Finger assembly of robot and dexterous hand

Abstract

The invention discloses a finger assembly of a robot and a dexterous hand. The finger assembly of the robot comprises a far knuckle, a near knuckle and a driving unit. The far knuckles are fixedly connected with rotating seats, the rotating seats comprise embedding parts protruding out of the far knuckles, and the embedding parts are provided with first shaft holes and limiting surfaces located above the first shaft holes; the front end part of the near knuckle is provided with a containing groove for the embedding part to extend in, two sides of the containing groove respectively form a side wall, a rotating shaft is arranged between the two side walls, the rotating shaft transversely penetrates through the first shaft hole to pivot the embedding part at the front end of the near knuckle, the side wall is provided with a limiting flange extending towards the middle part of the containing groove, and the limiting flange is positioned above the limiting surface; the driving unit is used for driving the rotating seat to rotate around the rotating shaft. According to the robot finger assembly, extrusion to the near knuckles when the driving unit drives the rotating base to rotate can be prevented, the near knuckles are protected, the structure of the robot finger assembly is simplified, and the finger assembly can be conveniently assembled.

Description

Technical Field

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

[0002] A dexterous hand is an end effector component of a humanoid robot, which is used to imitate the palm part of the human body and perform some relatively complex and precise grasping actions. Generally, a dexterous hand is provided with a palm and a plurality of finger assemblies according to the basic structure of the human hand. The finger assembly is generally composed of more than two phalanges. Adjacent phalanges are pivotally connected by a rotatable structure, and a driving mechanism for driving the relative rotation of two adjacent phalanges is provided. A limiting structure is usually also required at the adjacent phalanges to limit the maximum rotation angle between the adjacent phalanges in the direction away from the palm center. For example, the phalanx far from the palm is usually called the distal phalanx, and the phalanx close to the palm is usually called the proximal phalanx. The inner end of the distal phalanx is hinged to the outer end of the proximal phalanx. When grasping some small-sized objects, the distal phalanx is driven by the driving mechanism to rotate relative to the proximal phalanx in the direction close to the palm center. When pushing some large-sized objects, the distal phalanx needs to be kept parallel or substantially parallel to the proximal phalanx. In order to avoid damaging the driving mechanism, it is necessary to limit the relative rotation of the distal phalanx and the proximal phalanx to prevent the distal phalanx from rotating excessively in the direction away from the palm center. In the finger assembly of the existing dexterous hand, the structure for limiting the excessive rotation between the distal phalanx and the proximal phalanx is relatively complex, resulting in a complex overall structure of the finger assembly of the dexterous hand and a large assembly difficulty. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the object of the present invention is to provide a finger assembly and a dexterous hand of a robot, so as to solve the problems of complex structure and large assembly difficulty of the finger assembly of the robot in the prior art.

[0004] The object of the present invention is achieved by adopting the following technical solutions:

[0005] A finger assembly of a robot, characterized in that it includes a distal phalanx, a proximal phalanx, and a driving unit;

[0006] A rotating seat is fixedly connected to the distal phalanx. The rotating seat includes an embedding portion protruding from the rear end portion of the distal phalanx to the outside of the distal phalanx. The embedding portion is provided with a first shaft hole and a limiting surface located above the first shaft hole;

[0007] A receiving groove for the insertion part to extend into is provided at the front end of the proximal phalanx. Side walls are respectively formed on both sides of the receiving groove. A rotating shaft is provided between the two side walls. The rotating shaft passes through the first shaft hole to pivotally connect the insertion part to the front end of the proximal phalanx. At least one side wall is provided with a limiting flange extending towards the middle of the receiving groove. The limiting flange is located above the limiting surface to prevent the limiting surface from moving upward relative to the proximal phalanx when the limiting surface abuts against the lower part of the limiting flange.

[0008] The driving unit is used to drive the rotating seat to rotate around the rotating shaft.

[0009] For the finger assembly of the robot according to the embodiment of the present invention, since the receiving groove is provided at the front end of the proximal phalanx, the protruding insertion part at the rear end of the distal phalanx can be inserted into the receiving groove to pivotally connect the distal phalanx and the proximal phalanx together. The limiting surface on the insertion part cooperates with the limiting flange on the side of the receiving groove to limit and position the maximum upward swing angle of the distal phalanx, preventing the extrusion of the proximal phalanx when the driving unit drives the rotating seat 11 to rotate, playing a role in protecting the proximal phalanx. At the same time, the structure of the robot finger assembly is simplified, making the finger assembly easy to assemble.

[0010] In a preferred embodiment, a top wall is connected between the tops of the two side walls. A limiting end surface is formed at the front end of the top wall. A mating surface is formed at the upper part of the rear end of the distal phalanx. When the limiting surface abuts against the lower part of the limiting flange, the mating surface abuts against the limiting end surface to prevent the distal phalanx from swinging upward relative to the proximal phalanx through the cooperation between the limiting end surface and the mating surface. By the cooperation between the limiting surface and the limiting flange to prevent the excessive upward swing of the distal phalanx, and at the same time, the cooperation between the limiting end surface and the mating surface to prevent the excessive upward swing of the distal phalanx, the stress can be dispersed, further protecting the proximal phalanx and avoiding its extrusion deformation; in addition, the top wall and the two side walls enclose the receiving groove into a U-shaped structure with an open bottom, providing enough clearance space for the rotation of the rotating seat, so that when the distal phalanx swings downward relative to the proximal phalanx, there is enough space.

[0011] In a preferred embodiment, an installation chamber is formed inside the proximal phalanx. An opening is formed at the front end of the installation chamber. The driving unit is installed in the installation chamber. The part of the installation chamber between the opening and the driving unit forms the receiving groove. The proximal phalanx is set as a hollow structure, so that the driving unit can be placed inside the proximal phalanx, making the proximal phalanx and the driving unit form a modular structure. This modular structure is applicable to the index finger, middle finger, ring finger and little finger of the dexterous hand, improving the universality of the components between different finger assemblies in the dexterous hand. In addition, directly using the part at the front end of the installation chamber to form the receiving groove for receiving the insertion part simplifies the structure at the joint of the proximal phalanx and the distal phalanx.

[0012] In a preferred embodiment, the drive unit includes a motor, a speed reducer, a lead screw, and a movable rod. The output shaft of the motor is connected to the input end of the speed reducer, the lead screw is connected to the output end of the speed reducer, and a nut sleeved on the lead screw and threadedly engaged with the lead screw is provided on the movable rod, and the front end of the movable rod is pivotally connected to the rotating seat. When the motor is started, the rotating seat is driven to swing by the forward and backward movement of the movable rod, realizing the rotation of the distal phalanx relative to the proximal phalanx. Since a lead screw transmission mechanism is adopted, the distance of the forward and backward movement of the movable rod can be accurately controlled, and then the rotation angle of the distal phalanx is more accurate.

[0013] In a preferred embodiment, a second shaft hole is provided on the rotating seat below the first shaft hole, and the front end of the movable rod is pivotally connected to the rotating seat through a pivot shaft inserted into the second shaft hole. By arranging the pivot shaft below the rotating shaft located in the first shaft hole, the movable rod can be connected to the rotating seat at the bottom of the rotating seat, avoiding interference between the movable rod and the embedding part during the forward and backward movement, and ensuring the flexibility of the relative rotation of the distal phalanx and the proximal phalanx.

[0014] In a preferred embodiment, the proximal phalanx includes two oppositely arranged left and right shells, side walls are respectively located on the two shells, the tops of the two side walls are bent inward and spliced with each other to form a top wall, and the two shells are fixedly connected together in a detachable manner. During assembly, the two shells are respectively installed from both sides of the drive unit and the rotating seat, and the above-mentioned installation cavity is surrounded by the two shells, and the drive unit and the rotating seat are wrapped between the two shells, so that the assembly of the drive unit, the rotating seat and the proximal phalanx can be facilitated.

[0015] In a preferred embodiment, a connecting boss is provided on the inner surface of the side wall, a connecting block is provided at the front ends of the two shells, the connecting block is placed below the top wall and in front of the connecting bosses on the two side walls, and the connecting block and the two connecting bosses are fixedly connected together by screws, and the front side surface of the connecting block is flush with the limiting end surface. By the connecting block provided at the front ends of the two shells, the front ends of the two shells are fixed together. At the same time, the front side surface of the connecting block and the limiting end surface are set to be flush, so that the connecting block can form a plane with the limiting end surface, and this plane cooperates with the mating surface of the distal phalanx to limit the maximum angle of upward rotation of the distal phalanx relative to the proximal phalanx. In this way, when the distal phalanx rotates upward relative to the proximal phalanx to the maximum angle, the contact area between the distal phalanx and the proximal phalanx is larger, better dispersing stress to reduce the deformation of the distal phalanx caused by excessive rotation.

[0016] In a preferred embodiment, an installation groove is provided at the rear end of the distal phalanx, and a part of the rotating seat is placed in the installation groove and fixedly connected to the distal phalanx in a detachable manner. When the rotating seat is worn out after long-term use and the accuracy is low, a new rotating seat can be replaced to improve the accuracy of the finger assembly.

[0017] In a preferred embodiment, a connecting arm extending upward from the front end of the limiting surface is provided on the rotating seat. The connecting arm abuts against the front end surface of the mounting groove and is fixed to the front end surface of the mounting groove by screws. The rotating seat is connected to the bottom wall of the mounting groove by screws, so that the rotating seat and the distal phalanx are stably connected together.

[0018] The dexterous hand includes the finger assembly of the above-mentioned robot.

[0019] The accompanying drawings of the specification, which form a part of the present application, are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is the assembly schematic diagram of the present invention;

[0021] Figure 2 is the structural schematic diagram of the present invention;

[0022] Figure 3 is Figure 1 the structural schematic diagram of the middle and distal phalanges;

[0023] Figure 4 is Figure 1 the assembly schematic diagram of the middle and distal phalanges;

[0024] Figure 5 is a schematic diagram of a working state of the present invention;

[0025] Figure 6 is another schematic diagram of a working state of the present invention.

[0026] In the figure: 10, distal phalanx; 101, mounting groove; 102, mating surface; 11, rotating seat; 12, embedding part; 121, limiting surface; 122, connecting arm; 123, screw; 13, rotating shaft; 14, pivot; 20, proximal phalanx; 201, receiving groove; 202, installation chamber; 21, housing; 211, side wall; 212, top wall; 2121, limiting end face; 213, limiting flange; 214, connecting boss; 22, connecting block; 23, screw; 31, motor; 32, reducer; 33, lead screw; 34, movable rod; 35, nut. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] Next, in combination with the accompanying drawings and specific embodiments, the present invention will be further described. It should be noted that, on the premise of no conflict, the following-described embodiments or technical features can be arbitrarily combined to form new embodiments. Except as otherwise specifically stated, the materials and equipment used in this embodiment can be purchased from the market. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and should not be construed as a limitation to the present application.

[0028] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is 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 orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically and precisely defined.

[0029] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "connected", "communicated", "connected" should be understood in a broad sense. For example, it can be a fixed connection, or can be connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0030] The terms "first", "second", etc. in the specification, claims and above-mentioned accompanying drawings of the present application are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] Please refer to Figures 1 - 6As shown in the figure, the robotic finger assembly of the present invention includes a distal phalanx 10, a proximal phalanx 20, and a driving unit. A rotating seat 11 is fixedly connected to the rear end of the distal phalanx 10. A part of the rotating seat 11 is placed inside the distal phalanx 10, and the other part protrudes from the rear end of the distal phalanx 10 to form an embedded portion 12 placed outside the distal phalanx 10. A first shaft hole is provided on the embedded portion 12, and the first shaft hole extends from one side of the embedded portion 12 to the other side. A limiting surface 121 is provided on the embedded portion 12 above the first shaft hole; a receiving groove 201 is provided at the front end of the proximal phalanx 20. Side walls 211 are respectively formed on both sides of the receiving groove 201. A rotating shaft 13 is provided between the two side walls 211. The rotating shaft 13 passes through the first shaft hole, thereby pivotally connecting the front end of the proximal phalanx 20 to the embedded portion 12. The rotating seat 11 can rotate relative to the proximal phalanx 20 around the rotating shaft 13. A limiting flange 213 extending towards the middle of the receiving groove 201 is provided on the inner surface of the side wall 211. The limiting flange 213 is located above the limiting surface 121. When the rotating seat 11 rotates upwards relative to the proximal phalanx 20 to the limit position, the limiting surface 121 abuts against the lower side of the limiting flange 213. By using the limiting flange 213 to prevent the limiting surface 121 from continuing to move upwards relative to the proximal phalanx 20, that is, by the cooperation of the limiting flange 213 and the limiting surface 121, the distal phalanx 10 can be limited when the distal phalanx 10 rotates upwards relative to the proximal phalanx 20 to the limit position, so that the angle of the distal phalanx 10 rotating upwards relative to the proximal phalanx 20 is accurately positioned. The driving unit is used to drive the rotating seat 11 to rotate around the rotating shaft 13, so that the distal phalanx 10 can rotate relative to the proximal phalanx 20.

[0032] See Figure 5 As shown in the figure, when the distal phalanx 10 swings upwards relative to the proximal phalanx 20 to the maximum angle, the limiting surface 121 abuts against the lower surface of the limiting flange 213, thereby preventing the distal phalanx 10 from swinging upwards excessively relative to the proximal phalanx 20. Figure 6 The state when the distal phalanx 10 swings downwards relative to the proximal phalanx 20 is shown.

[0033] In the present invention, since the receiving groove 201 is provided at the front end of the proximal phalanx 20, the protruding embedded portion 12 at the rear end of the distal phalanx 10 can be embedded into the receiving groove 201 to pivotally connect the distal phalanx 10 and the proximal phalanx 20. The limiting surface 121 on the embedded portion 12 cooperates with the limiting flange 213 on the side of the receiving groove 201 to limit and position the maximum angle of the distal phalanx 10 swinging upwards, prevent the extrusion of the proximal phalanx 20 caused by the driving unit driving the rotating seat 11 to rotate, play a role in protecting the proximal phalanx 20, and at the same time, simplify the structure of the robotic finger assembly and make the finger assembly easy to assemble.

[0034] It should be noted that a limiting flange 213 can be provided on the inner surface of one of the side walls 211, and the lower surface of the limiting flange 213 can be set as a plane. The limiting surface 121 is a plane formed by extending inward from the side of the embedding part 12. When the limiting surface 121 comes into contact with the limiting flange 213, they can have a large contact area, avoiding local stress concentration when they are pressed against each other. Of course, in order to further disperse the stress, limiting flanges 213 can be provided on the inner surfaces of both side walls 211, and a limiting surface 121 is provided on each side of the embedding part 12.

[0035] In a preferred embodiment, a top wall 212 is connected between the tops of the two side walls 211. A limiting end surface 2121 is formed at the front end of the top wall 212, and a mating surface 102 is formed at the upper part of the rear end of the distal phalanx 10. When the above-mentioned limiting surface 121 abuts against the lower part of the limiting flange 213, the mating surface 102 abuts against the limiting end surface 2121. By the cooperation of the limiting end surface 2121 and the mating surface 102, the distal phalanx 10 is prevented from swinging upward relative to the proximal phalanx 20; by the cooperation of the limiting surface 121 and the limiting flange 213, the distal phalanx 10 is prevented from swinging upward excessively. At the same time, the cooperation of the limiting end surface 2121 and the mating surface 102 prevents the distal phalanx 10 from swinging upward excessively, which can disperse the stress and further protect the proximal phalanx 20 from being squeezed and deformed; in addition, the top wall 212 and the two side walls 211 enclose the receiving groove 201 into a U-shaped structure with an open bottom, providing enough clearance space for the rotation of the rotating seat 11, so that when the distal phalanx 10 swings downward relative to the proximal phalanx 20, there is enough space.

[0036] The proximal phalanx 20 is a hollow structure, and an installation chamber 202 is formed inside it. An opening is formed at the front end of the installation chamber 202, and the driving unit is installed inside the installation chamber 202. The part of the installation chamber 202 between its front end opening and the driving unit forms the above-mentioned receiving groove 201. Setting the proximal phalanx 20 as a hollow structure enables the driving unit to be placed inside the proximal phalanx 20, making the proximal phalanx 20 and the driving unit form a modular structure. This modular structure is applicable to the index finger, middle finger, ring finger and little finger of the dexterous hand, improving the generality of the components between different finger assemblies in the dexterous hand. In addition, directly using the part at the front end of the installation chamber 202 to form the receiving groove 201 for receiving the embedding part 12 simplifies the structure at the mating part of the proximal phalanx 20 and the distal phalanx 10.

[0037] The driving unit includes a motor 31, a speed reducer 32, a lead screw 33, and a movable rod 34. The output shaft of the motor 31 is connected to the input end of the speed reducer 32. The lead screw 33 is connected to the output end of the speed reducer 32. A nut 35 is provided on the movable rod 34, which is sleeved on the lead screw 33 and is in threaded cooperation with the lead screw 33. The front end of the movable rod 34 is pivotally connected to the rotating seat 11. When the motor 31 is started, the rotating seat 11 is driven to swing by the forward and backward movement of the movable rod 34, realizing the rotation of the distal phalanx 10 relative to the proximal phalanx 20. Since a lead screw transmission mechanism is adopted, the distance of the forward and backward movement of the movable rod 34 can be accurately controlled, and then the rotation angle of the distal phalanx 10 is more accurate. In other embodiments, the driving unit does not necessarily adopt a lead screw transmission mechanism, and it can also directly adopt some driving mechanisms such as linear electric cylinders or other driving mechanisms capable of realizing linear motion.

[0038] A second shaft hole is provided on the rotating seat 11, which is located below the first shaft hole. The front end of the movable rod 34 is pivotally connected to the rotating seat 11 through a pivot shaft 14 inserted into the second shaft hole. The pivot shaft 14 is arranged below the rotating shaft 13 located in the first shaft hole. The movable rod 34 can be connected to the rotating seat 11 at the bottom of the rotating seat 11, avoiding interference between the movable rod 34 and the embedding part 12 during the forward and backward movement, and ensuring the flexibility of the relative rotation of the distal phalanx 10 and the proximal phalanx 20.

[0039] For the convenience of assembly, the proximal phalanx 20 is set to a construct that can be assembled. Specifically, the proximal phalanx 20 includes two oppositely arranged left and right shells 21. Side walls 211 are respectively located on the two shells 21. The top of the side wall 211 is bent inward. After the two shells 21 are butted left and right, the bent parts at the top of the two side walls 211 are butted together to form a top wall 212. The two shells 21 are fixed together in a detachable manner. During assembly, the two shells 21 are respectively installed from both sides of the driving unit and the rotating seat 11. The above-mentioned installation cavity 202 is surrounded by the two shells 21, and the driving unit and the rotating seat 11 are wrapped between the two shells 21, so as to facilitate the assembly of the driving unit, the rotating seat 11 and the proximal phalanx 20.

[0040] A connecting boss 214 is provided on the inner surface of the side wall 211. A connecting block 22 is provided between the front ends of the two shells 21. The connecting block 22 is placed below the top wall 212 and in front of the connecting bosses 214 on the two side walls 211. Two screws 23 are inserted through the connecting block 22. After passing through the connecting block 22, the two screws 23 are respectively screwed onto the two connecting bosses 214. By tightening the screws 23, the connecting block 22 is fastened to the two connecting bosses 214, and the front side surface of the connecting block 22 is flush with the limiting end surface 2121. By providing the connecting block 22 at the front ends of the two shells 21, the front ends of the two shells 21 are fixed together. At the same time, the front side surface of the connecting block 22 is set to be flush with the limiting end surface 2121, so that the connecting block 22 can form a plane with the limiting end surface 2121. This plane cooperates with the mating surface 102 of the distal phalanx 10 to limit the maximum angle of upward rotation of the distal phalanx 10 relative to the proximal phalanx 20. In this way, when the distal phalanx 10 rotates upward relative to the proximal phalanx 20 to the maximum angle, the contact area between the distal phalanx 10 and the proximal phalanx 20 is larger, better dispersing stress to reduce the deformation of the distal phalanx 10 caused by excessive rotation.

[0041] An installation groove 101 is provided at the rear end of the distal phalanx 10. A part of the rotating seat 11 is placed in the installation groove 101, and the rotating seat 11 is detachably fixed to the distal phalanx 10. When the rotating seat 11 is worn out after long-term use and the accuracy is low, a new rotating seat 11 can be replaced to improve the accuracy of the finger assembly.

[0042] A connecting arm 122 extending upward from the front end of the limiting surface 121 is provided on the rotating seat 11. The connecting arm 122 abuts against the front end surface of the installation groove 101. A screw 123 is inserted through the connecting arm 122. After passing through the connecting arm 122, the screw 123 is screwed onto the front end surface of the installation groove 101. The rotating seat 11 is connected to the bottom wall of the installation groove 101 by using the screw 123, so that the rotating seat 11 is more stably connected to the distal phalanx 10.

[0043] The dexterous hand of the present invention includes the finger assembly of the above-mentioned robot. The other structures of the dexterous hand are the same as those of the prior art and will not be described in detail here.

[0044] Although only some components and embodiments of the present application have been illustrated and described, many modifications and changes can 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 ratio of each element, installation arrangement, material use, color, orientation, etc.

[0045] The above embodiments are only the preferred embodiments of the embodiments of the present invention, and cannot be used to limit the scope of protection of the embodiments of the present invention. Any non-substantive changes and substitutions made by those skilled in the art based on the embodiments of the present invention fall within the scope of protection required by the embodiments of the present invention.

Claims

1. A robot finger assembly, characterized in that: It includes a distal knuckle, a proximal knuckle, and a driving unit; A rotating seat is fixedly connected to the distal phalanx, and the rotating seat includes an embedding portion protruding from the rear end of the distal phalanx to the outside of the distal phalanx, and the embedding portion is provided with a first shaft hole and a limiting surface located above the first shaft hole; The front end of the proximal phalanx is provided with a receiving groove for the embedding portion to extend into, and the two sides of the receiving groove form a side wall respectively, and a rotating shaft is provided between the two side walls, and the rotating shaft crosses the first shaft hole to pivotally connect the embedding portion to the front end of the proximal phalanx, and at least one side wall is provided with a limiting flange extending toward the middle of the receiving groove, and the limiting flange is located above the limiting surface to prevent the limiting surface from moving upward relative to the proximal phalanx when the limiting surface abuts against the bottom of the limiting flange; The driving unit is used to drive the rotating seat to rotate around the rotating shaft.

2. The robot finger assembly according to claim 1, characterized in that: A top wall is connected between the tops of the two side walls, and a limiting end face is formed at the front end of the top wall. A matching surface is formed at the upper rear end of the distal knuckle. When the limiting surface abuts against the bottom of the limiting flange, the matching surface abuts against the limiting end face to prevent the distal knuckle from swinging upward relative to the proximal knuckle through the matching of the limiting end face and the matching surface.

3. The robot finger assembly according to claim 2, characterized in that: An installation chamber is formed inside the proximal knuckle, an opening is formed at the front end of the installation chamber, the drive unit is installed in the installation chamber, and a portion of the installation chamber between the opening and the drive unit forms a receiving groove.

4. The robot finger assembly according to claim 3, characterized in that: The driving unit includes a motor, a reducer, a screw and a movable rod. The motor output shaft is connected to the input end of the reducer, the screw is connected to the output end of the reducer, the movable rod is provided with a set of nuts arranged on the screw and matching with the screw thread, and the front end of the movable rod is pivotally connected to the rotating seat.

5. The robot finger assembly according to claim 4, characterized in that: The rotating seat is provided with a second shaft hole located below the first shaft hole, and the front end of the movable rod is pivotally connected to the rotating seat through a pivot shaft penetrating through the second shaft hole.

6. The robot finger assembly according to claim 3, characterized in that: The proximal knuckle includes two left and right opposite shells, and two side walls are respectively located on the two shells. The tops of the two side walls are bent inwards and spliced ​​together to form a top wall. The two shells are fixedly connected together in a detachable manner.

7. The robot finger assembly according to claim 6, characterized in that: A connecting boss is provided on the inner surface of the side wall, and a connecting block is provided at the front end of the two shells. The connecting block is placed below the top wall and in front of the connecting bosses on the two side walls. The connecting block and the two connecting bosses are fixed together by screws, and the front side surface of the connecting block is flush with the limiting end surface.

8. The robot finger assembly according to claim 1, characterized in that: A mounting groove is arranged at the rear end of the distal finger joint, and a part of the rotating seat is placed in the mounting groove and is detachably fixed to the distal finger joint.

9. The robot finger assembly according to claim 8, characterized in that: The rotating seat is provided with a connecting arm extending upward from the front end of the limiting surface. The connecting arm is abutted against the front end surface of the mounting groove and is fixed to the front end surface of the mounting groove by screws.

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

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