Mechanical finger and dexterous hand

Abstract

The invention discloses a mechanical finger and a dexterous hand. The mechanical finger comprises a far knuckle, a near knuckle, a first driving assembly and a second driving assembly. The far knuckle can rotate around a first axis relative to the near knuckle, a mounting cavity is formed in the near knuckle, the first driving assembly is arranged in the mounting cavity and comprises a first driving part and a first movable part, the far knuckle can rotate around a second axis relative to the first movable part, and the first axis and the second axis are parallel and staggered; the near knuckles can rotate around a third axis relative to the palm part of the dexterous hand, the second driving assembly comprises a second driving part and a second movable part, the near knuckles can rotate around a fourth axis relative to the second movable part, and the third axis and the fourth axis are parallel and staggered. The actions of the far knuckles and the near knuckles are relatively independent, so that the mechanical finger has a relatively high degree of freedom of movement and can execute relatively complex tasks.

Description

Technical Field

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

[0002] In order to achieve a high degree of simulation, current humanoid robots are usually equipped with dexterous hands. As the end-effector of the humanoid robot, it has a relatively flexible degree of freedom, can perform actions such as holding and grasping, and ensure that the actions have high precision, allowing the humanoid robot to complete a series of complex and delicate tasks.

[0003] The mechanical fingers of a dexterous hand are key components for a humanoid robot to perform tasks. They determine the types of tasks the dexterous hand can perform and the operating accuracy. The movements of the joints in existing mechanical fingers are linked, resulting in low movement dexterity of the mechanical fingers, which to some extent limits the dexterous hand from performing some more complex tasks. 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 mechanical finger and a dexterous hand to solve the problem that the mechanical finger in the prior art has low freedom of movement and is difficult to perform complex tasks.

[0005] The purpose of the present invention is achieved by the following technical solutions:

[0006] A mechanical finger, mounted on the front end of the palm portion of the dexterous hand, comprises a distal knuckle, a proximal knuckle, a first driving assembly and a second driving assembly;

[0007] The rear end of the distal knuckle is pivotally connected to the front end of the proximal knuckle so that the distal knuckle can rotate relative to the proximal knuckle around a first axis, a mounting chamber is formed inside the proximal knuckle, a first driving assembly is placed in the mounting chamber, and includes a first driving part and a first movable member driven by the first driving part to move forward and backward, the first movable member is pivotally connected to the distal knuckle so that the distal knuckle can rotate relative to the first movable member around a second axis, and the first axis is parallel to the second axis and staggered with each other;

[0008] The rear end of the proximal knuckle is pivotally connected to the palm part of the dexterous hand so that the proximal knuckle can rotate around a third axis relative to the palm part of the dexterous hand. The second drive assembly includes a second drive unit and a second movable member driven by the second drive unit to move back and forth. The second movable member is pivotally connected to the proximal knuckle so that the proximal knuckle can rotate around a fourth axis relative to the second movable member. The third axis is parallel to the fourth axis and is staggered with each other.

[0009] According to the robotic finger of the embodiment of the present invention, the distal knuckle can be rotated relative to the proximal knuckle by the forward and backward movement of the first movable part in the first drive assembly, and the proximal knuckle can be rotated relative to the palm part of the dexterous hand by the forward and backward movement of the second movable part in the second drive assembly. Thus, the movements of the distal knuckle and the proximal knuckle of the robotic finger are relatively independent, so that the robotic finger has a high degree of freedom of movement and can perform more complex tasks; in addition, the first drive assembly is wrapped inside the proximal knuckle to prevent the first drive assembly from contacting or interfering with external objects when the robotic finger is performing tasks, so that the robotic finger can adapt to more usage scenarios.

[0010] In a preferred embodiment, the proximal phalanx includes two rigid shells, which are opposite to each other left and right or up and down, and are detachably fixed together. The installation chamber is surrounded by the two rigid shells and has openings at the front and rear ends. The first movable member is placed at the front opening of the installation chamber, and the second movable member is placed at the rear opening of the installation chamber. The two rigid shells in the proximal phalanx are detachably fixed together. During assembly, the two rigid shells can be assembled from both sides of the first drive assembly, so that the first drive assembly can be conveniently installed inside the proximal phalanx, and the assembly of the distal phalanx with the proximal phalanx, the assembly of the proximal phalanx with the second drive assembly, and the assembly of the proximal phalanx with the palm of the dexterous hand can also be facilitated.

[0011] In a preferred embodiment, the proximal knuckle further includes a connecting seat and a connecting rod. The connecting seat is placed at the front end of the two rigid shells and is fixedly connected to the two rigid shells by screws. The connecting rod crosses the rear end of the two rigid shells, and the two ends of the connecting rod are fixed to the two rigid shells by screws. The two rigid shells are connected together at the front end and the rear end of the proximal knuckle by the connecting seat and the connecting rod, respectively, so that the front end and the rear end of the two rigid shells can be stably connected together on the basis of realizing the detachable fit of the two rigid shells.

[0012] In a preferred embodiment, the proximal knuckle further includes a silicone pad at the bottom thereof, and the two rigid shells are matched in a left-right opposed manner, and the silicone pad is engaged with the two rigid shells to fix the silicone pad at the bottom of the two rigid shells. The first drive assembly is placed inside the proximal knuckle, and a silicone pad can be provided at the bottom of the proximal knuckle to increase the wear resistance of the bottom surface of the proximal knuckle through the silicone pad. At the same time, when the mechanical finger grasps an object, the friction between the proximal knuckle and the object can be increased to prevent the grasped object from falling off.

[0013] In a preferred embodiment, the first driving unit includes a first motor, a first reducer, and a first screw rod. The first movable member is a first nut sleeved on the first screw rod and threadedly matched with the first screw rod. The axial directions of the first motor and the first screw rod are consistent with the front-to-back direction and staggered with each other. The output shaft of the first motor is connected to the input end of the first reducer, the first screw rod is connected to the output end of the first reducer, the body of the first motor is fixedly matched with the first reducer, and the first reducer is pivotally matched with the two rigid shells. The axial direction of the first screw rod is staggered with the axial direction of the first motor by a certain distance, that is, the first screw rod and the first motor are arranged side by side, so that the length dimension of the first driving component is relatively small and can adapt to the length dimension of the distal finger joint, so as to facilitate the installation of the first driving component inside the distal finger joint, and at the same time make full use of the internal space of the distal finger joint to make the structure of the mechanical finger more compact.

[0014] In a preferred embodiment, the second drive unit includes a second motor, a second reducer, and a second screw rod. The second movable member is a second nut sleeved on the second screw rod and threadedly matched with the second screw rod. The output shaft of the second motor is connected to the input end of the second reducer and the body of the second motor is fixedly matched with the second reducer. The second screw rod is connected to the output end of the second reducer. A third rotating shaft and a fourth rotating shaft are arranged between the rear ends of the two rigid shells. The third axis is the central axis of the third rotating shaft, and the fourth axis is the central axis of the fourth rotating shaft. A mounting arm is fixed to the palm part of the dexterous hand. The front end of the mounting arm is pivoted on the third rotating shaft. The second reducer is pivoted on the rear end of the mounting arm. The front end of the second screw rod is pivoted on the fourth rotating shaft. A mounting arm is arranged on the palm part of the dexterous hand. The front end of the mounting arm is pivoted with the proximal knuckle through the third rotating shaft at the rear end of the proximal knuckle, so as to facilitate the assembly of the proximal knuckle with the palm part of the dexterous hand and facilitate the arrangement of the second drive assembly inside the palm part of the dexterous hand.

[0015] In a preferred embodiment, a rotating seat is fixed at the rear end of the distal phalanx, and the rotating seat is embedded in the front end opening of the installation chamber and placed between the two rigid shells. A first rotating shaft connected to the rotating seat is arranged between the two rigid shells, and the first axis is the central axis of the first rotating shaft; the rotating seat and the first movable member are pivotally connected together through a second rotating shaft, and the second axis is the central axis of the second rotating shaft. A rotating seat is fixed at the rear end of the distal phalanx, and shaft holes corresponding to the first rotating shaft and the second rotating shaft are arranged on the rotating seat to facilitate the assembly of the distal phalanx with the proximal phalanx and the assembly of the distal phalanx with the first movable member.

[0016] In a preferred embodiment, two opposite connecting ears are arranged on the rotating seat, the front end of the first movable part is inserted between the two connecting ears, the second rotating shaft includes two shaft heads respectively inserted from the outside to the inside on the two connecting ears, the inner ends of the shaft heads are connected to the front end of the first movable part, and two limit screws are screwed on the connecting seat, and the two limit screws are respectively pressed on the outer ends of the two shaft heads. Two connecting ears are arranged on the connecting seat, and the first movable part is placed between the two connecting ears to avoid interference when the first movable part and the rotating seat move relative to each other. The second rotating shaft is set as two disconnected shaft heads, and the two shaft heads are respectively assembled through the connecting ears from both sides, which can facilitate the connection between the rotating seat and the first movable part. The two limit screws can prevent the shaft heads from loosening outward, and ensure the stability of the rotating connection between the rotating seat and the first movable part.

[0017] In a preferred embodiment, a piezoresistive sensor is installed on the lower surface of the distal knuckle. The piezoresistive sensor is used to sense the reaction force from the grasped object on the lower part of the distal knuckle, so as to more accurately control the related movements of the distal knuckle and the proximal knuckle to improve the accuracy of the mechanical finger.

[0018] A dexterous hand, including the above-mentioned mechanical fingers.

[0019] 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

[0020] Figure 1 It is a structural schematic diagram of the present invention;

[0021] Figure 2 It is a schematic diagram of the assembly of the present invention;

[0022] Figure 3 for Figure 2 Schematic diagram of the structure of the middle proximal phalanx;

[0023] Figure 4 for Figure 2 The structural diagram of the middle rotating seat;

[0024] Figure 5 An internal view of the proximal knuckle perspective of the present invention.

[0025] In the figure: 10, distal knuckle; 11, rotating seat; 111, connecting ear; 12, shaft head; 13, limit screw; 20, proximal knuckle; 21, rigid shell; 22, connecting rod; 24, connecting seat; 26, third rotating shaft; 27, fourth rotating shaft; 28, first rotating shaft; 29, silicone pad; 30, mounting arm; 40, first drive assembly; 41, first motor; 42, first reducer; 43, first screw rod; 44, first nut; 50, second drive assembly; 51, second motor; 52, second reducer; 53, second screw rod; 54, second nut. DETAILED DESCRIPTION

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Please refer to Figure 1-5 As shown, a mechanical finger of the present invention is a mechanical finger used in the dexterous hand of a humanoid robot. The mechanical finger is installed at the front end of the palm part of the dexterous hand, and includes a distal knuckle 10, a proximal knuckle 20, a first drive component 40 and a second drive component 50, wherein the distal knuckle 10 is farther away from the palm part of the dexterous hand than the proximal knuckle 20, and the rear end of the distal knuckle 10 is pivotally connected to the front end of the proximal knuckle 20, so that the distal knuckle 10 can rotate relative to the proximal knuckle 20 around a first axis A1, and an installation chamber is formed inside the proximal knuckle 20, and the first drive component 40 is placed in the installation chamber, that is, the first drive component 40 is wrapped by the proximal knuckle 20, and the first drive component 40 includes a first driving part and a first movable part driven by the first driving part to move forward and backward, and the first movable part is pivotally connected to the distal knuckle 10, so that the distal knuckle 10 can rotate relative to the first movable part around the second axis A2, and the first axis A1 is parallel to the second axis A2 and staggered from each other by a certain distance. The rear end of the proximal knuckle 20 is pivotally connected to the palm part of the dexterous hand, so that the proximal knuckle 20 can rotate around the third axis A3 relative to the palm part of the dexterous hand. The second drive assembly 50 includes a second drive unit and a second movable member driven by the second drive unit to move back and forth. The second movable member is pivotally connected to the proximal knuckle 20, so that the proximal knuckle 20 can rotate around the fourth axis A4 relative to the second movable member. The third axis A3 is parallel to the fourth axis A4 and are staggered a certain distance from each other.

[0031] In the present invention, by moving the first movable part in the first drive component 40 back and forth, the distal knuckle 10 can be rotated relative to the proximal knuckle 20, and by moving the second movable part in the second drive component 50 back and forth, the proximal knuckle 20 can be rotated relative to the palm part of the dexterous hand. As a result, the movements of the distal knuckle 10 and the proximal knuckle 20 of the robotic finger are relatively independent, so that the robotic finger has a higher degree of freedom of movement and can perform more complex tasks; in addition, the first drive component 40 is wrapped inside the proximal knuckle 20 to prevent the first drive component 40 from contacting or interfering with external objects when the robotic finger is performing tasks, so that the robotic finger can adapt to more usage scenarios.

[0032] In a preferred embodiment, the proximal phalanx 20 includes two rigid shells 21, which are opposite to each other and are detachably fixed together. The installation chamber is surrounded by the two rigid shells 21, and the front end and rear end of the installation chamber are respectively provided with openings. The first movable member is placed at the front end opening of the installation chamber, so that the first movable member can be pivotally connected with the distal phalanx 10 at the opening of the installation chamber, and the second movable member is placed at the rear end opening of the installation chamber, so that the second movable member can be pivotally connected with the proximal phalanx 20 at the rear end opening of the installation chamber. The two rigid shells 21 in the proximal phalanx 20 are detachably fixed together. During assembly, the two rigid shells 21 can be assembled from both sides of the first drive assembly 40, so that the first drive assembly 40 can be conveniently installed inside the proximal phalanx 20, and the assembly of the distal phalanx 10 with the proximal phalanx 20, the assembly of the proximal phalanx 20 with the second drive assembly 50, and the assembly of the proximal phalanx 20 with the palm of the dexterous hand can also be facilitated. Of course, in other embodiments, the two rigid shells 21 may also be disposed opposite to each other up and down. During assembly, the two rigid shells 21 are assembled with the first driving assembly 40 from the up and down directions of the first driving assembly 40 .

[0033] The proximal knuckle 20 further includes a connection seat 24 and a connection rod 22. The connection seat 24 is located at the front end of the two rigid shells 21, and the connection seat 24 is fixedly connected to the two rigid shells 21 by a screw, and the connection rod 22 crosses the rear end of the two rigid shells 21, and the two ends of the connection rod 22 are fixed to the two rigid shells 21 by screws. The two rigid shells 21 are connected together at the front end and the rear end of the proximal knuckle 20 by the connection seat 24 and the connection rod 22, respectively, so that the front end and the rear end of the two rigid shells 21 can be stably connected together on the basis of realizing the detachable fit of the two rigid shells 21.

[0034] In addition, the proximal knuckle 20 also includes a silicone pad 29 at the bottom thereof. The two rigid shells 21 are matched in a left-right opposed manner. The silicone pad 29 is engaged with the two rigid shells 21 to fix the silicone pad 29 at the bottom of the two rigid shells 21. Specifically, an engaging boss is provided on the upper surface of the silicone pad 29, and a slot is provided on the two rigid shells 21, and the engaging boss is engaged in the slot. Since the first drive assembly 40 is placed inside the proximal knuckle 20, a silicone pad 29 can be provided at the bottom of the proximal knuckle 20. The silicone pad 29 increases the wear resistance of the bottom surface of the proximal knuckle 20. At the same time, when the mechanical finger grasps an object, the friction between the proximal knuckle 20 and the object can be increased to prevent the grasped object from falling off.

[0035] The specific structure of the first drive assembly 40 is that the first drive part includes a first motor 41, a first reducer 42, and a first screw rod 43. The first movable part is a first nut 44. The first nut 44 is sleeved on the first screw rod 43 and threadedly matched with the first screw rod 43. The axial directions of the first motor 41 and the first screw rod 43 are consistent with the front-to-back directions, and the axial directions of the first motor 41 and the first screw rod 43 are staggered up and down by a certain distance. The body of the first motor 41 is fixedly matched with the first reducer 42. The output shaft of the first motor 41 is connected to the input end of the first reducer 42 at the rear, and the first screw rod 43 is connected to the output end of the first reducer 42. The first motor 41 drives the first screw rod 43 to rotate. Since the first nut 44 serves as the first movable part, it is pivotally connected to the distal finger joint 10. When the first screw rod 43 rotates, the first nut 44 can move forward and backward along the axial direction of the first screw rod 43. Since the axial direction of the first screw rod 43 is staggered with the axial direction of the first motor 41 by a certain distance, that is, the first screw rod 43 and the first motor 41 are arranged side by side, the length dimension of the first drive assembly 40 is relatively small, which can adapt to the length dimension of the proximal knuckle 20, so as to facilitate the installation of the first drive assembly 40 inside the proximal knuckle 20, and at the same time make full use of the internal space of the proximal knuckle 20, so that the structure of the mechanical finger is more compact. In other embodiments, the first motor 41 and the first screw rod 43 do not necessarily adopt the above-mentioned vertical side-by-side arrangement, and the two can also be arranged side by side left and right.

[0036] The structure of the second drive assembly 50 is similar to that of the first drive assembly 40. The second drive part includes a second motor 51, a second reducer 52, and a second screw rod 53. The second movable part is a second nut 54. The second nut 54 is sleeved on the second screw rod 53 and threadedly matched with the second screw rod 53. The body of the second motor 51 is fixedly connected to the second reducer 52, the output shaft of the second motor 51 is connected to the input end of the second reducer 52, and the second screw rod 53 is connected to the output end of the second reducer 52; a third rotating shaft 26 and a fourth rotating shaft 27 are arranged between the rear ends of the two rigid shells 21, the third axis A3 is the central axis of the third rotating shaft 26, and the fourth axis A4 is the central axis of the fourth rotating shaft 27; a mounting arm 30 is fixed to the palm part of the dexterous hand, and the front end of the mounting arm 30 extends into the mounting chamber from the rear end opening of the mounting chamber, so that the front end of the mounting arm 30 is pivoted on the third rotating shaft 26, the second reducer 52 is pivoted on the rear end of the mounting arm 30, and the front end of the second screw rod 53 is pivoted on the fourth rotating shaft 27. Since a mounting arm 30 is provided on the palm part of the dexterous hand, the front end of the mounting arm 30 is pivotally connected to the proximal knuckle 20 through the third rotating shaft 26 at the rear end of the proximal knuckle 20, so that the proximal knuckle 20 and the palm part of the dexterous hand can be assembled conveniently, and the second driving assembly 50 can be arranged inside the palm part of the dexterous hand.

[0037] In order to facilitate the connection between the distal phalanx 10 and the proximal phalanx 20, a rotating seat 11 is fixed at the rear end of the distal phalanx 10. The rotating seat 11 is embedded in the installation chamber through the front end opening of the installation chamber and placed between the two rigid shells 21. A first rotating shaft 28 is provided between the two rigid shells 21 and is connected to the rotating seat 11. The rotating seat 11 and the two rigid shells 21 are pivotally connected through the first rotating shaft 28. The first axis A1 is the central axis of the first rotating shaft 28. The rotating seat 11 and the first movable member (i.e., the first nut 44 mentioned above) are pivotally connected together through a second rotating shaft. The second axis A2 is the central axis of the second rotating shaft. Since a rotating seat 11 is fixed at the rear end of the distal phalanx 10, shaft holes corresponding to the first rotating shaft 28 and the second rotating shaft are provided on the rotating seat 11 to facilitate the assembly of the distal phalanx 10 and the proximal phalanx 20 and the assembly of the distal phalanx 10 and the first movable member.

[0038] Two opposite connecting ears 111 are provided on the rotating seat 11, and the front end of the first movable member (i.e. the first nut 44 mentioned above) is inserted between the two connecting ears 111. The second rotating shaft includes two shaft heads 12 which are respectively inserted into the two connecting ears 111 from the outside to the inside. The inner ends of the shaft heads 12 pass through the connecting ears 111 and then penetrate into the shaft holes preset at the front end of the first movable member. The two shaft heads 12 are coaxially arranged, so that the rotating seat 11 and the front end of the first movable member are pivotally connected together. Two limit screws 13 are screwed on the rotating seat 11, and the two limit screws 13 are respectively pressed on the outer ends of the two shaft heads 12, so as to prevent the shaft heads 12 from detaching from the connecting ears 111 outwardly by the limit screws 13. Since two connecting ears 111 are set on the rotating seat 11, the first movable part is placed between the two connecting ears 111 to avoid interference between the first movable part and the rotating seat 11 during relative movement. The second rotating shaft is set as two disconnected shaft heads 12, and the two shaft heads 12 are respectively assembled through the connecting ears 111 from both sides, which can facilitate the connection between the rotating seat 11 and the first movable part. The two limit screws 13 can prevent the shaft head 12 from loosening outward, thereby ensuring the stability of the rotational connection between the rotating seat 11 and the first movable part.

[0039] It should be noted that the first drive assembly 40 and the second drive assembly 50 of the present invention adopt a screw transmission mechanism driven by a motor. In fact, the first drive assembly 40 and the second drive assembly 50 can also be other drive mechanisms. In short, as long as the first movable part and the second movable part can move in the front and rear directions, it will be fine.

[0040] A piezoresistive sensor is installed on the lower surface of the distal knuckle 10. The piezoresistive sensor is used to sense the reaction force from the grasped object on the lower part of the distal knuckle 10, so as to more accurately control the related actions of the distal knuckle 10 and the proximal knuckle 20 to improve the accuracy of the mechanical finger.

[0041] The dexterous hand of the present invention includes the above-mentioned mechanical fingers. The other structures of the dexterous hand are the same as those in the prior art and will not be described in detail here.

[0042] 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.

[0043] 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 mechanical finger, mounted on the front end of the palm of the dexterous hand, characterized in that: It includes a distal knuckle, a proximal knuckle, a first drive assembly and a second drive assembly; The rear end of the distal knuckle is pivotally connected to the front end of the proximal knuckle so that the distal knuckle can rotate relative to the proximal knuckle around a first axis, a mounting chamber is formed inside the proximal knuckle, a first driving assembly is placed in the mounting chamber, and includes a first driving part and a first movable member driven by the first driving part to move forward and backward, the first movable member is pivotally connected to the distal knuckle so that the distal knuckle can rotate relative to the first movable member around a second axis, and the first axis is parallel to the second axis and staggered with each other; The rear end of the proximal knuckle is pivotally connected to the palm part of the dexterous hand so that the proximal knuckle can rotate around a third axis relative to the palm part of the dexterous hand. The second drive assembly includes a second drive unit and a second movable member driven by the second drive unit to move back and forth. The second movable member is pivotally connected to the proximal knuckle so that the proximal knuckle can rotate around a fourth axis relative to the second movable member. The third axis is parallel to the fourth axis and is staggered with each other.

2. The mechanical finger according to claim 1, characterized in that: The proximal knuckle includes two rigid shells, which are opposite to each other left and right or up and down, and are detachably fixed together. The installation chamber is surrounded by the two rigid shells and has openings at the front and rear ends. The first movable part is placed at the front opening of the installation chamber, and the second movable part is placed at the rear opening of the installation chamber.

3. The mechanical finger according to claim 2, characterized in that: The proximal knuckle also includes a connecting seat and a connecting rod. The connecting seat is placed at the front end of the two rigid shells and is fixedly connected to the two rigid shells by screws. The connecting rod crosses the rear end of the two rigid shells, and the two ends of the connecting rod are fixed to the two rigid shells by screws.

4. The mechanical finger according to claim 3, characterized in that: The proximal knuckle also includes a silicone pad located at the bottom thereof. The two rigid shells are matched in a left-right opposed manner, and the silicone pad is snap-fitted with the two rigid shells to fix the silicone pad at the bottom of the two rigid shells.

5. The mechanical finger according to claim 2, characterized in that: The first driving part includes a first motor, a first reducer, and a first screw rod. The first movable part is a first nut which is sleeved on the first screw rod and matched with the first screw rod thread. The axial directions of the first motor and the first screw rod are consistent with the front-to-back directions and are staggered with each other. The output shaft of the first motor is connected to the input end of the first reducer, and the first screw rod is connected to the output end of the first reducer. The body of the first motor is fixedly matched with the first reducer, and the first reducer is pivotally matched with the two rigid shells.

6. The mechanical finger according to claim 5, characterized in that: The second driving part includes a second motor, a second reducer, and a second screw rod. The second movable part is a second nut sleeved on the second screw rod and threadedly matched with the second screw rod. The output shaft of the second motor is connected to the input end of the second reducer and the body of the second motor is fixedly matched with the second reducer. The second screw rod is connected to the output end of the second reducer. A third rotating shaft and a fourth rotating shaft are arranged between the rear ends of the two rigid shells. The third axis is the central axis of the third rotating shaft, and the fourth axis is the central axis of the fourth rotating shaft. A mounting arm is fixed to the palm part of the dexterous hand. The front end of the mounting arm is pivoted on the third rotating shaft. The second reducer is pivoted at the rear end of the mounting arm, and the front end of the second screw rod is pivoted on the fourth rotating shaft.

7. The mechanical finger according to claim 2, characterized in that: A rotating seat is fixed to the rear end of the distal knuckle, and the rotating seat is embedded in the front end opening of the installation chamber and placed between two rigid shells. A first rotating shaft connected to the rotating seat is arranged between the two rigid shells, and the first axis is the central axis of the first rotating shaft; the rotating seat and the first movable part are pivotally connected together through a second rotating shaft, and the second axis is the central axis of the second rotating shaft.

8. The mechanical finger according to claim 7, characterized in that: Two opposite connecting ears are arranged on the rotating seat, and the front end of the first movable part is inserted between the two connecting ears. The second rotating shaft includes two shaft heads which are respectively inserted into the two connecting ears from the outside to the inside, and the inner ends of the shaft heads are connected to the front end of the first movable part. Two limit screws are threaded on the connecting seat, and the two limit screws are respectively pressed on the outer ends of the two shaft heads.

9. The mechanical finger according to claim 1, characterized in that: A piezoresistive sensor is mounted on the lower surface of the distal phalanx.

10. A dexterous hand, characterized in that A mechanical finger comprising any one of claims 1 to 9.

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