the connector 30, making the overall structure of the finger assembly more compact.

[0045] 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.

[0046] 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.

[0047] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be envisioned 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, use of materials, color, orientation, etc.

[0048] The above-mentioned implementation manner is only a preferred embodiment of the embodiment of the present invention and cannot be used to limit the scope of protection of the embodiment of the present invention. Any non-substantial changes and replacements made by technical personnel in this field on the basis of the embodiment of the present invention shall fall within the scope of protection required by the embodiment of the present invention.

Claims

1. 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 portion 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 a first axis, and the supporting portion and the matching portion are detachably fixed together by a locking member, so that when the locking member is connected to 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 phalanx and the connecting seat, and the buffer is used to apply a stress to the distal phalanx so that the matching portion of the distal phalanx always maintains a tendency to swing around the first axis toward the supporting portion; The front end of the proximal knuckle 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 knuckle; 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; or The buffer is a magnet, which is mounted on one of the connecting seat and the distal finger joint, and is matched with the other of the connecting seat and the distal finger joint in a magnetic attraction manner.

2. The finger assembly of the dexterous hand according to claim 1, wherein: 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 part makes the second plane stick to the first plane to limit the maximum angle of the distal phalanx to swing outward relative to the connecting seat.

3. The finger assembly of the dexterous hand according to claim 2, wherein: The rotating part is two connecting ears protruding backward from the rear end of the distal finger joint and opposite to each other on the left and right. The pivot part of the connecting seat is placed between the two connecting ears, and the two connecting ears and the pivot part are pivotally connected together through a rotating shaft that passes through the three of them. The first axis is the central axis of the rotating shaft.

4. The finger assembly of the dexterous hand according to claim 3, wherein: The part of the second plane located on the outside of 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.

5. The finger assembly of the dexterous hand according to claim 3, wherein: An installation chamber is formed inside the proximal knuckle, and the installation chamber forms an opening at the front end of the proximal knuckle. A portion of the connecting seat is placed in the opening, and the two ends of the rotating shaft are respectively passed through the side walls of the proximal knuckle on both sides of the opening to pivot 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.

6. The finger assembly of the dexterous hand according to claim 5, characterized in that: 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 a second axis relative to the movable rod, and the second axis is parallel to the first axis and staggered with each other.

7. The finger assembly of the dexterous hand according to claim 1, wherein: The rear end of the distal phalanx is provided with a groove which is recessed forward and used to accommodate the connecting seat, and the matching portion is the front end surface of the groove.

8. Dexterous hand, characterized by, A finger assembly comprising the dexterous hand according to any one of claims 1 to 7.

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