Dexterous hand finger, dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and aims to solve the problem that the size of the dexterous hand finger with at least three knuckles is large. The fingers of the dexterous hand comprise at least three knuckles, the rotation driving assembly is arranged on the first knuckle instead of the palm of the dexterous hand, the size of the palm of the dexterous hand can be reduced, and the supporting piece, the first knuckle, the second knuckle, the third knuckle, the first connecting rod assembly and the second connecting rod assembly form two four-connecting-rod mechanisms connected in series. When the rotation driving assembly arranged on the dexterous hand finger drives the second knuckle to rotate, the first knuckle and the third knuckle synchronously rotate with the second knuckle, bending and stretching of the dexterous hand finger are achieved, the dexterous hand finger is simple and compact in structure, high in rigidity, stable and reliable, the action track and the action form of the dexterous hand finger can be accurately controlled, and the flexibility of the dexterous hand finger is improved. Therefore, the requirements of various complex tasks are met.

Description

Technical Field

[0001] This application relates to the field of robot technology, and particularly to a dexterous hand finger, a dexterous hand, and a robot. Background Art

[0002] In the field of robot technology, as a key component for simulating the hand functions of humans or animals, the design and manufacture of dexterous hands have always been a research hotspot. The traditional design of dexterous hands aims to achieve a high degree of flexibility and precise operation ability to meet the requirements of complex tasks.

[0003] However, while pursuing functional diversity, existing dexterous hands often face the trade-off between size and performance. Currently, dexterous hands on the market, especially those designs with at least three phalanges to simulate human or animal fingers, generally have the problem of large size, which limits the application scenarios of dexterous hands. Summary of the Invention

[0004] In view of this, embodiments of this application provide a dexterous hand finger to solve the problem of large size of dexterous hand fingers with at least three phalanges.

[0005] An embodiment of this application provides a dexterous hand finger, including: a support member; a first phalanx rotatably connected to the support member about a first axis; a second phalanx rotatably connected to the first phalanx about a second axis, the second axis being parallel to the first axis; a third phalanx rotatably connected to the second phalanx about a third axis, the third axis being parallel to the first axis; a first link assembly, a first end of the first link assembly being rotatably connected to the support member about a fourth axis, a second end of the first link assembly being rotatably connected to the second phalanx about a fifth axis, both the fourth axis and the fifth axis being parallel to the first axis, in a cross-section perpendicular to the first axis, a line connecting the first axis and the second axis intersects a line connecting the fourth axis and the fifth axis; a second link assembly, a first end of the second link assembly being rotatably connected to the first phalanx about a sixth axis, a second end of the second link assembly being rotatably connected to the third phalanx about a seventh axis, wherein both the sixth axis and the seventh axis are parallel to the first axis, in a cross-section perpendicular to the first axis, a line connecting the second axis and the third axis intersects a line connecting the sixth axis and the seventh axis; a rotational drive assembly disposed on the first phalanx and connected to or abutted against the second phalanx for driving the second phalanx to rotate about the second axis.

[0006] In some implementations, the dexterous hand finger has a back side and a palm side that are arranged opposite to each other; the second phalanx includes a toggled part; the rotation drive assembly includes: a rotation drive member disposed on the first phalanx; a first engagement member connected to the rotation drive member and capable of rotating about an eighth axis under the drive of the rotation drive member, wherein the eighth axis is perpendicular to the second axis; a second engagement member rotatably connected to the first phalanx about a ninth axis and engaged with the first engagement member, the second engagement member includes a toggling part, and during the rotation of the second engagement member, the toggling part can abut against the toggled part to toggle the toggled part to rotate about the second axis towards the palm side or the back side, wherein the ninth axis is parallel to the second axis.

[0007] In some implementations, the second engagement member has a chute, the chute forms the toggling part, the toggled part extends into the chute, the chute has a first side wall and a second side wall that are oppositely arranged, the first side wall is located on the side of the toggled part facing the palm side, and the second side wall is located on the side of the toggled part facing the back side; when the toggling part rotates towards the palm side, the second side wall abuts against the toggled part to toggle the toggled part to rotate about the second axis towards the palm side; when the toggling part rotates towards the back side, the first side wall abuts against the toggled part to toggle the toggled part to rotate about the second axis towards the back side.

[0008] In some implementations, the dexterous hand finger further includes: a connecting member disposed on the second phalanx and located on the side of the third axis facing the back side; an elastic member, one end of the elastic member is connected to the side of the third phalanx facing the back side, and the other end of the elastic member is connected to the connecting member. When the dexterous hand finger is extended, the elastic member is in a stretched state or an undeformed state.

[0009] In some implementations, the ninth axis is located on the side of the second axis facing the palm side; the second engagement member further includes: a rotating connection part rotatably connected to the first phalanx about the ninth axis, and the toggling part is connected to the rotating connection part; a sector engagement part connected to the side of the rotating connection part facing the back side and engaged with the first engagement member.

[0010] In some implementations, along the circumferential direction of the ninth axis, a first end of the sector engagement part and a second end of the sector engagement part are oppositely arranged, the first end of the sector engagement part is located on the side of the second end of the sector engagement part facing the second phalanx; the toggling part is disposed at the first end of the sector engagement part.

[0011] In some implementations, the sector engagement part includes a plurality of helical teeth; the first engagement member is a helical gear or a worm, the first engagement member is located on the side of the second engagement member facing the back side, and the extending direction of the eighth axis is parallel to the extending direction when the dexterous hand finger is extended.

[0012] In some implementations, the shape of the rotary driving member may include an elongated strip, and the extending direction of the rotary driving member is parallel to the extending direction of the eighth axis.

[0013] In some implementations, the rotary drive member includes: a rotary output shaft, the rotary axis of the rotary output shaft is colinear with the extension direction of the eighth axis, the rotary output shaft is connected to the first engaging member, and is used to drive the first engaging member to rotate around the eighth axis; a rotary drive body, located on the side of the rotary output shaft away from the second finger joint, and is connected to the rotary output shaft, and is used to drive the rotary output shaft to rotate around the eighth axis; wherein the rotary output shaft protrudes out of the rotary drive body in the direction of the rotary drive body toward the second finger joint, and the second engaging member is located on the side of the rotary drive body toward the second finger joint and on the side of the rotary output shaft toward the palm side; the dimension of the rotary drive body along the extension direction of the first axis is smaller than the dimension of the rotary drive body along the direction from the palm side to the back of the hand side.

[0014] In some implementations, the first finger joint has an avoidance space, which is located on the side of the first finger joint facing the second finger joint, the first engaging member and the second engaging member are located in the avoidance space, the side of the first finger joint facing away from the second finger joint has a first opening, the first opening is connected to the avoidance space, the rotary drive body is located on the side of the first finger joint away from the second finger joint, and the rotary output shaft extends from the first opening into the avoidance space and is connected to the first engaging member.

[0015] In some implementations, the dexterous hand fingers are applied to the dexterous hand, which includes a palm substrate and at least one dexterous hand finger; the dexterous hand fingers also include: a side-swing drive component, connected to the support, used to drive the support to reciprocate around a tenth axis, and the tenth axis is perpendicular to the first axis; a spin drive component, connected to the side-swing drive component, which can be set on the palm substrate, and is used to drive the side-swing drive component to reciprocate around an eleventh axis, and the eleventh axis is perpendicular to the tenth axis and the palm substrate.

[0016] In some implementations, the spin drive assembly includes: a spin drive member that can be set on a palm base plate; a third engaging member connected to the spin drive member and capable of rotating around a twelfth axis under the drive of the spin drive member, wherein the twelfth axis is perpendicular to the eleventh axis; a fourth engaging member engaged with the third engaging member and connected to the side-swing drive assembly, the fourth engaging member capable of rotating around the eleventh axis driven by the third engaging member; a rotating base that can be set on the palm base plate, the fourth engaging member being rotatably connected to the rotating base around the eleventh axis.

[0017] In some implementations, the third meshing member is a helical gear or a worm, and the fourth meshing member is a helical gear.

[0018] In some implementations, the spin driver includes a shape that is elongated, and the extending direction of the spin driver is parallel to the extending direction of the twelfth axis.

[0019] In some implementations, the spin driver includes: a spin output shaft located on the side of the side-swing drive assembly away from the first phalanx. The rotation axis of the spin output shaft is collinear with the extending direction of the twelfth axis. The spin output shaft is connected to the third engaging member and is used to drive the third engaging member to rotate around the twelfth axis; a spin drive body located on the side of the side-swing drive assembly away from the first phalanx and on the side of the spin output shaft along the extending direction of the twelfth axis, and is connected to the spin output shaft and is used to drive the spin output shaft to rotate around the twelfth axis; wherein, the end face of the fourth engaging member on the side facing the first phalanx is connected to the side-swing drive assembly, and a rotating base is provided on the side of the fourth engaging member facing away from the first phalanx, and at least a part of the rotating base is located on the side of the third engaging member facing away from the side-swing drive assembly.

[0020] In a second aspect, an embodiment of the present application provides a dexterous hand, including: at least one dexterous hand finger mentioned in the first aspect.

[0021] In a third aspect, an embodiment of the present application provides a robot, including: at least one dexterous hand mentioned in the second aspect.

[0022] The dexterous hand finger provided in this embodiment includes at least three phalanges. The rotation drive assembly is arranged on the first phalanx and not on the palm of the dexterous hand, which is beneficial to reducing the size of the palm of the dexterous hand. And, in a cross-section perpendicular to the first axis, the connection line between the first axis and the second axis intersects with the connection line between the fourth axis and the fifth axis, and the connection line between the second axis and the third axis intersects with the connection line between the sixth axis and the seventh axis, so that the support member, the first phalanx, the second phalanx, the third phalanx, the first link assembly and the second link assembly form two series-connected four-bar linkages. While the rotation drive assembly arranged on the dexterous hand finger itself drives the second phalanx to rotate, the first phalanx and the third phalanx will rotate synchronously with the second phalanx, realizing the bending and stretching of the dexterous hand finger. The structure is simple, compact, has high rigidity, is stable and reliable, and can precisely control the movement trajectory and movement form of the dexterous hand finger, so as to meet the requirements of various complex tasks.

[0023] In addition, since the rotation drive assembly, the first link assembly and the second link assembly cooperate to realize the bending and stretching of the dexterous hand finger, other drive structures related to finger flexion and extension may not be provided in the third phalanx, and the length of the second link assembly can also be set to be smaller, so that the lengths of the second phalanx and the third phalanx can be set to be smaller, and thus the length of the dexterous hand finger can also be set to be smaller, and the weight of the dexterous hand finger can also be set to be smaller, so as to be applicable to small-sized dexterous hands and make the dexterous hand adapt to a wider range of application scenarios.

[0024] Meanwhile, the support member can be used to connect the palm substrate of the dexterous hand. The first phalanx becomes the phalanx closest to the palm of the dexterous hand when the finger of the dexterous hand is extended, so that the circumferential dimension corresponding to the first phalanx can be designed to be larger, and the rotary drive assembly is arranged on the first phalanx, which can make full and reasonable use of the space in the finger of the dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] By describing the embodiments of the present application in more detail with reference to the accompanying drawings, the above and other objects, features and advantages of the present application will become more obvious. The accompanying drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application, and do not constitute a limitation to the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0026] Figure 1 The figure shows a schematic structural diagram of a finger of a dexterous hand provided by an embodiment of the present application.

[0027] Figure 2 The figure shows a front view of a finger of a dexterous hand provided by an embodiment of the present application.

[0028] Figure 3 The figure shows a schematic structural diagram of a finger of a dexterous hand provided by another embodiment of the present application.

[0029] Figure 4 The figure shows a schematic structural diagram of a finger of a dexterous hand provided by an embodiment of the present application after removing the second phalanx.

[0030] Figure 5 The figure shows a schematic structural diagram of a finger of a dexterous hand provided by another embodiment of the present application after removing the second phalanx.

[0031] Figure 6 The figure shows a finger of a dexterous hand provided by an embodiment of the present application Figure 5 and a schematic cross-sectional view along line AA after removing the second phalanx of the finger of the dexterous hand.

[0032] Figure 7 The figure shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present application.

[0033] Figure 8 The figure shows a schematic structural diagram of a finger and a palm substrate of a dexterous hand provided by an embodiment of the present application.

[0034] Figure 9 The figure shows a schematic structural diagram of a finger of a dexterous hand provided by still another embodiment of the present application.

[0035] Figure 10 The figure shows a schematic structural diagram of a robot provided by an embodiment of the present application.

[0036] Reference numerals:

[0037] 1. Dexterous hand; 10. Dexterous hand fingers; 100. Dorsal side; 101. Palm side; 11. Support member; 12. First phalanx; 120. Phalanx housing; 121. Phalanx support member; 122. Avoidance space; 123. First opening; 13. Second phalanx; 130. Pushed part; 14. Third phalanx; 140. First arc groove; 1400. Second row stop end; 15. First link assembly; 150. First end of the first link assembly; 151. Second end of the first link assembly; 152. First link; 16. Second link assembly; 160. First end of the second link assembly; 161. Second end of the second link assembly; 162. Second link; 17. Rotary drive assembly; 170. Rotary drive member; 1700. Rotary output shaft; 1701. Rotary drive body; 171. First engaging member; 172. Second engaging member; 1720. Pushing part; 1721. Chute; 1722. First side wall; 1723. Second side wall; 1724. Rotating connection part; 1725. Sector engaging part; 1726. First end of the sector engaging part; 1727. Second end of the sector engaging part; 1728. First row stop end; 1729. Second arc groove; 18. Connecting member; 19. Elastic member; 20. Palm base plate; 30. Side swing drive assembly; 300. Side swing drive member; 301. Side swing connecting member; 302. Side swing base; 31. Spin drive assembly; 310. Spin drive member; 3100. Spin drive body; 311. Third engaging member; 312. Fourth engaging member; 313. Rotating base; 32. Connecting rotating shaft; 33. Tactile sensor; L1. First axis; L2. Second axis; L3. Third axis; L4. Fourth axis; L5. Fifth axis; L6. Sixth axis; L7. Seventh axis; L8. Eighth axis; L9. Ninth axis;

[0038] L10. Tenth axis; L11. Eleventh axis; L12. Twelfth axis. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0040] In the field of robotics, as a key component for simulating the functions of human or animal hands, the design and manufacture of dexterous hands have always been a research hotspot. The traditional design of dexterous hands aims to achieve high flexibility and precise operation capabilities to meet the requirements of complex tasks.

[0041] However, while pursuing functional diversity, existing dexterous hands often face a trade-off between size and performance. Dexterous hands on the current market, especially those designs with at least three phalanges to simulate human or animal fingers, generally have the problem of large size, which limits the application scenarios of dexterous hands. For example, in aerospace, medical surgery, precision assembly and other space-constrained occasions, large-sized dexterous hands are difficult to adapt. For applications that require high portability and flexibility, such as wearable robots, service robots, etc., large-sized dexterous hands obviously do not meet the requirements.

[0042] In view of the above problems, an embodiment of the present application provides a dexterous hand finger, including: a support member; a first phalanx rotatably connected to the support member about a first axis; a second phalanx rotatably connected to the first phalanx about a second axis, the second axis being parallel to the first axis; a third phalanx rotatably connected to the second phalanx about a third axis, the third axis being parallel to the first axis; a first link assembly, a first end of the first link assembly being rotatably connected to the support member about a fourth axis, a second end of the first link assembly being rotatably connected to the second phalanx about a fifth axis, both the fourth axis and the fifth axis being parallel to the first axis, in a cross-section perpendicular to the first axis, a line connecting the first axis and the second axis intersects a line connecting the fourth axis and the fifth axis; a second link assembly, a first end of the second link assembly being rotatably connected to the first phalanx about a sixth axis, a second end of the second link assembly being rotatably connected to the third phalanx about a seventh axis, wherein both the sixth axis and the seventh axis are parallel to the first axis, in a cross-section perpendicular to the first axis, a line connecting the second axis and the third axis intersects a line connecting the sixth axis and the seventh axis; a rotational drive assembly disposed on the first phalanx and connected or abutted to the second phalanx for driving the second phalanx to rotate about the second axis.

[0043] The dexterous hand finger provided by the embodiment of the present application includes at least three phalanges. The rotational drive assembly is disposed on the first phalanx instead of on the palm of the dexterous hand, which is beneficial to reducing the size of the palm of the dexterous hand. Moreover, in a cross-section perpendicular to the first axis, a line connecting the first axis and the second axis intersects a line connecting the fourth axis and the fifth axis, and a line connecting the second axis and the third axis intersects a line connecting the sixth axis and the seventh axis, so that the support member, the first phalanx, the second phalanx, the third phalanx, the first link assembly and the second link assembly form two series-connected four-bar linkages. While the rotational drive assembly disposed on the dexterous hand finger itself drives the second phalanx to rotate, the first phalanx and the third phalanx will rotate synchronously with the second phalanx, realizing the bending and stretching of the dexterous hand finger. The structure is simple, compact, high in rigidity, stable and reliable, and can accurately control the movement trajectory and movement form of the dexterous hand finger, so as to meet the requirements of various complex tasks.

[0044] In addition, since the rotation drive assembly, the first link assembly, and the second link assembly cooperate to achieve the bending and extension of the dexterous hand finger, other drive structures related to finger flexion and extension may not be provided in the third phalanx, and the length of the second link assembly can also be set to be smaller, so that the lengths of the second phalanx and the third phalanx can be set to be smaller, thereby enabling the length of the dexterous hand finger to be set to be smaller, and the weight of the dexterous hand finger can also be set to be smaller, so as to be applicable to small-sized dexterous hands and enable the dexterous hand to adapt to a wider range of application scenarios.

[0045] Meanwhile, the support member can be used to connect the palm substrate of the dexterous hand, and the first phalanx becomes the phalanx closest to the palm of the dexterous hand when the dexterous hand finger extends, so that the circumferential dimension corresponding to the first phalanx can be designed to be larger, and arranging the rotation drive assembly in the first phalanx can make full and reasonable use of the space in the dexterous hand finger.

[0046] The following describes the specific structures of the dexterous hand finger, the dexterous hand, and the robot in conjunction with the accompanying drawings and specific embodiments.

[0047] Figure 1 The figure shows a schematic structural diagram of a dexterous hand finger provided by an embodiment of the present application. Figure 2 The figure shows a front view of a dexterous hand finger provided by an embodiment of the present application. Figure 3 The figure shows a schematic structural diagram of a dexterous hand finger provided by another embodiment of the present application. Figure 4 The figure shows a schematic structural diagram of a dexterous hand finger provided by an embodiment of the present application after removing the second phalanx. Figure 5 The figure shows a schematic structural diagram of a dexterous hand finger provided by another embodiment of the present application after removing the second phalanx. Figure 6 The figure shows a dexterous hand finger provided by an embodiment of the present application Figure 5 A schematic cross-sectional view along line AA of the dexterous hand finger provided by an embodiment of the present application after removing the second phalanx. Figure 7 The figure shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present application.

[0048] As Figures 1 to 7 As shown in the figure, the dexterous hand finger 10 includes: a support member 11, a first phalanx 12, a second phalanx 13, a third phalanx 14, a first link assembly 15, a second link assembly 16, and a rotation drive assembly 17.

[0049] Exemplarily, the dexterous hand finger 10 can be applied to the dexterous hand 1. The dexterous hand 1 can be a structure that mimics the human or animal hand. The dexterous hand 1 can include a palm and fingers. Exemplarily, the dexterous hand 1 can include a palm substrate 20 and one or more dexterous hand fingers 10 disposed on the palm substrate 20. The dexterous hand fingers 10 can be used to form the fingers of the dexterous hand 1. The palm substrate 20 can be used to form the palm of the dexterous hand 1. The number of dexterous hand fingers 10 can be determined according to specific application scenarios and design requirements. Exemplarily, a dexterous hand 1 can include one, three, four, or five dexterous hand fingers 10.

[0050] The first phalanx 12 is rotatably connected to the support member 11 about the first axis L1. The second phalanx 13 is rotatably connected to the first phalanx 12 about the second axis L2, and the second axis L2 is parallel to the first axis L1. The third phalanx 14 is rotatably connected to the second phalanx 13 about the third axis L3, and the third axis L3 is parallel to the first axis L1.

[0051] Specifically, the phalanx can be a structural unit segmented along the length extension direction of the dexterous hand finger 10. The dexterous hand finger 10 can include a plurality of sequentially connected phalanges. The first phalanx 12, the second phalanx 13, and the third phalanx 14 can be three of at least three phalanges included in the dexterous hand finger 10.

[0052] Specifically, the support member 11 serves as the support for the rotation of the first phalanx 12. Exemplarily, the support member 11 can be used as a connecting component to connect the palm substrate 20.

[0053] The first end 150 of the first link assembly is rotatably connected to the support member 11 about the fourth axis L4, and the second end 151 of the first link assembly is rotatably connected to the second phalanx 13 about the fifth axis L5. Both the fourth axis and the fifth axis L5 are parallel to the first axis L1. In a cross-section perpendicular to the first axis L1, the connection line between the first axis L1 and the second axis L2 intersects the connection line between the fourth axis L4 and the fifth axis L5.

[0054] The first end 160 of the second link assembly is rotatably connected to the first phalanx 12 about the sixth axis L6, and the second end 161 of the second link assembly is rotatably connected to the third phalanx 14 about the seventh axis L7. Both the sixth axis L6 and the seventh axis L7 are parallel to the first axis L1. In a cross-section perpendicular to the first axis L1, the connection line between the second axis L2 and the third axis L3 intersects the connection line between the sixth axis L6 and the seventh axis L7.

[0055] Specifically, on the cross-section perpendicular to the first axis L1, the connection line between the first axis L1 and the second axis L2 intersects with the connection line between the fourth axis L4 and the fifth axis L5, which means that on the cross-section perpendicular to the first axis L1, the connection line between the first axis L1 and the second axis L2 intersects with the connection line between the fourth axis L4 and the fifth axis L5, and they are neither parallel nor collinear. Exemplarily, on the cross-section perpendicular to the first axis L1, the included angle between the connection line between the first axis L1 and the second axis L2 and the connection line between the fourth axis L4 and the fifth axis L5 can be 10 degrees, 30 degrees, 60 degrees or 90 degrees.

[0056] Similarly, on the cross-section perpendicular to the first axis L1, the connection line between the second axis L2 and the third axis L3 intersects with the connection line between the sixth axis L6 and the seventh axis L7, and they are neither parallel nor collinear. Exemplarily, on the cross-section perpendicular to the first axis L1, the included angle between the connection line between the second axis L2 and the third axis L3 and the connection line between the sixth axis L6 and the seventh axis L7 can be 10 degrees, 30 degrees, 60 degrees or 90 degrees.

[0057] The rotation drive assembly 17 is disposed on the first finger joint 12 and is connected or abutted against the second finger joint 13 for driving the second finger joint 13 to rotate around the second axis L2.

[0058] The rotation drive assembly 17 can be any structure capable of driving the second finger joint 13 to rotate around the second axis L2. Exemplarily, the rotation drive assembly 17 can include one or a combination of the following drive structures: motor, hydraulic motor, pneumatic motor, gear set, link set, transmission belt. Exemplarily, the rotation drive assembly 17 can include a motor and a link set. One end of the link set is rotatably connected to the second finger joint 13, and the other end of the link set is connected to the output shaft of the motor. The rotational movement of the output shaft of the motor is transmitted to the second finger joint 13 through the link set.

[0059] The support member 11, the first finger joint 12, the second finger joint 13, the third finger joint 14, the first link assembly 15 and the second link assembly 16 form two series-connected four-bar linkages. In the first four-bar linkage, the support member 11 is equivalent to the frame, the first finger joint 12 and the first link assembly 15 are equivalent to two crank links, the second finger joint 13 is equivalent to the connecting link, and the second finger joint 13 is the driving member. In the second four-bar linkage, the first finger joint 12 is equivalent to the frame, the second finger joint 13 and the second link assembly 16 are equivalent to two crank links, the third finger joint 14 is equivalent to the connecting link, and the second finger joint 13 is the driving member. When the second finger joint 13 rotates around the second axis L2, under the coupling action provided by the first link assembly 15 and the second link assembly 16, the first finger joint 12 and the third finger joint 14 will rotate in the same direction as the second finger joint 13 around the first axis L1 and the third axis L3 respectively.

[0060] In some application scenarios, the dexterous hand finger 10 has a back side 100 and a palm side 101 arranged opposite to each other. The rotation drive assembly 17 drives the second phalanx 13 to rotate relative to the first phalanx 12 around the second axis L2 towards the palm side 101. Driven by the second phalanx 13, the first phalanx 12 rotates relative to the support 11 around the first axis L1 towards the palm side 101. Driven by the second phalanx 13, the third phalanx 14 rotates relative to the second phalanx 13 around the third axis L3 towards the palm side 101, realizing the bending of the dexterous hand finger 10. Similarly, after the dexterous hand finger 10 is bent, the rotation drive assembly 17 drives the second phalanx 13 to rotate relative to the first phalanx 12 around the second axis L2 towards the back side 100. The first phalanx 12 and the third phalanx 14 will respectively rotate towards the back side 100 around the first axis L1 and the third axis L3, realizing the extension of the dexterous hand finger 10.

[0061] Exemplarily, as Figures 3 to 5 shown, the first link assembly 15 may include two first links 152. One ends of the two first links 152 are respectively arranged on two opposite sides of the support 11 along the extension direction of the fourth axis L4. The other ends of the two first links 152 are respectively arranged on two opposite sides of the second phalanx 13 along the extension direction of the fifth axis L5. One end of the first link 152 is rotatably connected to the support 11 around the fourth axis L4, and the other end of the first link 152 is rotatably connected to the second phalanx 13 around the fifth axis L5.

[0062] The first link assembly 15 includes two first links 152, and the two first links 152 are arranged at intervals along the extension direction of the fourth axis L4, which is beneficial to resisting the external radial torque, making the dexterous hand finger 10 not easily skew along the extension direction of the fourth axis L4, and is beneficial to improving the motion stability of the dexterous hand finger 10.

[0063] Exemplarily, as Figures 3 to 5 shown, the second link assembly 16 may include two second links 162. One ends of the two second links 162 are respectively arranged on two opposite sides of the first phalanx 12 along the extension direction of the sixth axis L6. The other ends of the two second links 162 are respectively arranged on two opposite sides of the third phalanx 14 along the extension direction of the seventh axis L7. One end of the first link 152 is rotatably connected to the first phalanx 12 around the sixth axis L6, and the other end of the first link 152 is rotatably connected to the third phalanx 14 around the seventh axis L7.

[0064] The second link assembly 16 includes two second links 162, and the two second links 162 are arranged at intervals along the extension direction of the sixth axis L6, which is beneficial to resisting the external radial torque, making the dexterous hand finger 10 not easily skew along the extension direction of the sixth axis L6, and is beneficial to further improving the motion stability of the dexterous hand finger 10.

[0065] Exemplarily, the first link 152 and the second link 162 can be straight rods, bent rods, or arc-shaped rods. The shapes of the two first links 152 can be the same or different. The shapes of the two second links 162 can be the same or different. The specific shapes and quantities of the first link 152 and the second link 162 can be set according to actual requirements, and are not specifically limited in this embodiment.

[0066] Exemplarily, as Figure 1 shown, the circumferential dimensions of the first phalanx 12, the second phalanx 13, and the third phalanx 14 decrease in sequence.

[0067] Exemplarily, as Figures 1 to 5 shown, the first phalanx 12 can include a phalanx housing 120 and a phalanx support 121. The phalanx housing 120 has a first accommodation space communicating with the outside. At least a part of the phalanx support 121 is located in the first accommodation space. The rotary drive assembly 17 is disposed on the phalanx support 121 and is located in the first accommodation space. One end of the second phalanx 13 rotatably connected to the first phalanx 12 can be located in the first accommodation space. The second end 151 of the first link assembly extends into the first accommodation space and is rotatably connected to the second phalanx 13. By providing the phalanx housing 120 and the phalanx support 121, the phalanx housing 120 can accommodate the phalanx support 121, the rotary drive assembly 17, and the first link assembly 15, achieving protection for the phalanx support 121, the rotary drive assembly 17, and the first link assembly 15, and increasing the aesthetics of the finger 10 of the dexterous hand.

[0068] Exemplarily, the second phalanx 13 can have a second accommodation space. At least a part of the second link assembly 16 and one end of the third phalanx 14 rotatably connected to the second phalanx 13 can be located in the second accommodation space to protect the second link assembly 16 and further increase the aesthetics of the finger 10 of the dexterous hand.

[0069] The finger of the dexterous hand provided by the embodiment of the present application includes at least three phalanges. The rotation driving assembly is arranged on the first phalanx and not on the palm of the dexterous hand, which is beneficial to reducing the size of the palm of the dexterous hand. Moreover, in the cross-section perpendicular to the first axis, the connection line between the first axis and the second axis intersects with the connection line between the fourth axis and the fifth axis, and the connection line between the second axis and the third axis intersects with the connection line between the sixth axis and the seventh axis, so that the support member, the first phalanx, the second phalanx, the third phalanx, the first link assembly and the second link assembly form two series-connected four-bar linkages. While the rotation driving assembly arranged on the finger of the dexterous hand itself drives the second phalanx to rotate, the first phalanx and the third phalanx will rotate synchronously with the second phalanx, realizing the bending and stretching of the finger of the dexterous hand. The structure is simple, compact, high in rigidity, stable and reliable, and can accurately control the movement trajectory and movement form of the finger of the dexterous hand, so as to meet the requirements of various complex tasks.

[0070] In addition, since the rotation driving assembly, the first link assembly and the second link assembly cooperate to realize the bending and stretching of the finger of the dexterous hand, other driving structures related to the flexion and extension of the finger may not be arranged in the third phalanx, and the length of the second link assembly can also be set to be smaller, so that the lengths of the second phalanx and the third phalanx can be set to be smaller, and thus the length of the finger of the dexterous hand can also be set to be smaller, and the weight of the finger of the dexterous hand can also be set to be smaller, so as to be applicable to small-sized dexterous hands and make the dexterous hand adapt to a wider range of application scenarios.

[0071] At the same time, the support member can be used to connect the palm substrate of the dexterous hand. The first phalanx becomes the phalanx closest to the palm of the dexterous hand when the finger of the dexterous hand is extended, so that the circumferential dimension corresponding to the first phalanx can be designed to be larger. Arranging the rotation driving assembly on the first phalanx can make full and reasonable use of the space in the finger of the dexterous hand.

[0072] In some embodiments, the finger 10 of the dexterous hand has a dorsum side 100 and a palm side 101 arranged opposite to each other. The second phalanx 13 includes a toggled portion 130.

[0073] The rotation driving assembly 17 includes: a rotation driving member 170, a first engaging member 171 and a second engaging member 172. The rotation driving member 170 is arranged on the first phalanx 12. The first engaging member 171 is connected to the rotation driving member 170. The first engaging member 171 can rotate around the eighth axis L8 under the drive of the rotation driving member 170. The eighth axis L8 is perpendicular to the second axis L2.

[0074] The second engagement member 172 is rotatably connected to the first finger joint 12 around the ninth axis L9, and is engaged with the first engagement member 171. The second engagement member 172 includes a toggle portion 1720. During the rotation of the second engagement member 172, the toggle portion 1720 can abut against the toggle portion 130 to toggle the toggle portion 130 to rotate around the second axis L2 toward the palm side 101 or the back side 100. The ninth axis L9 is parallel to the second axis L2.

[0075] Specifically, the back side 100 and the palm side 101 are used to clarify the orientation of different surfaces of the dexterous hand finger 10. The back side 100 can be the side of the dexterous hand finger 10 facing the back of the hand. The palm side 101 can be the side of the dexterous hand finger 10 facing the palm or away from the back of the hand. The dexterous hand finger 10 can be bent toward the palm side 101, and can also be stretched toward the back side 100.

[0076] In some application scenarios, such as Figures 3 to 6 As shown, the rotary drive member 170 drives the first meshing member 171 to rotate along the first rotation direction around the eighth axis L8, the first meshing member 171 drives the second meshing member 172 to rotate counterclockwise around the ninth axis L9, and the toggle portion 1720 also rotates counterclockwise around the ninth axis L9. After the toggle portion 1720 rotates to abut against the toggle portion 130, the toggle portion 130 rotates counterclockwise around the second axis L2 under the toggle of the toggle portion 1720, and the second finger joint 13 also rotates counterclockwise around the second axis L2 under the drive of the toggle portion 130. The first finger joint 12 rotates around the first axis L1 relative to the support member 11 toward the palm side 101 under the drive of the second finger joint 13, and the third finger joint 14 rotates around the third axis L3 relative to the second finger joint 13 toward the palm side 101 under the drive of the second finger joint 13, thereby realizing the bending of the finger 10 of the dexterous hand toward the palm side 101.

[0077] After the dexterous finger 10 is bent toward the palm side 101, the rotating driving member 170 drives the first engaging member 171 to rotate around the eighth axis L8 along the second rotation direction. The second rotation direction is opposite to the first rotation direction. The first engaging member 171 drives the second engaging member 172 to rotate clockwise around the ninth axis L9, and the toggle portion 1720 also rotates clockwise around the ninth axis L9. After the moving part 1720 rotates until it abuts against the moved part 130, the moved part 130 rotates clockwise around the second axis L2 under the movement of the moving part 1720, and the second knuckle 13 also rotates clockwise around the second axis L2 under the drive of the moved part 130. The first knuckle 12 rotates around the first axis L1 relative to the support member 11 toward the back of the hand 100 under the drive of the second knuckle 13. The third knuckle 14 rotates around the third axis L3 relative to the second knuckle 13 toward the back of the hand 100 under the drive of the second knuckle 13, thereby realizing the extension of the fingers 10 of the dexterous hand toward the back of the hand 100.

[0078] The rotation driving member 170 can be any structure capable of driving the first engaging member 171 to rotate around the eighth axis L8. Exemplarily, the rotation driving member 170 can include one or a combination of the following driving structures: a motor, a hydraulic motor, a pneumatic motor, a gear set, a link set, a transmission belt. Exemplarily, the rotation driving member 170 can include a servo motor system. For example, the rotation driving member 170 can include a steering gear.

[0079] Specifically, since the eighth axis L8 is perpendicular to the second axis L2 and the ninth axis L9 is parallel to the second axis L2, the eighth axis L8 is perpendicular to the ninth axis L9. By setting the eighth axis L8 perpendicular to the ninth axis L9, the meshing of the first engaging member 171 and the second engaging member 172 can change the transmission direction of the rotation driving member 170. Since the dimension of the rotation driving member 170 along the extending direction of the eighth axis L8 is usually larger than the dimension of the rotation driving member 170 along the direction perpendicular to the extending direction of the eighth axis L8, setting the eighth axis L8 perpendicular to the ninth axis L9 can reduce the dimension of the dexterous hand finger 10 along the extending direction of the second axis L2. Since the dexterous hand 1 includes the dexterous hand finger 10 and the dexterous hand finger 10 is connected to the palm substrate 20, setting the eighth axis L8 perpendicular to the ninth axis L9 is also beneficial to reducing the width of the palm of the dexterous hand 1.

[0080] Exemplarily, the shape of the rotation driving member 170 can be elongated, and the extending direction of the rotation driving member 170 is parallel to the extending direction when the dexterous hand finger 10 extends. Exemplarily, the extending direction of the eighth axis L8 is parallel to the extending direction when the dexterous hand finger 10 extends. Since the dimension of the rotation driving member 170 along the extending direction of the eighth axis L8 is usually larger, such a setting enables the dimension of the dexterous hand finger 10 along the back of the hand side 100 towards the palm side 101 to be set smaller.

[0081] Exemplarily, the first engaging member 171 and the second engaging member 172 can be complete gears, or can be incomplete gears including multiple teeth, and the angle of the multiple teeth of the incomplete gear around the rotation axis of the engaging member can be less than 360 degrees. Exemplarily, the first engaging member 171 and the second engaging member 172 can both include multiple bevel teeth, or can both include multiple helical teeth. Exemplarily, the first engaging member 171 can be a worm and the second engaging member 172 can be a worm wheel. The specific shapes and types of the first engaging member 171 and the second engaging member 172 can be set according to actual needs, and are not specifically limited in this embodiment.

[0082] Exemplarily, the knuckle support 121 has a third accommodation space, a first opening 123 and a second opening. The third accommodation space communicates with the outside through the first opening 123 and the second opening. The rotary drive member 170 can be disposed on the side of the knuckle support 121 facing away from the second knuckle 13. The rotary drive member 170 extends into the third accommodation space through the first opening 123 and is connected to the first engagement member 171. At least a part of the first engagement member 171 and the second engagement member 172 is disposed in the third accommodation space. The third accommodation space communicates with the second accommodation space, and the actuated part 130 is disposed in the second accommodation space. The actuating part 1720 can extend into the second accommodation space through the second opening to abut against the actuated part 130. By providing the third accommodation space, the first opening 123 and the second opening, the knuckle support 121 and the second knuckle 13 accommodate the first engagement member 171, the second engagement member 172 and the actuated part 130, making it difficult for components such as the first engagement member 171, the second engagement member 172 and the actuated part 130 to directly contact the outside or be exposed to the outside, achieving the protection of these components and increasing the aesthetics of the dexterous hand finger 10.

[0083] For the dexterous hand finger provided in this embodiment, the first engagement member can rotate around the eighth axis under the drive of the rotary drive member. The eighth axis is perpendicular to the second axis. The second engagement member is rotatably connected to the first knuckle around the ninth axis and meshes with the first engagement member. During the rotation of the second engagement member, the actuating part of the second engagement member can abut against the actuated part to actuate the actuated part to rotate around the second axis towards the palm side or the back side of the hand. The ninth axis is parallel to the second axis. By driving the first engagement member and the second engagement member to rotate through the rotary drive member, the actuating part of the second engagement member actuates the second knuckle to rotate around the second axis, thereby bending or extending the dexterous hand finger. The structure is simple and compact, the control is simple, accurate and reliable, and it is beneficial to reduce the size of the dexterous hand finger.

[0084] In addition, the dimension of the rotary drive member in the extending direction of the eighth axis is usually large. By arranging the eighth axis perpendicular to the ninth axis, the meshing of the first engagement member and the second engagement member can change the transmission direction of the rotary drive member, so that the extending direction of the rotary drive member can be perpendicular to the ninth axis, and further the dimension of the dexterous hand finger in the extending direction of the second axis can be set to be smaller. Further, the extending direction of the eighth axis can be set to be parallel to the extending direction of the dexterous hand finger after extension. Since the dimension of the rotary drive member in the extending direction of the eighth axis is usually large, such an arrangement enables the circumferential dimension of the dexterous hand finger to be set to be smaller.

[0085] In some embodiments, such as Figure 6As shown, the second engagement member 172 has a slide groove 1721. The slide groove forms a toggle portion 1720. The toggle portion 130 extends into the slide groove 1721. The slide groove 1721 has a first side wall 1722 and a second side wall 1723 that are arranged opposite to each other. The first side wall 1722 is located on a side of the toggle portion 130 that faces the palm side 101. The second side wall 1723 is located on a side of the toggle portion 130 that faces the back of the hand side 100.

[0086] When the toggling part 1720 rotates toward the palm side 101, the second side wall 1723 abuts against the toggled part 130 to toggle the toggled part 130 to rotate around the second axis L2 toward the palm side 101. When the toggling part 1720 rotates toward the back of the hand 100, the first side wall 1722 abuts against the toggled part 130 to toggle the toggled part 130 to rotate around the second axis L2 toward the back of the hand 100.

[0087] In some application scenarios, the toggling part 1720 rotates toward the palm side 101, the second side wall 1723 abuts against the toggled part 130, and the toggled part 130 is toggled to rotate toward the palm side 101 around the second axis L2, so that the second knuckle 13 rotates toward the palm side 101, and the finger 10 of the dexterous hand is bent. After the finger 10 of the dexterous hand is bent, the toggling part 1720 rotates toward the back of the hand 100, the first side wall 1722 abuts against the toggled part 130, and the toggled part 130 is toggled to rotate toward the back of the hand 100 around the second axis L2, so that the second knuckle 13 rotates toward the back of the hand 100, and the finger 10 of the dexterous hand is extended.

[0088] Illustratively, during the rotation of the second engagement member 172 , the moved portion 130 reciprocates in the slide groove 1721 along the extension direction of the slide groove 1721 .

[0089] Exemplarily, the slide groove 1721 can be a straight groove, an arc groove, a U-shaped groove or an involute groove. Exemplarily, the first side wall 1722 and the second side wall 1723 are relatively arranged along the extension direction perpendicular to the slide groove 1721. The slide groove 1721 in this embodiment is a straight groove. The first side wall 1722 and the second side wall 1723 are planes. The shape and position of the slide groove 1721 can be set according to actual needs, and this embodiment does not specifically limit it.

[0090] For example, Figure 6 As shown, along the extension direction of the slide groove 1721, the slide groove 1721 has two first stop ends 1728. The first stop ends 1728 are used to limit the travel of the toggled portion 130 in the slide groove 1721 along the extension direction of the slide groove 1721. The two first stop ends 1728 can provide limit protection to prevent the second knuckle 13 from rotating abnormally due to an abnormal rotation of the rotation drive member 170 or an external force on the dexterous hand finger 10, thereby preventing the dexterous hand finger 10 from being damaged.

[0091] The finger of the dexterous hand provided in this embodiment has a second engaging part with a slide groove, which forms a toggle part, and the toggle part extends into the slide groove, and the slide groove has a first side wall and a second side wall arranged opposite to each other, the first side wall is located on the side of the toggle part facing the palm, and the second side wall is located on the side of the toggle part facing the back of the hand. The toggle part is toggled around the second axis toward the palm side or the back of the hand by the first side wall and the second side wall, so that the second knuckle rotates toward the palm side or the back of the hand, thereby realizing the bending and extension of the finger of the dexterous hand. The structure is simple and compact, which is conducive to reducing the size of the finger of the dexterous hand.

[0092] In some embodiments, Figure 4 and Figure 6 As shown, the dexterous finger 10 further includes a connecting member 18 and an elastic member 19 .

[0093] The connecting member 18 is disposed on the second knuckle 13 and is located on the side of the third axis L3 facing the back of the hand 100. One end of the elastic member 19 is connected to the side of the third knuckle 14 facing the back of the hand 100, and the other end of the elastic member 19 is connected to the connecting member 18. When the finger 10 of the dexterous hand is extended, the elastic member 19 is in an elongated state or an undeformed state.

[0094] Since the moved part 130 can be rotated only after the side wall of the slide groove 1721 abuts against the moved part 130, it is possible that the side wall of the slide groove 1721 does not abut against the moved part 130, resulting in a larger gap between the second knuckle 13 and the third knuckle 14 on the back of the hand 100.

[0095] Since the connecting member 18 is disposed on the second knuckle 13 and is located on the side of the third axis L3 facing the back of the hand 100, one end of the elastic member 19 is connected to the side of the third knuckle 14 facing the back of the hand 100, and the other end of the elastic member 19 is connected to the connecting member 18, when the second knuckle 13 rotates toward the palm side 101 relative to the first knuckle 12, that is, when the finger 10 of the dexterous hand is bent, and when the second knuckle 13 rotates toward the back of the hand 101 relative to the first knuckle 12, that is, When the finger 10 of the dexterous hand is bent and then extended, the distance between the connecting member 18 and the end of the elastic member 19 connected to the third knuckle 14 is larger than that when the finger 10 of the dexterous hand is extended, and the elastic member 19 is elongated. Under the pulling force of the elastic member 19, when the side wall of the slide groove 1721 does not abut against the moved portion 130, the third knuckle 14 rotates relative to the second knuckle 13 toward the back of the hand 100, thereby eliminating the gap between the second knuckle 13 and the third knuckle 14 on the back of the hand 100. Due to the coupling of the rotational motion of the three knuckles, such a setting can eliminate the gap between the support member 11, the first knuckle 12, the second knuckle 13 and the third knuckle 14 on the back of the hand 100, making the operation of the finger 10 of the dexterous hand more precise.

[0096] Exemplarily, the elastic member 19 can be made of an elastic material or have elasticity through an elastic structure. Exemplarily, the elastic member 19 can include a spring, a rubber cord, a silicone elastic band, etc.

[0097] Exemplarily, as Figure 6 shown, the third phalanx 14 further has a first arc-shaped groove 140. The first arc-shaped groove 140 extends circumferentially around the third axis L3 and is located on the side of the third axis L3 facing the back of the hand 100. The connecting member 18 is located in the second accommodating space and extends in a direction parallel to the extending direction of the third axis L3. The two ends of the connecting member 18 are respectively connected to the two opposite sides of the second phalanx 13 along the extending direction of the third axis L3. The connecting member 18 passes through the first arc-shaped groove 140. When the third phalanx 14 rotates relative to the second phalanx 13, the connecting member 18 reciprocates circumferentially along the third axis L3 in the first arc-shaped groove 140. The first arc-shaped groove 140 can play an avoidance role. The connecting member 18 extends in a direction parallel to the extending direction of the third axis L3, and the two ends of the connecting member 18 are respectively connected to the two opposite sides of the second phalanx 13 along the extending direction of the fourth axis L4, which can increase the rigidity of the second phalanx 13 and the connection strength between the connecting member 18 and the second phalanx 13, so that the finger 10 of the dexterous hand bends and extends smoothly.

[0098] Exemplarily, as Figure 4 and Figure 6 shown, circumferentially along the third axis L3, the first arc-shaped groove 140 includes two relatively arranged second end stops 1400. The second end stops 1400 are used to define the stroke of the connecting member 18 moving along the extending direction of the first arc-shaped groove 140 in the first arc-shaped groove 140. The two second end stops 1400 can provide limit protection to prevent the rotation angle of the third phalanx 14 from being abnormal due to the abnormality of the rotation drive assembly 17 or the external force on the finger 10 of the dexterous hand, resulting in damage to the finger 10 of the dexterous hand.

[0099] Exemplarily, as Figure 2 and Figure 6 shown, the finger 10 of the dexterous hand can be a thumb, and in the case where the finger 10 of the dexterous hand extends, the third phalanx 14 tilts towards the back of the hand 100. Such a setting enables the dexterous hand 1 to make gestures such as giving a thumbs up and making a heart, which requires the fingertip to tilt, increasing the anthropomorphism of the robot and improving the user experience.

[0100] Exemplarily, the third phalanx 14 has a fourth accommodating space. At least part of the elastic member 19 can be arranged in the fourth accommodating space. This can make it difficult for the elastic member 19 to directly contact the outside or be exposed to the outside, realizing the protection of the elastic member 19 and increasing the aesthetics of the finger 10 of the dexterous hand. Exemplarily, the elastic member 19 is connected to the end of the third phalanx 14 far from the second phalanx 13.

[0101] The dexterous hand finger provided in this embodiment also includes a connecting member and an elastic member. The connecting member is arranged on the second knuckle and is located on the side of the third axis facing the back of the hand. One end of the elastic member is connected to the side of the third knuckle facing the back of the hand, and the other end of the elastic member is connected to the connecting member. When the dexterous hand finger is stretched, the elastic member is in an elongated state or an undeformed state. During the bending process of the dexterous hand finger and the stretching process after bending, the distance between the connecting member and the end of the elastic member connected to the third knuckle is larger than that when the dexterous hand finger is stretched. The elastic member is stretched and, under the tensile force of the elastic member, when the side wall of the slide groove does not abut against the moved part, the third knuckle rotates relative to the second knuckle toward the back of the hand, thereby eliminating the gap between the second knuckle and the third knuckle on the back of the hand. Due to the rotational motion coupling of the three knuckles, such a setting can eliminate the gap between the support member, the first knuckle, the second knuckle and the third knuckle on the back of the hand, making the operation of the dexterous hand finger more precise.

[0102] In some embodiments, Figure 6 As shown, the ninth axis L9 is located on the side of the second axis L2 facing the palm side 101. The second engagement member 172 further includes: a rotation connection portion 1724 and a fan-shaped engagement portion 1725. The rotation connection portion 1724 is rotatably connected to the first finger joint 12 around the ninth axis L9, and the toggle portion 1720 is connected to the rotation connection portion 1724. The fan-shaped engagement portion 1725 is connected to the side of the rotation connection portion 1724 facing the back of the hand side 100, and is engaged with the first engagement member 171.

[0103] Since the ninth axis L9 is located on the side of the second axis L2 facing the palm side 101, the portion of the second engaging member 172 for engaging with the first engaging member 171 is connected to the side of the rotating connection portion 1724 facing the back of the hand 100, and the rotation angle of the second knuckle 13 is usually less than 360 degrees. Therefore, the side of the ninth axis L9 in the second engaging member 172 facing the palm side 101 may not be provided with teeth for engaging with the first engaging member 171, so that the portion of the second engaging member 172 for engaging with the first engaging member 171 can be set to be fan-shaped, forming a fan-shaped engaging portion 1725, so that the size of the dexterous hand finger 10 along the palm side 101 toward the back of the hand 100 can be set smaller.

[0104] Exemplarily, the rotation connection portion 1724 may be an axial hole or a rotating shaft. Exemplarily, the central angle corresponding to the sector-shaped meshing portion 1725 may be greater than or equal to 90 degrees and less than 180 degrees. For example, the central angle corresponding to the sector-shaped meshing portion 1725 may be 90 degrees, 120 degrees, or 150 degrees.

[0105] Exemplarily, the second engaging member 172 further includes a second arc-shaped groove 1729, which is arranged circumferentially around the ninth axis L9. The dexterous hand finger 10 further includes a connecting rotating shaft 32. The central axis of the connecting rotating shaft 32 extends along the extending direction of the ninth axis L9. The first finger joint 12 and the second finger joint 13 are rotatably connected through the connecting rotating shaft 32. The connecting rotating shaft 32 is located in the first accommodating space. The first finger joint 12 has two first shaft holes oppositely arranged along the second axis L2. The second finger joint 13 has two second shaft holes oppositely arranged along the second axis L2. The connecting rotating shaft 32 can sequentially pass through a first shaft hole, a second shaft hole, the second arc-shaped groove 1729, another second shaft hole, and another first shaft hole. The first finger joint 12 and the second finger joint 13 are rotatably connected through the connecting rotating shaft 32. During the rotation of the second engaging member 172, the connecting rotating shaft 32 reciprocally moves in the second arc-shaped groove 1729 along the extending direction of the second arc-shaped groove 1729.

[0106] By sequentially passing the connecting rotating shaft 32 through a first shaft hole, a second shaft hole, another second shaft hole, and another first shaft hole, the rotatable connection between the first finger joint 12 and the second finger joint 13 is realized, which is beneficial to improving the torsional stiffness of the rotatable connection between the first finger joint 12 and the second finger joint 13, and improving the torsional stiffness and service life of the dexterous hand finger 10. The second arc-shaped groove 1729 can play an avoidance role, allowing the connecting rotating shaft 32 to pass through a first shaft hole and a second shaft hole, and then to pass through another second shaft hole and another first shaft hole.

[0107] Exemplarily, along the circumferential direction of the ninth axis L9, the second arc-shaped groove 1729 includes two oppositely arranged third end stops. The third end stops are used to limit the stroke of the connecting rotating shaft 32 moving in the second arc-shaped groove 1729 along the extending direction of the second arc-shaped groove 1729. The two third end stops can provide limit protection to prevent the abnormal rotation angle of the first finger joint 12 caused by the abnormality of the rotation driving member 170 or the external force on the dexterous hand finger 10, resulting in the damage of the dexterous hand finger 10.

[0108] For the dexterous hand finger provided in this embodiment, the ninth axis is located on the palm side of the second axis. The rotating connection part is rotatably connected to the first finger joint around the ninth axis. The fan-shaped engaging part is connected to the back side of the rotating connection part and meshes with the first engaging member, so that the part on the palm side of the ninth axis in the second engaging member can be not provided with teeth for meshing with the first engaging member, and the part of the second engaging member for meshing with the first engaging member can be set as a fan shape to form a fan-shaped engaging part, so that the size of the dexterous hand finger along the palm side towards the back side can be set smaller.

[0109] In some embodiments, along the circumference of the ninth axis L9, the first end 1726 of the sector-shaped engagement portion and the second end 1727 of the sector-shaped engagement portion are disposed opposite to each other. The first end 1726 of the sector-shaped engagement portion is located on the side of the second end 1727 of the sector-shaped engagement portion facing the second knuckle 13. The toggle portion 1720 is disposed at the first end 1726 of the sector-shaped engagement portion.

[0110] Since the moved part 130 belongs to the second knuckle 13, when the moved part 130 is moved by the end of the fan-shaped engaging part 1725 away from the second knuckle 13 or the middle part of the fan-shaped engaging part 1725, the second engaging member 172 rotates so that the end of the fan-shaped engaging part 1725 close to the second knuckle 13 passes through the moved part 130, and then needs to continue to rotate to make the end of the fan-shaped engaging part 1725 away from the second knuckle 13 or the middle part of the fan-shaped engaging part 1725 abut against the moved part 130, resulting in the second engaging member 172 requiring a relatively large movement space, which can easily cause the size of the dexterous hand finger 10 along the palm side 101 toward the back of the hand side 100 to be larger.

[0111] Therefore, the activation portion 1720 is disposed at one end of the fan-shaped engagement portion 1725 close to the second knuckle 13, which can reduce the movement space required by the second engagement member 172, and is beneficial to reducing the size of the dexterous hand finger 10 along the palm side 101 toward the back side 100.

[0112] Exemplarily, the second knuckle 13 includes a lever. The lever forms a toggled portion 130. The extension direction of the lever is parallel to the second axis L2. The lever is located in the second accommodation space, and both ends of the lever are connected to the inner wall of the second knuckle 13. In this way, the contact area between the toggled portion 130 and the toggling portion 1720 can be increased, so that the toggling portion 1720 can accurately and smoothly contact and toggle the toggled portion 130. The toggling portion 130 being located in the second accommodation space can also increase the aesthetics of the dexterous finger 10.

[0113] For example, the toggle portion 1720 protrudes a fan-shaped meshing portion 1725 in a direction away from the ninth axis L9. This allows the toggle portion 1720 to have a larger force arm to toggle the toggle portion 130, while the radius corresponding to the fan-shaped meshing portion 1725 can be set smaller, which is beneficial to further reduce the size of the dexterous hand finger 10 along the direction from the palm side 101 to the back side 100 and the length of the dexterous hand finger 10.

[0114] The dexterous hand finger provided in this embodiment has the first end of the fan-shaped meshing portion and the second end of the fan-shaped meshing portion arranged relatively to each other along the circumferential direction of the ninth axis, the first end of the fan-shaped meshing portion is located on the side of the second end of the fan-shaped meshing portion facing the second knuckle, and the shifting portion is arranged at the first end of the fan-shaped meshing portion, which can reduce the movement space required by the second meshing member, and is beneficial to reducing the size of the dexterous hand finger along the palm side toward the back of the hand side.

[0115] In some embodiments, as Figure 6 shown, the sector engagement portion 1725 includes a plurality of helical teeth. The first engagement member 171 is a helical gear or a worm. The first engagement member 171 is located on the side of the second engagement member 172 facing the back of the hand side 100, and the extending direction of the eighth axis L8 is parallel to the extending direction when the dexterous hand finger 10 extends.

[0116] Since the eighth axis L8 is perpendicular to the ninth axis L9, the engagement form between the first engagement member 171 and the second engagement member 172 can be two helical gears engaging, a helical gear engaging with a worm, a worm and worm gear engaging, or two bevel gears engaging. When two bevel gears engage, one bevel gear needs to be arranged on the end face of the other bevel gear. That is to say, if both the first engagement member 171 and the second engagement member 172 are bevel gears, the first engagement member 171 needs to be located on one side of the two sides of the second engagement member 172 arranged oppositely along the extending direction of the ninth axis L9, so that the dimension of the dexterous hand finger 10 along the extending direction of the ninth axis L9 is larger. When the dexterous hand finger 10 is connected to the palm substrate 20, it is easy to increase the width of the palm of the dexterous hand 1. In addition, if the first engagement member 171 is a worm and the second engagement member 172 is a worm wheel, self-locking is likely to occur when the first engagement member 171 and the second engagement member 172 drive in the reverse direction, resulting in unsmooth transmission.

[0117] Therefore, the sector engagement portion 1725 includes a plurality of helical teeth, and the first engagement member 171 is a helical gear or a worm. Then, the first engagement member 171 can be arranged on the circumferential side surface of the second engagement member 172 around the ninth axis L9 instead of the end face, so that the dimension of the dexterous hand finger 10 along the ninth axis L9 is smaller, which is beneficial to reducing the width of the palm of the dexterous hand 1, and the forward and reverse transmissions of the first engagement member 171 and the second engagement member 172 are both smooth and stable.

[0118] For the dexterous hand finger provided by the embodiment of the present application, the sector engagement portion includes a plurality of helical teeth, and the first engagement member is a helical gear or a worm, so that the first engagement member can be arranged on the circumferential side surface of the second engagement member around the ninth axis instead of the end face of the second engagement member, so that the dimension of the dexterous hand finger along the ninth axis can be set to be smaller. In addition, since the extending direction of the eighth axis is parallel to the extending direction when the dexterous hand finger extends, the first engagement member is located on the side of the second engagement member facing the back of the hand. Since the dimension of the rotary drive member along the extending direction of the eighth axis is usually larger, such an arrangement enables the circumferential dimension of the dexterous hand finger to be set to be smaller.

[0119] In some embodiments, the shape of the rotation driving member 170 may include an elongated shape, and the extending direction of the rotation driving member 170 is parallel to the extending direction of the eighth axis L8. Since the dimension of the rotation driving member 170 in the extending direction of the eighth axis L8 is large, such a setting enables the dimension of the dexterous hand finger 10 in the direction from the back side 100 towards the palm side 101 to be set smaller.

[0120] In some embodiments, the rotation driving member 170 includes a rotation output shaft 1700 and a rotation driving main body 1701. The rotation axis of the rotation output shaft 1700 is collinear with the extending direction of the eighth axis L8. The rotation output shaft 1700 is connected to the first engaging member 171 and is used to drive the first engaging member 171 to rotate around the eighth axis L8. The rotation driving main body 1701 is located on the side of the rotation output shaft 1700 away from the second phalanx 13 and is connected to the rotation output shaft 1700, and is used to drive the rotation output shaft 1700 to rotate around the eighth axis L8.

[0121] The rotation output shaft 1700 protrudes from the rotation driving main body 1701 in the direction of the rotation driving main body 1701 towards the second phalanx 13. The second engaging member 172 is located on the side of the rotation driving main body 1701 towards the second phalanx 13 and on the side of the rotation output shaft 1700 towards the palm side 101. The dimension of the rotation driving main body 1701 in the extending direction of the first axis L1 is smaller than the dimension of the rotation driving main body 1701 in the direction from the palm side 101 towards the back side 100.

[0122] Exemplarily, the rotation driving main body 1701 is located on the side of the rotation output shaft 1700 away from the second phalanx 13 in the extending direction of the eighth axis L8.

[0123] For the dexterous hand finger provided in this embodiment, the rotation axis of the rotation output shaft is collinear with the extending direction of the eighth axis, the rotation driving main body is located on the side of the rotation output shaft away from the second phalanx, and the rotation output shaft protrudes from the rotation driving main body in the direction of the rotation driving main body towards the second phalanx, so that the space on the side of the rotation driving main body facing the rotation output shaft and on the side of the rotation output shaft facing the palm side is vacated, enabling the second engaging member to be arranged in the vacated space, thereby making the distance between the rotation output shaft, the rotation driving main body, the first engaging member and the second engaging member smaller, the positional relationship of each component closer, the structure more compact, and further reducing the circumferential dimension of the dexterous hand finger.

[0124] In addition, the dimension of the rotation driving main body in the extending direction of the first axis is smaller than the dimension of the rotation driving main body in the direction from the palm side towards the back side. The rotation driving main body is arranged in the dexterous hand finger in such a posture, making the dimension of the dexterous hand finger in the extending direction of the first axis smaller and the width of the palm substrate smaller, so that the dexterous hand finger is more suitable for a small-sized dexterous hand.

[0125] In some embodiments, Figures 3 to 6 As shown, the first finger joint 12 has an escape space 122. The escape space 122 is located on the side of the first finger joint 12 facing the second finger joint 13. The first engagement member 171 and the second engagement member 172 are located in the escape space 122. The side of the first finger joint 12 facing away from the second finger joint 13 has a first opening 123, and the first opening 123 is connected to the escape space 122. The rotation drive body 1701 is located on the side of the first finger joint 12 away from the second finger joint 13, and the rotation output shaft 1700 extends from the first opening 123 into the escape space 122 and is connected to the first engagement member 171.

[0126] For example, Figures 1 to 6 As shown, the first knuckle 12 may include a knuckle housing 120 and a knuckle support 121. The knuckle housing 120 has a first accommodation space communicated with the outside. At least part of the knuckle support 121 is located in the first accommodation space. The knuckle support 121 has an escape space 122 and a first opening 123. Exemplarily, the third accommodation space of the knuckle support 121 forms the escape space 122.

[0127] The finger of the dexterous hand provided in this embodiment has an avoidance space in the first knuckle, the avoidance space is located on the side of the first knuckle facing the second knuckle, the first meshing member and the second meshing member are located in the avoidance space, the side of the first knuckle facing away from the second knuckle has a first opening, the first opening is connected to the avoidance space, the rotation drive body is located on the side of the first knuckle away from the second knuckle, the rotation output shaft extends into the avoidance space from the first opening and is connected to the first meshing member, the first knuckle with the avoidance space can avoid and support the first meshing member, the second meshing member and the rotation output shaft, so that the positional relationship of the various components at the first knuckle of the dexterous hand finger is more closely related, which is conducive to reducing the size of the dexterous hand finger. In addition, by setting the avoidance space, it is also conducive to reducing the weight of the dexterous hand finger.

[0128] In some embodiments, the dexterous hand finger 10 may be a little finger, a ring finger, a middle finger, an index finger or a thumb.

[0129] Figure 8 Shown is a schematic structural diagram of a dexterous hand finger and palm substrate provided in one embodiment of the present application. Figure 9 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in yet another embodiment of the present application.

[0130] In some embodiments, Figures 7 to 8 As shown, the dexterous hand finger 10 is applied to the dexterous hand 1. The dexterous hand 1 includes a palm substrate 20 and at least one dexterous hand finger 10. The dexterous hand finger 10 also includes: a side swing drive component 30 and a spin drive component 31.

[0131] The side-swing drive assembly 30 is connected to the support member 11 and is configured to drive the support member 11 to reciprocally rotate about the tenth axis L10. The tenth axis L10 is perpendicular to the first axis L1. The spin drive assembly 31 is connected to the side-swing drive assembly 30 and can be disposed on the palm substrate 20. The spin drive assembly 31 is configured to drive the side-swing drive assembly 30 to reciprocally rotate about the eleventh axis L11. The eleventh axis L11 is perpendicular to the tenth axis L10 and the palm substrate 20.

[0132] Specifically, the tenth axis L10 can be parallel to the palm substrate 20. Exemplarily, the side-swing drive assembly 30 and the spin drive assembly 31 can include one or a combination of more than one of the following drive structures: motors, hydraulic motors, pneumatic motors, gear sets, link sets, and drive belts. Exemplarily, the side-swing drive assembly 30 and the spin drive assembly 31 can include a servo motor system. For example, the side-swing drive assembly 30 and the spin drive assembly 31 can include a servo.

[0133] Exemplarily, the output end of the side-swing drive assembly 30 is connected to the support member 11 for driving the support member 11 to reciprocally rotate about the tenth axis L10. The output end of the side-swing drive assembly 30 extends along the tenth axis L10. The dimension of the side-swing drive assembly 30 along the direction perpendicular to the eleventh axis L11 is generally small. Such an arrangement enables the length of the dexterous hand finger 10 to be small.

[0134] Exemplarily, the side-swing drive assembly 30 includes a side-swing drive member 300 and a side-swing connecting member 301. The side-swing drive member 300 is disposed on the spin drive assembly 31 and is connected to the side-swing connecting member 301 for driving the side-swing connecting member 301 to reciprocally rotate about the tenth axis L10. The side-swing connecting member 301 is connected to the support member 11. The support member 11 is not directly connected to the output end of the side-swing drive member 300, but realizes the reciprocal rotation about the tenth axis L10 by connecting to the side-swing connecting member 301, so as to change the position of the support member 11 and facilitate the routing of the side-swing drive member 300.

[0135] Exemplarily, the side-swing drive assembly 30 further includes a side-swing base 302. The side-swing drive assembly 30 is disposed on the side-swing base 302. The side-swing base 302 is disposed on the spin drive assembly 31. So as to mount the side-swing drive assembly 30.

[0136] For the dexterous hand finger provided in this embodiment, the side-swing drive assembly drives the support member to swing sidewise about the tenth axis, the tenth axis is perpendicular to the first axis, the spin drive assembly is connected to the side-swing drive assembly, and the spin drive assembly drives the side-swing drive assembly to reciprocally rotate about the eleventh axis, the eleventh axis is perpendicular to the tenth axis and the palm substrate, so that the dexterous hand finger can also perform side-swing and spin actions.

[0137] Meanwhile, since the three drive components such as the spin drive component, the side swing drive component, and the rotation drive component are connected in series rather than in parallel, the circumferential dimension of the dexterous hand finger is small. Since the spin drive component is arranged on the palm substrate, the area occupied by the dexterous hand finger on the palm substrate is small. And the above series connection order enables the spin drive component not to perform a side swing action, which can avoid occupying too much movement space due to the swing of the spin drive component, so as to reduce the size of the palm substrate while increasing the flexibility of the dexterous hand finger, and the structure is compact and reliable.

[0138] In some embodiments, the spin drive component 31 includes: a spin drive member 310, a third engagement member 311, a fourth engagement member 312, and a rotation base 313. The spin drive member 310 can be arranged on the palm substrate 20. The third engagement member 311 is connected to the spin drive member 310. The third engagement member 311 can rotate around the twelfth axis L12 under the drive of the spin drive member 310. The twelfth axis L12 is perpendicular to the eleventh axis L11.

[0139] The fourth engagement member 312 meshes with the third engagement member 311 and is connected to the side swing drive component 30. The fourth engagement member 312 can rotate around the eleventh axis L11 driven by the third engagement member 311. The rotation base 313 can be arranged on the palm substrate 20, and the fourth engagement member 312 is rotatably connected to the rotation base 313 around the eleventh axis L11.

[0140] Since the dimension of the spin drive member 310 in the extending direction of the twelfth axis L12 is generally large, and the twelfth axis L12 is perpendicular to the eleventh axis L11, the third engagement member 311 and the fourth engagement member 312 can change the transmission direction of the spin drive member 310, so that the extending direction of the twelfth axis L12 is parallel to the palm substrate 20. The spin drive member 310 can directly drive the side swing drive component 30 to rotate without along the extending direction of the eleventh axis L11, so that the dimension of the dexterous hand finger 10 in the extending direction of the eleventh axis L11 can be set to be small.

[0141] Exemplarily, both the third engagement member 311 and the fourth engagement member 312 can be helical gears. The third engagement member 311 can be a worm, and the fourth engagement member 312 can be a helical gear. So that the third engagement member 311 can be arranged on the circumferential side surface of the fourth engagement member 312 instead of the end surface, which is beneficial to reducing the dimension of the dexterous hand finger 10 in the extending direction of the eleventh axis L11.

[0142] Exemplarily, as Figure 8 shown, the end surface of the fourth engagement member 312 facing the side swing drive component 30 can be connected to the side swing drive component 30. The rotation base 313 can be located on the side of the fourth engagement member 312 having the other end surface.

[0143] Exemplarily, the rotating base 313 may include a carrier, a meshing member rotating shaft, and a bearing. The bearing is disposed on the carrier, and the central axis of the meshing member rotating shaft extends along the extending direction of the eleventh axis L11. One end of the meshing member rotating shaft is connected to the fourth meshing member 312. The meshing member rotating shaft penetrates into the central hole of the bearing and is connected to the bearing. Exemplarily, the bearing may include a thrust bearing.

[0144] For the dexterous hand finger provided in this embodiment, the spin driving member can be disposed on the palm substrate. The third meshing member is connected to the spin driving member. The third meshing member can rotate around the twelfth axis under the drive of the spin driving member. The twelfth axis is perpendicular to the eleventh axis. The fourth meshing member meshes with the third meshing member and is connected to the side swing driving assembly. The fourth meshing member can rotate around the eleventh axis under the drive of the third meshing member. The rotating base can be disposed on the palm substrate. The fourth meshing member and the rotating base are rotatably connected around the eleventh axis, so that the extending direction of the twelfth axis can be parallel to the palm substrate. The spin driving member can directly drive the side swing driving assembly to rotate without extending along the extending direction of the eleventh axis, so that the size of the dexterous hand finger along the extending direction of the eleventh axis can be set to be smaller.

[0145] In some embodiments, the third meshing member 311 is a helical gear or a worm, and the fourth meshing member 312 is a helical gear. Such a setting enables the third meshing member 311 to be located on the circumferential side surface of the fourth meshing member 312 instead of the end surface, which is beneficial to reducing the size of the rotation driving assembly 31 in the direction perpendicular to the palm substrate 20, thereby reducing the size of the dexterous hand finger 10 in the direction perpendicular to the palm substrate 20.

[0146] In some embodiments, the shape of the spin driving member 310 includes an elongated shape, and the extending direction of the spin driving member 310 is parallel to the extending direction of the twelfth axis L12. Since the size of the spin driving member 310 in the extending direction of the twelfth axis L12 is large, such a setting enables the size of the spin driving member 310 in the direction perpendicular to the palm substrate 20 to be smaller, thereby further reducing the size of the dexterous hand finger 10 in the direction perpendicular to the palm substrate 20.

[0147] In some embodiments, the spin driving member 310 includes: a spin output shaft and a spin driving main body 3100. The spin output shaft is located on the side of the side swing driving assembly 30 away from the first phalanx 12. The rotation axis of the spin output shaft is collinear with the extending direction of the twelfth axis L12. The spin output shaft is connected to the third meshing member 311 and is used to drive the third meshing member 311 to rotate around the twelfth axis L12.

[0148] The spin drive body 3100 is located on the side of the side-sway drive assembly 30 away from the first phalanx 12 and on the side of the spin output shaft 3101 along the extension direction of the twelfth axis L12, and is connected to the spin output shaft 3101 for driving the spin output shaft 3101 to rotate around the twelfth axis L12.

[0149] The end face of the fourth engaging member 312 on the side facing the first phalanx 12 is connected to the side-sway drive assembly 30. A rotating base 313 is provided on the side of the fourth engaging member 312 away from the first phalanx 12, and at least part of the rotating base 313 is located on the side of the third engaging member 311 away from the side-sway drive assembly 30.

[0150] Specifically, the spin drive body 3100 is located on the side of the spin output shaft 3101 along the extension direction of the twelfth axis L12, such that the spin output shaft protrudes from the spin drive body 3100 along the extension direction of the twelfth axis L12.

[0151] For the dexterous hand finger provided in this embodiment, both the spin output shaft and the spin drive body are located on the side of the side-sway drive assembly away from the first phalanx, avoiding an overly large circumferential dimension at the side-sway drive assembly. At the same time, the spin drive body is located on the side of the spin output shaft along the extension direction of the twelfth axis, and a rotating base is provided on the side of the fourth engaging member away from the first phalanx, leaving space on the side of the spin output shaft facing the palm substrate and on the side of the spin drive body facing the spin output shaft, such that at least part of the rotating base can be located on the side of the third engaging member away from the side-sway drive assembly, making the distance between the third engaging member, the fourth engaging member, the rotating base, the spin drive body, and the spin output shaft smaller, the positional relationship of each component closer, the structure more compact, further reducing the circumferential dimension of the dexterous hand finger, thereby reducing the area of the palm substrate occupied by the dexterous hand finger and making the structure of the dexterous hand more compact.

[0152] In addition, the end face of the fourth engaging member on the side facing the first phalanx is directly connected to the side-sway drive assembly, with a simple connection method and no components that further increase the volume, and the structure is compact.

[0153] In some embodiments, the circumferential dimension (circumference) of the dexterous hand finger can be greater than or equal to 15 mm and less than or equal to 22 mm. When the dexterous hand finger is extended, the total length of the first phalanx, the second phalanx, and the third phalanx can be greater than or equal to 50 mm and less than or equal to 60 mm. The dimension of the side-sway drive assembly and the spin drive assembly along the extension direction of the eleventh axis can be greater than or equal to 22 mm and less than or equal to 30 mm.

[0154] In some embodiments, such as Figure 6As shown, the dexterous hand finger 10 further includes a tactile sensor 33. The tactile sensor 33 is used to sense the external objects contacted by the dexterous hand finger 10, and can also be used to sense the magnitude of the force when the dexterous hand 1 grasps an object in real time. Exemplarily, the tactile sensor 33 can be disposed at the fingertip of the dexterous hand finger 10. For example, the third phalanx 14 can be the fingertip of the dexterous hand finger 10. The tactile sensor 33 can be disposed on the third phalanx 14. Exemplarily, the dexterous hand finger 10 further includes a friction enhancement film. The friction enhancement film can be disposed on the surface of the dexterous hand finger 10 to increase the friction when the dexterous hand grasps an object and improve the probability of successful grasping. Exemplarily, the friction enhancement film is disposed on the surface of the third phalanx 14 or the surface of the tactile sensor 33. Exemplarily, the material of the friction enhancement film can be rubber, silica gel, polyurethane or ultra-high molecular weight polyethylene.

[0155] An embodiment of the present application further provides a dexterous hand 1. As Figure 7 shown, the dexterous hand 1 includes: at least one dexterous hand finger 10 mentioned in the above embodiment.

[0156] Exemplarily, the dexterous hand 1 can include a palm substrate 20 and one or more dexterous hand fingers 10 connected to the palm substrate 20. The number of dexterous hand fingers 10 can be determined according to specific application scenarios and design requirements. Exemplarily, the dexterous hand 1 can include three, four or five dexterous hand fingers 10.

[0157] Since the dexterous hand 1 includes the dexterous hand finger 10, the dexterous hand 1 has all the technical features and technical effects of the dexterous hand finger 10, which will not be elaborated here.

[0158] Figure 10 The following is a schematic structural diagram of a robot provided by an embodiment of the present application. As Figure 10 shown, the robot 40 includes at least one dexterous hand 1 mentioned in the above embodiment.

[0159] Exemplarily, the robot 40 can include a main body 41 and at least one dexterous hand 1 mentioned in the above embodiment. The dexterous hand 1 is connected to the main body 41. The main body 41 can be the structure of the body part of a humanoid robot or the arm structure of an industrial robot, which is not specifically limited in the present application. Exemplarily, the robot 40 can include one or two dexterous hands 1.

[0160] Since the robot 40 includes the dexterous hand 1, the robot 40 has all the technical features and technical effects of the dexterous hand 1, which will not be elaborated here.

[0161] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "comprising," "including," "provided with," "having," etc. are open-ended terms, meaning "including but not limited to," and can be used interchangeably with each other. The words "or" and "and" used herein refer to the phrase "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The phrase "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with it.

[0162] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0163] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0164] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A dexterous finger, characterized in that: include: Supports; a first finger joint, rotatably connected to the support member about a first axis; a second finger joint, rotatably connected to the first finger joint about a second axis, wherein the second axis is parallel to the first axis; a third finger joint, rotatably connected to the second finger joint about a third axis, wherein the third axis is parallel to the first axis; a first connecting rod assembly, wherein a first end of the first connecting rod assembly is rotatably connected to the support member around a fourth axis, a second end of the first connecting rod assembly is rotatably connected to the second finger joint around a fifth axis, the fourth axis and the fifth axis are both parallel to the first axis, and on a cross section perpendicular to the first axis, a line connecting the first axis and the second axis intersects a line connecting the fourth axis and the fifth axis; a second connecting rod assembly, wherein a first end of the second connecting rod assembly is rotatably connected to the first finger joint around a sixth axis, and a second end of the second connecting rod assembly is rotatably connected to the third finger joint around a seventh axis, wherein the sixth axis and the seventh axis are both parallel to the first axis, and in a cross section perpendicular to the first axis, a line connecting the second axis and the third axis intersects a line connecting the sixth axis and the seventh axis; The rotation driving assembly is arranged on the first finger joint and is connected to or abuts against the second finger joint, and is used for driving the second finger joint to rotate around the second axis.

2. The dexterous hand finger according to claim 1, characterized in that: The fingers of the dexterous hand have a back side and a palm side arranged opposite to each other; The second finger joint includes a toggled portion; The rotary drive assembly comprises: A rotary drive member, disposed on the first finger joint; a first engagement member connected to the rotary drive member and capable of rotating around an eighth axis under the drive of the rotary drive member, wherein the eighth axis is perpendicular to the second axis; The second engaging member is rotatably connected to the first finger joint around a ninth axis and engages with the first engaging member. The second engaging member includes a toggling portion. During the rotation of the second engaging member, the toggling portion can abut against the toggled portion to toggle the toggled portion to rotate around the second axis toward the palm side or the back of the hand, wherein the ninth axis is parallel to the second axis.

3. The dexterous hand finger according to claim 2, characterized in that: The second engaging member has a slide groove, the slide groove forms the toggle portion, the toggle portion extends into the slide groove, the slide groove has a first side wall and a second side wall arranged opposite to each other, the first side wall is located on a side of the toggle portion facing the palm side, and the second side wall is located on a side of the toggle portion facing the back side of the hand; When the moving part rotates toward the palm side, the second side wall abuts against the moved part to move the moved part to rotate toward the palm side around the second axis; When the moving part rotates toward the back of the hand, the first side wall abuts against the moved part to move the moved part to rotate toward the back of the hand around the second axis.

4. The dexterous hand finger according to claim 3, characterized in that: Also includes: A connecting member, arranged on the second finger joint and located on a side of the third axis facing the back of the hand; An elastic member, one end of which is connected to the side of the third knuckle facing the back of the hand, and the other end of which is connected to the connecting member, and when the fingers of the dexterous hand are extended, the elastic member is in an elongated state or an undeformed state.

5. The dexterous hand finger according to claim 2, characterized in that: The ninth axis is located on the side of the second axis facing the palm side; The second engagement member further comprises: a rotation connection portion, rotatably connected to the first finger joint around the ninth axis, the toggle portion being connected to the rotation connection portion; The fan-shaped engagement portion is connected to the side of the rotating connection portion facing the back of the hand and is engaged with the first engagement member.

6. The dexterous hand finger according to claim 5, characterized in that: Along the circumferential direction of the ninth axis, the first end of the fan-shaped meshing portion and the second end of the fan-shaped meshing portion are arranged opposite to each other, and the first end of the fan-shaped meshing portion is located on a side of the second end of the fan-shaped meshing portion facing the second finger joint; The toggle portion is disposed at the first end of the fan-shaped engaging portion.

7. The dexterous hand finger according to claim 5, characterized in that: The sector-shaped meshing portion includes a plurality of helical teeth; The first engagement member is a helical gear or a worm, and the first engagement member is located on a side of the second engagement member facing the back of the hand, and the eighth axis extends along an extension direction when the fingers of the dexterous hand are stretched.

8. The dexterous hand finger according to claim 7, characterized in that: The shape of the rotary driving member includes a long strip, and the extending direction of the rotary driving member is parallel to the extending direction of the eighth axis.

9. The dexterous hand finger according to claim 8, characterized in that: The rotary drive member comprises: a rotating output shaft, wherein the rotating axis of the rotating output shaft is colinear with the extending direction of the eighth axis, and the rotating output shaft is connected to the first engaging member to drive the first engaging member to rotate around the eighth axis; a rotation driving body, located at a side of the rotation output shaft away from the second finger joint and connected to the rotation output shaft, and used for driving the rotation output shaft to rotate around the eighth axis; The rotary output shaft protrudes from the rotary driving body along the direction of the rotary driving body toward the second finger joint, and the second engagement member is located on a side of the rotary driving body facing the second finger joint and a side of the rotary output shaft facing the palm side; A dimension of the rotation driving body along an extending direction of the first axis is smaller than a dimension of the rotation driving body along a direction from the palm side to the back side.

10. The dexterous hand finger according to claim 9, characterized in that: The first finger joint has an avoidance space, which is located on the side of the first finger joint facing the second finger joint, the first engaging member and the second engaging member are located in the avoidance space, the side of the first finger joint facing away from the second finger joint has a first opening, the first opening is connected to the avoidance space, the rotary drive body is located on the side of the first finger joint away from the second finger joint, and the rotary output shaft extends from the first opening into the avoidance space and is connected to the first engaging member.

11. The dexterous hand finger according to any one of claims 1 to 10, characterized in that: Applied to a dexterous hand, the dexterous hand comprises a palm substrate and at least one finger of the dexterous hand; The dexterous hand fingers also include: A side swing driving assembly connected to the support member, and used to drive the support member to reciprocate around a tenth axis, wherein the tenth axis is perpendicular to the first axis; The spin drive component is connected to the side-swing drive component and can be arranged on the palm base plate to drive the side-swing drive component to reciprocate around an eleventh axis, wherein the eleventh axis is perpendicular to the tenth axis and the palm base plate.

12. The dexterous hand finger according to claim 11, characterized in that: The spin drive assembly comprises: A spin drive element, which can be arranged on the palm substrate; a third engagement member connected to the spin driving member and capable of rotating around a twelfth axis driven by the spin driving member, wherein the twelfth axis is perpendicular to the eleventh axis; a fourth engagement member, engaged with the third engagement member and connected to the side swing drive assembly, wherein the fourth engagement member can rotate around the eleventh axis driven by the third engagement member; The rotating base can be arranged on the palm base plate, and the fourth engagement member is rotatably connected to the rotating base around the eleventh axis.

13. The dexterous hand finger according to claim 12, characterized in that: The third meshing member is a helical gear or a worm, and the fourth meshing member is a helical gear.

14. The dexterous hand finger according to claim 12, characterized in that: The spin driving member has a shape of an elongated strip, and an extending direction of the spin driving member is parallel to an extending direction of the twelfth axis.

15. The dexterous hand finger according to claim 14, characterized in that: The spin drive element comprises: A spin output shaft is located on a side of the side swing drive assembly away from the first finger joint, the rotation axis of the spin output shaft is colinear with the extension direction of the twelfth axis, and the spin output shaft is connected to the third gearing member to drive the third gearing member to rotate around the twelfth axis; A spin driving body, located on a side of the side swing driving assembly away from the first finger joint and on a side of the spin output shaft along the extension direction of the twelfth axis, and connected to the spin output shaft, for driving the spin output shaft to rotate around the twelfth axis; Among them, the end surface of the fourth engaging member facing the first finger joint is connected to the side swing drive assembly, the rotating base is arranged on the side of the fourth engaging member away from the first finger joint, and at least part of the rotating base is located on the side of the third engaging member away from the side swing drive assembly.

16. A dexterous hand, characterized in that: At least one dexterous hand finger as claimed in any one of claims 1 to 15.

17. A robot, characterized in that: Also includes: At least one dexterous hand as claimed in claim 16.

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