Dexterous hand fingers, dexterous hand, and robot

Abstract

The application relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, to solve the problem of large size of a dexterous hand finger with at least three knuckles. The dexterous hand finger comprises at least three knuckles, a rotary driving assembly is arranged on the first knuckle instead of the palm of the dexterous hand, which is beneficial to reducing the size of the palm of the dexterous hand, and the support, the first knuckle, the second knuckle, the third knuckle, the first connecting rod assembly and the second connecting rod assembly form two series four-bar mechanisms; when the rotary driving assembly arranged on the dexterous hand finger itself drives the second knuckle to rotate, the first knuckle and the third knuckle will rotate synchronously with the second knuckle, the bending and stretching of the dexterous hand finger are realized, the structure is simple, compact, high in rigidity, stable and reliable, the motion trajectory and motion form of the dexterous hand finger can be accurately controlled, and thus the demand of various complex tasks can be met.

Description

Technical Field

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

[0002] In the field of robotics, dexterous hands, as key components that mimic the functions of human or animal hands, have always been a research hotspot in terms of design and manufacturing. Traditional dexterous hand designs aim to achieve high flexibility and precise manipulation capabilities to meet the demands of complex tasks.

[0003] However, while pursuing functional diversity, existing dexterous hands often face a trade-off between size and performance. Currently, dexterous hands on the market, especially those designs with at least three knuckles to mimic human or animal fingers, generally suffer from large sizes, limiting their application scenarios. Summary of the Invention

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

[0005] One 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, the first end of the first link assembly being rotatably connected to the support member about a fourth axis, and the second end of the first link assembly being rotatably connected to the second phalanx about a fifth axis, both the fourth and fifth axes being parallel to the first axis, and perpendicular to the first axis... In cross-section, the line connecting the first axis and the second axis intersects the line connecting the fourth axis and the fifth axis; the second link assembly, the first end of the second link assembly is rotatably connected to the first phalanx about the sixth axis, and the second end of the second link assembly is rotatably connected to the third phalanx about the 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, the line connecting the second axis and the third axis intersects the line connecting the sixth axis and the seventh axis; the rotation drive assembly, disposed on the first phalanx and connected to or abutting the second phalanx, is used to drive the second phalanx to rotate about the second axis.

[0006] In some implementations, the dexterous hand fingers have back and palm sides arranged opposite to each other; the second phalanx includes a plucked portion; the rotation drive assembly includes: a rotation drive member disposed on the first phalanx; a first engaging 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; and a second engaging member rotatably connected to the first phalanx about a ninth axis and engaging with the first engaging member, the second engaging member including a plucking portion, wherein during the rotation of the second engaging member, the plucking portion can abut against the plucked portion to pluck the plucked portion about the second axis toward the palm side or back side, wherein the ninth axis is parallel to the second axis.

[0007] In some implementations, the second engaging member has a groove forming a actuating portion, into which the actuated portion extends. The groove has a first sidewall and a second sidewall disposed opposite to each other. The first sidewall is located on the side of the actuated portion facing the palm, and the second sidewall is located on the side of the actuated portion facing the back of the hand. When the actuating portion rotates towards the palm, the second sidewall abuts against the actuated portion to actuate the actuated portion about a second axis towards the palm. When the actuating portion rotates towards the back of the hand, the first sidewall abuts against the actuated portion to actuate the actuated portion about a second axis towards the back of the hand.

[0008] In some implementations, the dexterous hand fingers also include: a connector disposed on the second phalanx and located on the 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 phalanx facing the back of the hand, and the other end of which is connected to the connector. When the dexterous hand fingers are extended, the elastic member is in an elongated state or an undeformed state.

[0009] In some implementations, the ninth axis is located on the palm-facing side of the second axis; the second engaging member further includes: a rotatable connecting portion rotatably connected to the first phalanx about the ninth axis, and a prying portion connected to the rotatable connecting portion; a fan-shaped engaging portion connected to the back-of-hand side of the rotatable connecting portion and engaging with the first engaging member.

[0010] In some implementations, along the circumferential direction of the ninth axis, the first end and the second end of the sector-shaped engagement portion are arranged opposite to each other, with the first end of the sector-shaped engagement portion located on the side of the second end of the sector-shaped engagement portion facing the second phalanx; the actuating portion is provided at the first end of the sector-shaped engagement portion.

[0011] In some implementations, the sector meshing portion includes multiple helical teeth; the first meshing element is a helical gear or a worm gear, the first meshing element is located on the side of the second meshing element facing the back of the hand, and the extension direction of the eighth axis is parallel to the extension direction of the fingers of the dexterous hand when they are extended.

[0012] In some implementations, the shape of the rotary drive may include an elongated shape, with the extension direction of the rotary drive parallel to the extension direction of the eighth axis.

[0013] In some implementations, the rotary drive includes: a rotary output shaft, the rotation axis of which is collinear with the extension direction of an eighth axis, the rotary output shaft being connected to a first engaging member for driving the first engaging member to rotate around the eighth axis; and a rotary drive body located on the side of the rotary output shaft away from the second phalanx and connected to the rotary output shaft for driving the rotary output shaft to rotate around the eighth axis; wherein the rotary output shaft protrudes from the rotary drive body along the direction towards the second phalanx, the second engaging member is located on the side of the rotary drive body towards the second phalanx and the side of the rotary output shaft towards 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.

[0014] In some implementations, the first phalanx has a clearance space located on the side of the first phalanx facing the second phalanx. The first engagement member and the second engagement member are located in the clearance space. The side of the first phalanx away from the second phalanx has a first opening that communicates with the clearance space. The rotary drive body is located on the side of the first phalanx away from the second phalanx. The rotary output shaft extends into the clearance space through the first opening and connects to the first engagement member.

[0015] In some implementations, a dexterous hand finger is applied to a dexterous hand, which includes a palm base plate and at least one dexterous hand finger; the dexterous hand finger further includes: a lateral swing drive assembly connected to a support member for driving the support member to reciprocate about a tenth axis, the tenth axis being perpendicular to a first axis; and a spin drive assembly connected to the lateral swing drive assembly and disposed on the palm base plate for driving the lateral swing drive assembly to reciprocate about an eleventh axis, the eleventh axis being perpendicular to the tenth axis and the palm base plate.

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

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

[0018] In some implementations, the spin actuator includes a strip shape, and the extension direction of the spin actuator is parallel to the extension direction of the twelfth axis.

[0019] In some implementations, the spin drive includes: a spin output shaft located on the side of the lateral drive assembly away from the first phalanx, the rotation axis of the spin output shaft being collinear with the extension direction of the twelfth axis, the spin output shaft being connected to a third engagement member for driving the third engagement member to rotate around the twelfth axis; a spin drive body located on the side of the lateral drive assembly away from the first phalanx and on the 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; wherein, the end face of the fourth engagement member facing the first phalanx is connected to the lateral drive assembly, and a rotating base is provided on the side of the fourth engagement member away from the first phalanx, at least a portion of the rotating base being located on the side of the third engagement member away from the lateral drive assembly.

[0020] Secondly, one embodiment of this application provides a dexterous hand, including at least one dexterous hand finger mentioned in the first aspect.

[0021] Thirdly, one embodiment of this application provides a robot including at least one dexterous hand as mentioned in the second aspect.

[0022] The dexterous hand finger provided in this embodiment includes at least three phalanges. The rotation drive component is located on the first phalanx, not on the palm of the dexterous hand, which helps to reduce the size of the palm. Furthermore, in a cross-section perpendicular to the first axis, the line connecting the first and second axes intersects the line connecting the fourth and fifth axes, and the line connecting the second and third axes intersects the line connecting the sixth and seventh axes. This forms two series-connected four-bar linkages between the support member, the first phalanx, the second phalanx, the third phalanx, the first link assembly, and the second link assembly. While the rotation drive component located on the dexterous hand finger itself drives the second phalanx to rotate, the first and third phalanges rotate synchronously with the second phalanx, enabling the bending and extension of the dexterous hand finger. The structure is simple, compact, highly rigid, stable, and reliable, and can precisely control the movement trajectory and movement pattern of the dexterous hand finger, thereby meeting the needs of various complex tasks.

[0023] Furthermore, since the rotation drive assembly, the first link assembly, and the second link assembly work together to enable the bending and extension of the dexterous hand's fingers, no other drive structures related to finger flexion and extension need to be set in the third phalanx. The length of the second link assembly can also be set to be smaller, allowing the lengths of the second and third phalanxes to be set to be smaller, thereby allowing the length of the dexterous hand's fingers to be set to be smaller, and the weight of the dexterous hand's fingers to be set to be smaller, making it suitable for small-sized dexterous hands and enabling dexterous hands to adapt to a wider range of application scenarios.

[0024] Meanwhile, the support can be used to connect the palm base plate of the dexterous hand. The first phalanx is the phalanx that is closest to the palm of the dexterous hand when the fingers of the dexterous hand are extended, so that the circumferential dimension of the first phalanx can be designed to be larger. The rotation drive component is set in the first phalanx so that the space in the fingers of the dexterous hand can be fully and reasonably utilized. Attached Figure Description

[0025] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0026] Figure 1 The diagram shown is a structural schematic of a dexterous hand finger provided in an embodiment of this application.

[0027] Figure 2 The image shown is a front view of a dexterous hand finger provided in an embodiment of this application.

[0028] Figure 3 The diagram shown is a structural schematic of the fingers of a dexterous hand provided in another embodiment of this application.

[0029] Figure 4 The diagram shown is a structural schematic of a dexterous hand finger after the second phalanx is removed, according to an embodiment of this application.

[0030] Figure 5 The diagram shown is a structural schematic of a dexterous hand finger after the second phalanx is removed, according to another embodiment of this application.

[0031] Figure 6 The image shown is an embodiment provided by this application. Figure 5 A cross-sectional view along line AA of the fingers of a dexterous hand after removing the second phalanx.

[0032] Figure 7 The diagram shown is a structural schematic of a dexterous hand provided in an embodiment of this application.

[0033] Figure 8 The diagram shown is a structural schematic of the dexterous hand fingers and palm substrate provided in an embodiment of this application.

[0034] Figure 9 The diagram shown is a structural schematic of the fingers of a dexterous hand provided in another embodiment of this application.

[0035] Figure 10 The diagram shown is a structural schematic of a robot provided in one embodiment of this application.

[0036] Figure label:

[0037] 1. Dexterous hand; 10. Dexterous hand fingers; 100. Back of hand; 101. Palm side; 11. Support; 12. First knuckle; 120. Knuckle shell; 121. Knuckle support; 122. Clearance space; 123. First opening; 13. Second knuckle; 130. Actuated part; 14. Third knuckle; 140. First arcuate groove; 1400. Second 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 component; 1700. Rotary output shaft; 1701. Rotary drive body; 171. First engaging component; 172. Second engaging component; 1720. Actuating part; 1721. Slide groove 1722. First sidewall; 1723. Second sidewall; 1724. Rotating connection; 1725. Sector-shaped engagement part; 1726. First end of sector-shaped engagement part; 1727. Second end of sector-shaped engagement part; 1728. First stop end; 1729. Second arc-shaped groove; 18. Connector; 19. Elastic element; 20. Palm base plate; 30. Side swing drive assembly; 300. Side swing drive component; 301. Side swing connector; 302. Side swing Base; 31. Spin drive assembly; 310. Spin drive component; 3100. Spin drive body; 311. Third meshing component; 312. Fourth meshing component; 313. Rotating base; 32. Connecting 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, the tenth axis; L11, the eleventh axis; L12, the twelfth axis. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] In the field of robotics, dexterous hands, as key components that mimic the functions of human or animal hands, have always been a research hotspot in terms of design and manufacturing. Traditional dexterous hand designs aim to achieve high flexibility and precise manipulation capabilities to meet the demands of complex tasks.

[0041] However, while pursuing functional versatility, existing dexterous hands often face a trade-off between size and performance. Currently available dexterous hands, especially those with at least three phalanges to mimic human or animal fingers, are generally large, limiting their application scenarios. For example, large dexterous hands are unsuitable for space-constrained applications such as aerospace, medical surgery, and precision assembly. For applications requiring high portability and flexibility, such as wearable robots and service robots, large dexterous hands are clearly unsuitable.

[0042] To address the aforementioned problems, this application provides a dexterous hand finger, comprising: 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; and a first link assembly, the first end of which is rotatably connected to the support member about a fourth axis, and the second end of which is rotatably connected to the second phalanx about a fifth axis, both the fourth and fifth axes being parallel to the first axis. On the cross-section of the axis, the line connecting the first axis and the second axis intersects the line connecting the fourth axis and the fifth axis; the second link assembly, the first end of the second link assembly is rotatably connected to the first phalanx about the sixth axis, and the second end of the second link assembly is rotatably connected to the third phalanx about the seventh axis, wherein the sixth axis and the seventh axis are both parallel to the first axis, and on the cross-section perpendicular to the first axis, the line connecting the second axis and the third axis intersects the line connecting the sixth axis and the seventh axis; the rotation drive assembly, disposed on the first phalanx and connected to or abutting the second phalanx, is used to drive the second phalanx to rotate about the second axis.

[0043] The dexterous hand finger provided in this embodiment includes at least three phalanges. The rotation drive component is located on the first phalanx, not on the palm of the dexterous hand, which helps to reduce the size of the palm. Furthermore, on a cross-section perpendicular to the first axis, the line connecting the first and second axes intersects the line connecting the fourth and fifth axes, and the line connecting the second and third axes intersects the line connecting the sixth and seventh axes. This forms two series-connected four-bar linkages between the support member, the first phalanx, the second phalanx, the third phalanx, the first link assembly, and the second link assembly. While the rotation drive component located on the dexterous hand finger drives the second phalanx to rotate, the first and third phalanges rotate synchronously with the second phalanx, enabling the bending and extension of the dexterous hand finger. The structure is simple, compact, highly rigid, stable, and reliable, and can precisely control the movement trajectory and movement pattern of the dexterous hand finger, thereby meeting the needs of various complex tasks.

[0044] Furthermore, since the rotation drive assembly, the first link assembly, and the second link assembly work together to enable the bending and extension of the dexterous hand's fingers, no other drive structures related to finger flexion and extension need to be set in the third phalanx. The length of the second link assembly can also be set to be smaller, allowing the lengths of the second and third phalanxes to be set to be smaller, thereby allowing the length of the dexterous hand's fingers to be set to be smaller, and the weight of the dexterous hand's fingers to be set to be smaller, making it suitable for small-sized dexterous hands and enabling dexterous hands to adapt to a wider range of application scenarios.

[0045] Meanwhile, the support can be used to connect the palm base plate of the dexterous hand. The first phalanx is the phalanx that is closest to the palm of the dexterous hand when the fingers of the dexterous hand are extended, so that the circumferential dimension of the first phalanx can be designed to be larger. The rotation drive component is set in the first phalanx so that the space in the fingers of the dexterous hand can be fully and reasonably utilized.

[0046] The specific structures of the dexterous hand fingers, the dexterous hand, and the robot are described below with reference to the accompanying drawings and specific embodiments.

[0047] Figure 1 The diagram shown is a structural schematic of a dexterous hand finger provided in an embodiment of this application. Figure 2 The image shown is a front view of a dexterous hand finger provided in an embodiment of this application. Figure 3 The diagram shown is a structural schematic of the fingers of a dexterous hand provided in another embodiment of this application. Figure 4 The diagram shown is a structural schematic of a dexterous hand finger after the second phalanx is removed, according to an embodiment of this application. Figure 5 The diagram shown is a structural schematic of a dexterous hand finger after the second phalanx is removed, according to another embodiment of this application. Figure 6 The image shown is an embodiment provided by this application. Figure 5 A cross-sectional view along line AA of the fingers of a dexterous hand after removing the second phalanx. Figure 7 The diagram shown is a structural schematic of a dexterous hand provided in an embodiment of this application.

[0048] like Figures 1 to 7 As shown, 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, dexterous hand fingers 10 can be applied to dexterous hand 1. Dexterous hand 1 can be a structure that mimics the human or animal hand. Dexterous hand 1 can include a palm and fingers. Exemplarily, dexterous hand 1 can include a palm substrate 20 and one or more dexterous hand fingers 10 disposed on the palm substrate 20. Dexterous hand fingers 10 can be used to form the fingers of dexterous hand 1. Palm substrate 20 can be used to form the palm of 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, which is parallel to the first axis L1. The third phalanx 14 is rotatably connected to the second phalanx 13 about the third axis L3, which is parallel to the first axis L1.

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

[0052] Specifically, the support member 11 serves as a support for the rotation of the first phalanx 12. Exemplarily, the support member 11 can serve as a connecting member to connect the palm base plate 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 finger joint 13 about the fifth axis L5. Both the fourth axis and the fifth axis L5 are parallel to the first axis L1. In a section perpendicular to the first axis L1, the line connecting the first axis L1 and the second axis L2 intersects the line connecting 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 finger joint 12 about the sixth axis L6, and the second end 161 of the second link assembly is rotatably connected to the third finger joint 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 section perpendicular to the first axis L1, the line connecting the second axis L2 and the third axis L3 intersects the line connecting the sixth axis L6 and the seventh axis L7.

[0055] Specifically, on a cross section perpendicular to the first axis L1, the line connecting the first axis L1 and the second axis L2 intersects the line connecting the fourth axis L4 and the fifth axis L5. This means that on a cross section perpendicular to the first axis L1, the line connecting the first axis L1 and the second axis L2 intersects the line connecting the fourth axis L4 and the fifth axis L5, but they are not parallel and not collinear. For example, on a cross section perpendicular to the first axis L1, the angle between the line connecting the first axis L1 and the second axis L2 and the line connecting the fourth axis L4 and the fifth axis L5 can be 10 degrees, 30 degrees, 60 degrees, or 90 degrees.

[0056] Similarly, in a section perpendicular to the first axis L1, the line connecting the second axis L2 and the third axis L3 intersects the line connecting the sixth axis L6 and the seventh axis L7, but they are not parallel or collinear. For example, in a section perpendicular to the first axis L1, the angle between the line connecting the second axis L2 and the third axis L3 and the line connecting 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 phalanx 12 and connected to or abutting the second phalanx 13, for driving the second phalanx 13 to rotate around the second axis L2.

[0058] The rotary drive assembly 17 can be any structure capable of driving the second phalanx 13 to rotate about the second axis L2. Exemplarily, the rotary drive assembly 17 may include one or more combinations of the following drive structures: a motor, a hydraulic motor, a pneumatic motor, a gear set, a linkage assembly, or a drive belt. Exemplarily, the rotary drive assembly 17 may include a motor and a linkage assembly. One end of the linkage assembly is rotatably connected to the second phalanx 13, and the other end of the linkage assembly is connected to the output shaft of the motor. The rotational motion of the motor's output shaft is transmitted to the second phalanx 13 via the linkage assembly.

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

[0060] In some applications, the dexterous hand fingers 10 have a backside 100 and a palmside 101 arranged opposite to each other. A rotation drive assembly 17 drives the second phalanx 13 to rotate relative to the first phalanx 12 toward the palmside 101 around a second axis L2. The first phalanx 12, driven by the second phalanx 13, rotates relative to the support member 11 toward the palmside 101 around a first axis L1. The third phalanx 14, driven by the second phalanx 13, rotates relative to the second phalanx 13 toward the palmside 101 around a third axis L3, thus achieving bending of the dexterous hand fingers 10. Similarly, after bending, the rotation drive assembly 17 drives the second phalanx 13 to rotate relative to the first phalanx 12 toward the backside 100 around the second axis L2. The first phalanx 12 and the third phalanx 14 then rotate around the first axis L1 and the third axis L3, respectively, toward the backside 100, thus achieving extension of the dexterous hand fingers 10.

[0061] For example, such as Figures 3 to 5 As shown, the first linkage assembly 15 may include two first linkages 152. One end of each of the two first linkages 152 is respectively disposed on opposite sides of the support member 11 along the extension direction of the fourth axis L4. The other ends of each of the two first linkages 152 are respectively disposed on opposite sides of the second phalanx 13 along the extension direction of the fifth axis L5. One end of each first linkage 152 is rotatably connected to the support member 11 about the fourth axis L4, and the other end of each first linkage 152 is rotatably connected to the second phalanx 13 about the fifth axis L5.

[0062] The first link assembly 15 includes two first links 152, which are spaced apart along the extension direction of the fourth axis L4. This helps to resist external radial torque, making it less likely for the dexterous hand fingers 10 to tilt along the extension direction of the fourth axis L4, thus improving the movement stability of the dexterous hand fingers 10.

[0063] For example, such as Figures 3 to 5 As shown, the second linkage assembly 16 may include two second linkages 162. One end of each of the two second linkages 162 is respectively disposed on opposite sides of the first phalanx 12 extending along the sixth axis L6. The other ends of each of the two second linkages 162 are respectively disposed on opposite sides of the third phalanx 14 extending along the seventh axis L7. One end of the first linkage 152 is rotatably connected to the first phalanx 12 about the sixth axis L6, and the other end of the first linkage 152 is rotatably connected to the third phalanx 14 about the seventh axis L7.

[0064] The second link assembly 16 includes two second links 162, which are spaced apart along the extension direction of the sixth axis L6. This helps to resist external radial torque, making it less likely for the dexterous hand fingers 10 to tilt along the extension direction of the sixth axis L6, and further improving the movement stability of the dexterous hand fingers 10.

[0065] For example, the first link 152 and the second link 162 can be straight, bent, or curved. The two first links 152 can have the same or different shapes. The two second links 162 can have the same or different shapes. The specific shape and number of the first links 152 and the second links 162 can be set according to actual needs, and this embodiment does not impose specific limitations.

[0066] For example, such as Figure 1 As shown, the circumferential dimensions of the first phalanx 12, the second phalanx 13, and the third phalanx 14 decrease sequentially.

[0067] For example, such as Figures 1 to 5 As shown, the first phalanx 12 may include a phalanx housing 120 and a phalanx support 121. The phalanx housing 120 has a first accommodating space communicating with the outside. At least a portion of the phalanx support 121 is located in the first accommodating space. A rotation drive assembly 17 is disposed on the phalanx support 121 and is located in the first accommodating space. One end of the second phalanx 13 rotatably connected to the first phalanx 12 may be located in the first accommodating space. The second end 151 of the first link assembly extends into the first accommodating 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 rotation drive assembly 17, and the first link assembly 15, thereby protecting the phalanx support 121, the rotation drive assembly 17, and the first link assembly 15, and increasing the aesthetics of the dexterous hand fingers 10.

[0068] For example, the second phalanx 13 may have a second receiving space. At least a portion of the second link assembly 16 and one end of the third phalanx 14 rotatably connected to the second phalanx 13 may be located in the second receiving space to protect the second link assembly 16 and further enhance the aesthetics of the dexterous hand fingers 10.

[0069] The dexterous hand finger provided in this embodiment includes at least three phalanges. The rotation drive component is located on the first phalanx, not on the palm of the dexterous hand, which helps to reduce the size of the palm. Furthermore, on a cross-section perpendicular to the first axis, the line connecting the first and second axes intersects the line connecting the fourth and fifth axes, and the line connecting the second and third axes intersects the line connecting the sixth and seventh axes. This forms two series-connected four-bar linkages between the support member, the first phalanx, the second phalanx, the third phalanx, the first link assembly, and the second link assembly. While the rotation drive component located on the dexterous hand finger drives the second phalanx to rotate, the first and third phalanges rotate synchronously with the second phalanx, enabling the bending and extension of the dexterous hand finger. The structure is simple, compact, highly rigid, stable, and reliable, and can precisely control the movement trajectory and movement pattern of the dexterous hand finger, thereby meeting the needs of various complex tasks.

[0070] Furthermore, since the rotation drive assembly, the first link assembly, and the second link assembly work together to enable the bending and extension of the dexterous hand's fingers, no other drive structures related to finger flexion and extension need to be set in the third phalanx. The length of the second link assembly can also be set to be smaller, allowing the lengths of the second and third phalanxes to be set to be smaller, thereby allowing the length of the dexterous hand's fingers to be set to be smaller, and the weight of the dexterous hand's fingers to be set to be smaller, making it suitable for small-sized dexterous hands and enabling dexterous hands to adapt to a wider range of application scenarios.

[0071] Meanwhile, the support can be used to connect the palm base plate of the dexterous hand. The first phalanx is the phalanx that is closest to the palm of the dexterous hand when the fingers of the dexterous hand are extended, so that the circumferential dimension of the first phalanx can be designed to be larger. The rotation drive component is set in the first phalanx so that the space in the fingers of the dexterous hand can be fully and reasonably utilized.

[0072] In some embodiments, the dexterous hand fingers 10 have a back side 100 and a palm side 101 disposed opposite to each other. The second phalanx 13 includes a plucked portion 130.

[0073] The rotary drive assembly 17 includes a rotary drive member 170, a first engaging member 171, and a second engaging member 172. The rotary drive member 170 is disposed on the first finger joint 12. The first engaging member 171 is connected to the rotary drive member 170. The first engaging member 171 is capable of rotating about an eighth axis L8 under the drive of the rotary drive member 170. The eighth axis L8 is perpendicular to the second axis L2.

[0074] The second engaging member 172 is rotatably connected to the first phalanx 12 about the ninth axis L9 and engages with the first engaging member 171. The second engaging member 172 includes a actuating part 1720. During the rotation of the second engaging member 172, the actuating part 1720 can abut against the actuated part 130 to actuate the actuated part 130 about 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 backside 100 and palmside 101 are used to define the orientation of different surfaces of the dexterous hand fingers 10. The backside 100 can be the side of the dexterous hand fingers 10 facing the back of the hand. The palmside 101 can be the side of the dexterous hand fingers 10 facing the palm or away from the back of the hand. The dexterous hand fingers 10 can bend towards the palmside 101 or extend towards the backside 100.

[0076] In some application scenarios, such as Figures 3 to 6 As shown, the rotary drive 170 drives the first engaging member 171 to rotate around the eighth axis L8 in the first rotation direction. The first engaging member 171 drives the second engaging member 172 to rotate counterclockwise around the ninth axis L9. The actuating part 1720 also rotates counterclockwise around the ninth axis L9. After the actuating part 1720 rotates to abut against the actuated part 130, the actuated part 130 rotates counterclockwise around the second axis L2 under the actuation of the actuating part 1720. The second knuckle 13 also rotates counterclockwise around the second axis L2 under the actuation of the actuated part 130. The first knuckle 12 rotates around the first axis L1 relative to the support member 11 towards the palm side 101 under the actuation of the second knuckle 13. The third knuckle 14 rotates around the third axis L3 relative to the second knuckle 13 towards the palm side 101 under the actuation of the second knuckle 13, thus realizing the bending of the fingers 10 of the dexterous hand towards the palm side 101.

[0077] After the dexterous hand's fingers 10 bend toward the palm side 101, the rotation drive 170 drives the first engagement member 171 to rotate around the eighth axis L8 in the second rotation direction. The second rotation direction is opposite to the first rotation direction. The first engagement member 171 drives the second engagement member 172 to rotate clockwise around the ninth axis L9. The actuating part 1720 also rotates clockwise around the ninth axis L9. After the actuating part 1720 rotates to abut against the actuated part 130, the actuated part 130 rotates clockwise around the second axis L2 under the actuation of the actuating part 1720. The second phalanx 13 also rotates clockwise around the second axis L2 under the drive of the actuated part 130. The first phalanx 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 phalanx 13. The third phalanx 14 rotates around the third axis L3 relative to the second phalanx 13 toward the back of the hand 100 under the drive of the second phalanx 13, thereby realizing the extension of the dexterous hand fingers 10 toward the back of the hand 100.

[0078] The rotary drive 170 can be any structure capable of driving the first engaging member 171 to rotate about the eighth axis L8. Exemplarily, the rotary drive 170 may include one or more combinations of the following drive structures: an electric motor, a hydraulic motor, a pneumatic motor, a gear set, a linkage assembly, or a transmission belt. Exemplarily, the rotary drive 170 may include a servo motor system. For example, the rotary drive 170 may include a servo motor.

[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 to be perpendicular to the ninth axis L9, the engagement of the first meshing member 171 and the second meshing member 172 can change the transmission direction of the rotary drive member 170. Since the dimension of the rotary drive member 170 along the extension direction of the eighth axis L8 is generally larger than the dimension of the rotary drive member 170 along the extension direction perpendicular to the eighth axis L8, the perpendicular setting of the eighth axis L8 to the ninth axis L9 can reduce the dimension of the dexterous hand fingers 10 along the extension direction of the second axis L2. Since the dexterous hand 1 includes dexterous hand fingers 10, which are connected to the palm base plate 20, the perpendicular setting of the eighth axis L8 to the ninth axis L9 also helps to reduce the width of the palm of the dexterous hand 1.

[0080] For example, the shape of the rotary drive 170 may include an elongated shape, and the extension direction of the rotary drive 170 is parallel to the extension direction of the dexterous hand fingers 10 when extended. For example, the extension direction of the eighth axis L8 is parallel to the extension direction of the dexterous hand fingers 10 when extended. Since the dimension of the rotary drive 170 along the extension direction of the eighth axis L8 is generally large, this arrangement allows the dimension of the dexterous hand fingers 10 along the back of the hand 100 toward the palm side 101 to be smaller.

[0081] Exemplarily, the first meshing member 171 and the second meshing member 172 can be complete gears or incomplete gears including multiple teeth. The angle of the multiple teeth of the incomplete gear around the rotation axis of the meshing member can be less than 360 degrees. Exemplarily, both the first meshing member 171 and the second meshing member 172 can include multiple bevel teeth or multiple helical teeth. Exemplarily, the first meshing member 171 can be a worm gear, and the second meshing member 172 can be a worm wheel. The specific shape and type of the first meshing member 171 and the second meshing member 172 can be set according to actual needs, and this embodiment does not impose specific limitations.

[0082] Exemplarily, the knuckle support 121 has a third accommodating space, a first opening 123, and a second opening. The third accommodating space communicates with the outside through the first opening 123 and the second opening. A rotary drive 170 may be disposed on the side of the knuckle support 121 opposite to the second knuckle 13. The rotary drive 170 extends into the third accommodating space through the first opening 123 and connects with the first engaging member 171. At least a portion of the first engaging member 171 and the second engaging member 172 are disposed in the third accommodating space. The third accommodating space communicates with the second accommodating space, and the actuated portion 130 is disposed in the second accommodating space. The actuated portion 1720 may extend into the second accommodating space through the second opening to abut against the actuated portion 130. By providing a third accommodating space, a first opening 123, and a second opening, the knuckle support 121 and the second knuckle 13 accommodate the first engaging member 171, the second engaging member 172, and the actuated part 130, making it difficult for components such as the first engaging member 171, the second engaging member 172, and the actuated part 130 to directly contact or be exposed to the outside world, thus protecting these components and increasing the aesthetics of the dexterous hand fingers 10.

[0083] The dexterous hand fingers provided in this embodiment have a first engaging member that can rotate around an eighth axis under the drive of a rotary drive member. The eighth axis is perpendicular to the second axis. The second engaging member is rotatably connected to the first phalanx around a ninth axis and engages with the first engaging member. During the rotation of the second engaging member, the actuating part of the second engaging member can abut against the actuated part to actuate the actuated part around the second axis toward the palm or back of the hand. The ninth axis is parallel to the second axis. The rotary drive member drives the first and second engaging members to rotate, causing the actuating part of the second engaging member to actuate the second phalanx around the second axis, thereby causing the dexterous hand fingers to bend or extend. The structure is simple and compact, and the control is simple, precise, and reliable. It is also beneficial to reduce the size of the dexterous hand fingers.

[0084] Furthermore, the dimension of the rotary drive component extending along the eighth axis is typically large. By aligning the eighth axis perpendicular to the ninth axis, the engagement of the first and second meshing members can alter the transmission direction of the rotary drive component, allowing its extension direction to be perpendicular to the ninth axis. This, in turn, allows the dimension of the dexterous hand's fingers extending along the second axis to be smaller. Further, the extension direction of the eighth axis can be set parallel to the extended direction of the dexterous hand's fingers after extension. Since the dimension of the rotary drive component extending along the eighth axis is typically large, this arrangement allows the circumferential dimension of the dexterous hand's fingers to be smaller.

[0085] In some embodiments, such as Figure 6As shown, the second engaging member 172 has a groove 1721. The groove forms an actuating portion 1720. The actuated portion 130 extends into the groove 1721. The groove 1721 has a first sidewall 1722 and a second sidewall 1723 disposed opposite to each other. The first sidewall 1722 is located on the side of the actuated portion 130 facing the palm side 101. The second sidewall 1723 is located on the side of the actuated portion 130 facing the back side 100.

[0086] When the actuating part 1720 rotates toward the palm side 101, the second sidewall 1723 abuts against the actuated part 130 to actuate the actuated part 130 around the second axis L2 toward the palm side 101. When the actuating part 1720 rotates toward the back of the hand 100, the first sidewall 1722 abuts against the actuated part 130 to actuate the actuated part 130 around the second axis L2 toward the back of the hand 100.

[0087] In some applications, the actuating part 1720 rotates toward the palm side 101, the second sidewall 1723 abuts against the actuated part 130, and actuates the actuated part 130 around the second axis L2 toward the palm side 101, causing the second knuckle 13 to rotate toward the palm side 101, thus achieving the bending of the dexterous hand fingers 10. After the dexterous hand fingers 10 are bent, the actuating part 1720 rotates toward the back of the hand 100, the first sidewall 1722 abuts against the actuated part 130, and actuates the actuated part 130 around the second axis L2 toward the back of the hand 100, causing the second knuckle 13 to rotate toward the back of the hand 100, thus achieving the extension of the dexterous hand fingers 10.

[0088] For example, during the rotation of the second engaging member 172, the actuated part 130 reciprocates in the groove 1721 along the extension direction of the groove 1721.

[0089] Exemplarily, the groove 1721 can be a straight groove, an arc groove, a U-shaped groove, or an involute groove. Exemplarily, the first sidewall 1722 and the second sidewall 1723 are disposed opposite each other along a direction perpendicular to the extension direction of the groove 1721. In this embodiment, the groove 1721 is a straight groove. The first sidewall 1722 and the second sidewall 1723 are planes. The shape and position of the groove 1721 can be set according to actual needs, and this embodiment does not impose specific limitations.

[0090] For example, such as Figure 6 As shown, along the extending 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 actuated part 130 in the slide groove 1721 along the extending direction of the slide groove 1721. The two first stop ends 1728 can provide limiting protection to prevent damage to the dexterous hand finger 10 due to abnormal rotation angle of the second phalanx 13 caused by abnormal rotation of the rotary drive member 170 or external force on the dexterous hand finger 10.

[0091] The dexterous hand finger provided in this embodiment has a second engaging member with a groove forming a pulsating part. The pulsated part extends into the groove. The groove has a first sidewall and a second sidewall that are arranged opposite to each other. The first sidewall is located on the side of the pulsated part facing the palm, and the second sidewall is located on the side of the pulsated part facing the back of the hand. By pulsating the pulsated part around the second axis towards the palm or back of the hand through the first sidewall and the second sidewall, the second phalanx rotates towards the palm or back of the hand, realizing the bending and extension of the dexterous hand finger. The structure is simple and compact, which is beneficial to reducing the size of the dexterous hand finger.

[0092] In some embodiments, such as Figure 4 and Figure 6 As shown, the dexterous hand finger 10 also includes a connector 18 and an elastic member 19.

[0093] The connector 18 is disposed on the second phalanx 13 and 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 phalanx 14 facing the back of the hand 100, and the other end of the elastic member 19 is connected to the connector 18. When the fingers 10 of the dexterous hand are extended, the elastic member 19 is in a stretched state or an undeformed state.

[0094] Since the side wall of the slide groove 1721 can only rotate after it comes into contact with the actuated part 130, there may be a situation where the side wall of the slide groove 1721 does not come into contact with the actuated part 130, resulting in a large gap between the second phalanx 13 and the third phalanx 14 on the back of the hand 100.

[0095] Since the connector 18 is located on the second phalanx 13 and 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 phalanx 14 facing the back of the hand 100, and the other end of the elastic member 19 is connected to the connector 18. When the second phalanx 13 rotates relative to the first phalanx 12 towards the palm side 101, that is, when the dexterous hand finger 10 is bent, and when the second phalanx 13 rotates relative to the first phalanx 12 towards the back of the hand 100, that is... When the dexterous hand finger 10 is bent and extended, the distance between the end of the connector 18 and the elastic member 19 connected to the third phalanx 14 is larger than when the dexterous hand finger 10 is extended. The elastic member 19 is stretched. Under the pulling force of the elastic member 19, when the side wall of the slide groove 1721 does not abut against the actuated part 130, the third phalanx 14 rotates relative to the second phalanx 13 toward the back of the hand 100, thereby eliminating the gap between the second phalanx 13 and the third phalanx 14 on the back of the hand 100. Due to the rotational motion coupling of the three phalanges, this arrangement can eliminate the gap between the support member 11, the first phalanx 12, the second phalanx 13 and the third phalanx 14 on the back of the hand 100, making the operation of the dexterous hand finger 10 more precise.

[0096] For example, the elastic element 19 may be made of an elastic material or may have elasticity through an elastic structure. For example, the elastic element 19 may include a spring, a rubber cord, or a silicone elastic band, etc.

[0097] For example, such as Figure 6 As shown, the third phalanx 14 also has a first arcuate groove 140. The first arcuate 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 connector 18 is located in the second accommodating space and extends in a direction parallel to the extension direction of the third axis L3. The two ends of the connector 18 are respectively connected to the two sides of the second phalanx 13 opposite to each other in the extension direction of the third axis L3. The connector 18 passes through the first arcuate groove 140. When the third phalanx 14 rotates relative to the second phalanx 13, the connector 18 reciprocates circumferentially within the first arcuate groove 140 along the third axis L3. The first arcuate groove 140 can serve as a clearance mechanism. The connector 18 extends in a direction parallel to the extension direction of the third axis L3, and the two ends of the connector 18 are respectively connected to the two sides of the second phalanx 13 opposite to the extension direction of the fourth axis L4. This can increase the rigidity of the second phalanx 13 and the connection strength between the connector 18 and the second phalanx 13, so that the dexterous hand fingers 10 can bend and extend smoothly.

[0098] For example, such as Figure 4 and Figure 6 As shown, along the circumferential direction of the third axis L3, the first arcuate groove 140 includes two opposing second stop ends 1400. The second stop ends 1400 limit the travel of the connector 18 within the first arcuate groove 140 in the extending direction of the first arcuate groove 140. The two second stop ends 1400 provide limiting protection to prevent damage to the dexterous hand finger 10 due to abnormal rotation angle of the third phalanx 14 caused by malfunction of the rotary drive assembly 17 or external force on the dexterous hand finger 10.

[0099] For example, such as Figure 2 and Figure 6 As shown, the dexterous hand finger 10 can be a thumb, and when the dexterous hand finger 10 is extended, the third phalanx 14 is raised towards the back of the hand 100. This design allows the dexterous hand 1 to perform actions that require the fingertips to be raised, such as giving a thumbs up or making a heart shape with the hands, increasing the robot's human-like appearance and improving the user experience.

[0100] Exemplarily, the third phalanx 14 has a fourth receiving space. At least a portion of the elastic member 19 may be disposed in the fourth receiving space. This makes it difficult for the elastic member 19 to directly contact or be exposed to the outside, thus protecting the elastic member 19 and increasing the aesthetics of the dexterous hand fingers 10. Exemplarily, the elastic member 19 is connected to the end of the third phalanx 14 that is away from the second phalanx 13.

[0101] The dexterous hand finger provided in this embodiment also includes a connector and an elastic member. The connector is disposed on the second phalanx and 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 phalanx facing the back of the hand, and the other end of the elastic member is connected to the connector. When the dexterous hand finger is extended, the elastic member is in a stretched or undeformed state. During the bending process of the dexterous hand finger and the subsequent extension process, the distance between the connector and the end of the elastic member connected to the third phalanx is larger than when the dexterous hand finger is extended. The elastic member is stretched. Under the tension of the elastic member, without the side wall of the slide groove abutting the actuated part, the third phalanx rotates relative to the second phalanx towards the back of the hand, thereby eliminating the gap between the second and third phalanxes on the back of the hand. Due to the rotational coupling of the three phalanges, this arrangement can eliminate the gap between the support member, the first phalanx, the second phalanx, and the third phalanx on the back of the hand, making the operation of the dexterous hand finger more precise.

[0102] In some embodiments, such as 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 engaging member 172 further includes a rotatable connecting portion 1724 and a fan-shaped engaging portion 1725. The rotatable connecting portion 1724 is rotatably connected to the first phalanx 12 about the ninth axis L9, and the actuating portion 1720 is connected to the rotatable connecting portion 1724. The fan-shaped engaging portion 1725 is connected to the side of the rotatable connecting portion 1724 facing the back of the hand 100 and engages with the first engaging member 171.

[0103] Since the ninth axis L9 is located on the palm-side 101 side of the second axis L2, the portion of the second engagement member 172 that engages with the first engagement member 171 is connected to the side of the rotating connection 1724 that faces the back of the hand 100. Furthermore, the rotation angle of the second phalanx 13 is typically less than 360 degrees. Therefore, the side of the ninth axis L9 in the second engagement member 172 facing the palm-side 101 may not be provided with teeth for engaging with the first engagement member 171. This allows the portion of the second engagement member 172 that engages with the first engagement member 171 to be fan-shaped, forming a fan-shaped engagement portion 1725. Consequently, the size of the dexterous hand fingers 10 along the palm-side 101 towards the back of the hand 100 can be set to be relatively small.

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

[0105] Exemplarily, the second engaging member 172 further includes a second arcuate groove 1729, which is circumferentially arranged around the ninth axis L9. The dexterous hand finger 10 also includes a connecting shaft 32. The central axis of the connecting shaft 32 extends along the extension direction of the ninth axis L9. The first phalanx 12 and the second phalanx 13 are rotatably connected via the connecting shaft 32. The connecting shaft 32 is located in a first accommodating space. The first phalanx 12 has two first shaft holes arranged opposite each other along the second axis L2. The second phalanx 13 has two second shaft holes arranged opposite each other along the second axis L2. The connecting shaft 32 can sequentially pass through one first shaft hole, one second shaft hole, the second arcuate groove 1729, another second shaft hole, and another first shaft hole. The first phalanx 12 and the second phalanx 13 are rotatably connected via the connecting shaft 32. During rotation of the second engaging member 172, the connecting shaft 32 reciprocates within the second arcuate groove 1729 along the extension direction of the second arcuate groove 1729.

[0106] By connecting the pivot 32 sequentially passing through a first pivot hole, a second pivot hole, another second pivot hole, and another first pivot hole, a rotatable connection is achieved between the first phalanx 12 and the second phalanx 13. This improves the torsional stiffness of the rotatable connection between the first phalanx 12 and the second phalanx 13, thereby enhancing the torsional stiffness and lifespan of the dexterous hand fingers 10. The second arc-shaped groove 1729 serves as a clearance mechanism, allowing the connecting pivot 32 to pass through a first pivot hole and a second pivot hole, and then through another second pivot hole and another first pivot hole.

[0107] Exemplarily, along the circumferential direction of the ninth axis L9, the second arcuate groove 1729 includes two opposing third stop ends. The third stop ends define the travel of the connecting shaft 32 within the second arcuate groove 1729 along its extension direction. The two third stop ends provide limiting protection to prevent damage to the dexterous hand finger 10 due to abnormal rotation angle of the first phalanx 12 caused by malfunction of the rotary drive 170 or external force on the dexterous hand finger 10.

[0108] The dexterous hand fingers provided in this embodiment have a ninth axis located on the palm-facing side of the second axis. The rotating connection part is rotatably connected to the first phalanx around the ninth axis. The fan-shaped engagement part is connected to the back-of-hand side of the rotating connection part and engages with the first engagement member. This allows the palm-facing side of the ninth axis in the second engagement member to be free of teeth for engaging with the first engagement member. This allows the part of the second engagement member that engages with the first engagement member to be fan-shaped, forming a fan-shaped engagement part. As a result, the size of the dexterous hand fingers along the palm-to-back-hand side can be set to be smaller.

[0109] In some embodiments, along the circumferential direction of the ninth axis L9, a first end 1726 and a 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 phalanx 13. An actuating portion 1720 is disposed at the first end 1726 of the sector-shaped engagement portion.

[0110] Since the agitated part 130 belongs to the second phalanx 13, when the agitated part 130 is agitated by the end of the fan-shaped engagement part 1725 away from the second phalanx 13 or the middle of the fan-shaped engagement part 1725, the second engagement member 172 rotates so that the end of the fan-shaped engagement part 1725 near the second phalanx 13 passes the agitated part 130 and needs to continue rotating so that the end of the fan-shaped engagement part 1725 away from the second phalanx 13 or the middle of the fan-shaped engagement part 1725 abuts against the agitated part 130. This results in the second engagement member 172 requiring a relatively large movement space, which can easily cause the size of the fingers 10 of the dexterous hand to be large in the direction from the palm side 101 to the back side 100.

[0111] Therefore, the actuating part 1720 is provided at one end of the fan-shaped engaging part 1725 near the second phalanx 13, which can reduce the movement space required by the second engaging member 172 and help reduce the size of the dexterous hand fingers 10 in the direction from the palm side 101 to the back side 100.

[0112] Exemplarily, the second phalanx 13 includes a lever. The lever forms a deflected portion 130. The extension direction of the lever is parallel to the second axis L2. The lever is located in the second receiving space, and both ends of the lever are connected to the inner wall of the second phalanx 13. This increases the contact area between the deflected portion 130 and the deflecting portion 1720, allowing the deflecting portion 1720 to accurately and smoothly contact and deflect the deflected portion 130. The location of the deflecting portion 130 in the second receiving space also enhances the aesthetics of the dexterous hand fingers 10.

[0113] For example, the actuating portion 1720 protrudes a fan-shaped engaging portion 1725 in a direction away from the ninth axis L9. This allows the actuating portion 1720 to have a large lever arm to actuate the actuated portion 130, while the radius of the corresponding fan-shaped engaging portion 1725 can be set to be small, which is beneficial to further reduce the size of the dexterous hand fingers 10 in the direction from the palm side 101 to the back side 100 and the length of the dexterous hand fingers 10.

[0114] The dexterous hand fingers provided in this embodiment have a first end and a second end of a fan-shaped engagement portion arranged opposite each other along the circumference of the ninth axis. The first end of the fan-shaped engagement portion is located on the side of the second end of the fan-shaped engagement portion facing the second phalanx. The actuating portion is provided at the first end of the fan-shaped engagement portion, which can reduce the movement space required by the second engagement member and is beneficial to reducing the size of the dexterous hand fingers in the direction from the palm side to the back side of the hand.

[0115] In some embodiments, such as Figure 6 As shown, the sector-shaped meshing portion 1725 includes multiple helical teeth. The first meshing member 171 is a helical gear or a worm gear. The first meshing member 171 is located on the side of the second meshing member 172 facing the back of the hand 100, and the extension direction of the eighth axis L8 is parallel to the extension direction of the dexterous hand fingers 10 when they are extended.

[0116] Since the eighth axis L8 is perpendicular to the ninth axis L9, the meshing form of the first meshing member 171 and the second meshing member 172 can be two helical gears meshing, a helical gear and a worm meshing, a worm gear meshing, or two bevel gears meshing. When two bevel gears mesh, one bevel gear needs to be positioned on the end face of the other bevel gear. That is, if both the first meshing member 171 and the second meshing member 172 are bevel gears, the first meshing member 171 needs to be located on one side of the two sides of the second meshing member 172 that are opposite each other along the extension direction of the ninth axis L9. This results in a larger dimension of the dexterous hand finger 10 along the extension direction of the ninth axis L9, which easily increases the width of the dexterous hand 1's palm when the dexterous hand finger 10 is connected to the palm base plate 20. Furthermore, if the first meshing member 171 is a worm gear and the second meshing member 172 is a worm gear, self-locking can easily occur when the first meshing member 171 and the second meshing member 172 are in reverse transmission, leading to uneven transmission.

[0117] Therefore, the sector-shaped meshing part 1725 includes multiple helical teeth. The first meshing member 171 is a helical gear or a worm gear. The first meshing member 171 can be set on the circumferential side of the second meshing member 172 around the ninth axis L9, rather than the end face. This makes the size of the dexterous hand fingers 10 along the ninth axis L9 smaller, which is beneficial to reduce the width of the palm of the dexterous hand 1. Furthermore, the forward and reverse transmission of the first meshing member 171 and the second meshing member 172 is smooth and stable.

[0118] The dexterous hand finger provided in this embodiment includes a fan-shaped meshing portion comprising multiple helical teeth. The first meshing member is a helical gear or a worm gear, allowing the first meshing member to be disposed on the circumferential side of the second meshing member around the ninth axis, rather than on the end face of the second meshing member. This allows the size of the dexterous hand finger along the ninth axis to be set relatively small. Furthermore, since the extension direction of the eighth axis is parallel to the extension direction of the dexterous hand finger when it is extended, the first meshing member is located on the side of the second meshing member facing the back of the hand. Since the size of the rotary drive member along the extension direction of the eighth axis is typically large, this arrangement allows the circumferential size of the dexterous hand finger to be set relatively small.

[0119] In some embodiments, the shape of the rotary drive 170 may include an elongated shape, and the extension direction of the rotary drive 170 is parallel to the extension direction of the eighth axis L8. Since the dimension of the rotary drive 170 along the extension direction of the eighth axis L8 is relatively large, this arrangement allows the dimension of the dexterous hand fingers 10 along the back side 100 towards the palm side 101 to be relatively small.

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

[0121] The rotary output shaft 1700 protrudes from the rotary drive body 1701 in the direction toward the second phalanx 13. The second engaging member 172 is located on the side of the rotary drive body 1701 toward the second phalanx 13 and on the side of the rotary output shaft 1700 toward the palm side 101. The dimension of the rotary drive body 1701 along the extension direction of the first axis L1 is smaller than the dimension of the rotary drive body 1701 in the direction along the palm side 101 toward the back side 100.

[0122] For example, the rotary drive body 1701 is located on the side of the rotary output shaft 1700 away from the second phalanx 13, along the extension direction of the eighth axis L8.

[0123] The dexterous hand finger provided in this embodiment has a rotation axis of the rotation output shaft that is collinear with the extension direction of the eighth axis. The rotation drive body is located on the side of the rotation output shaft away from the second phalanx. The rotation output shaft protrudes from the rotation drive body in the direction towards the second phalanx, thus creating space on the side of the rotation drive body facing the rotation output shaft and the side of the rotation output shaft facing the palm. This allows the second engagement member to be placed in the space, thereby reducing the distance between the rotation output shaft, the rotation drive body, the first engagement member, and the second engagement member, making the positional relationship of each component closer, and resulting in a compact structure that further reduces the circumferential dimension of the dexterous hand finger.

[0124] Furthermore, 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 side of the hand. The rotary drive body is positioned in this manner on the dexterous hand fingers, which makes the dimension of the dexterous hand fingers along the extension direction of the first axis smaller and the width of the palm substrate smaller, making the dexterous hand fingers more suitable for small-sized dexterous hands.

[0125] In some embodiments, such as Figures 3 to 6 As shown, the first phalanx 12 has a clearance space 122. The clearance space 122 is located on the side of the first phalanx 12 facing the second phalanx 13. The first engaging member 171 and the second engaging member 172 are located in the clearance space 122. The side of the first phalanx 12 away from the second phalanx 13 has a first opening 123, which communicates with the clearance space 122. The rotary drive body 1701 is located on the side of the first phalanx 12 away from the second phalanx 13. The rotary output shaft 1700 extends into the clearance space 122 through the first opening 123 and is connected to the first engaging member 171.

[0126] For example, such as 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 receiving space communicating with the outside. At least a portion of the knuckle support 121 is located in the first receiving space. The knuckle support 121 has a clearance space 122 and a first opening 123. Exemplarily, a third receiving space of the knuckle support 121 forms the clearance space 122.

[0127] The dexterous hand finger provided in this embodiment has a clearance space in the first phalanx, located on the side of the first phalanx facing the second phalanx. A first engaging member and a second engaging member are located within the clearance space. A first opening is located on the side of the first phalanx away from the second phalanx, communicating with the clearance space. A rotary drive body is located on the side of the first phalanx away from the second phalanx. A rotary output shaft extends into the clearance space through the first opening and connects to the first engaging member. The first phalanx with the clearance space can provide clearance and support for the first engaging member, the second engaging member, and the rotary output shaft, making the positional relationship of the various components at the first phalanx of the dexterous hand finger more compact, which is beneficial for reducing the size of the dexterous hand finger. Furthermore, by providing the clearance space, it is also beneficial for reducing the weight of the dexterous hand finger.

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

[0129] Figure 8 The diagram shown is a structural schematic of the dexterous hand fingers and palm substrate provided in an embodiment of this application. Figure 9 The diagram shown is a structural schematic of the fingers of a dexterous hand provided in another embodiment of this application.

[0130] In some embodiments, such as Figures 7 to 8 As shown, a dexterous hand finger 10 is applied to a dexterous hand 1. The dexterous hand 1 includes a palm base plate 20 and at least one dexterous hand finger 10. The dexterous hand finger 10 also includes a lateral swing drive assembly 30 and a spin drive assembly 31.

[0131] The lateral swing drive assembly 30 is connected to the support member 11 and is used to drive the support member 11 to reciprocate around the tenth axis L10. The tenth axis L10 is perpendicular to the first axis L1. The spin drive assembly 31 is connected to the lateral swing drive assembly 30 and can be disposed on the palm base plate 20. The spin drive assembly 31 is used to drive the lateral swing drive assembly 30 to reciprocate around the eleventh axis L11. The eleventh axis L11 is perpendicular to the tenth axis L10 and the palm base plate 20.

[0132] Specifically, the tenth axis L10 can be parallel to the palm base plate 20. Exemplarily, the lateral drive assembly 30 and the spin drive assembly 31 can include one or more combinations of the following drive structures: an electric motor, a hydraulic motor, a pneumatic motor, a gear set, a linkage assembly, and a drive belt. Exemplarily, the lateral drive assembly 30 and the spin drive assembly 31 can include a servo motor system. For example, the lateral drive assembly 30 and the spin drive assembly 31 can include a servo motor.

[0133] Exemplarily, the output end of the lateral swing drive assembly 30 is connected to the support member 11 for driving the support member 11 to reciprocate about the tenth axis L10. The output end of the lateral swing drive assembly 30 extends along the tenth axis L10. The dimension of the lateral swing drive assembly 30 perpendicular to the eleventh axis L11 is generally small. This arrangement allows for a smaller length of the dexterous hand fingers 10.

[0134] For example, the lateral drive assembly 30 includes a lateral drive member 300 and a lateral connector 301. The lateral drive member 300 is disposed on the spin drive assembly 31 and connected to the lateral connector 301, for driving the lateral connector 301 to reciprocate around the tenth axis L10. The lateral connector 301 is connected to the support member 11. The support member 11 is not directly connected to the output end of the lateral drive member 300, but achieves reciprocating rotation around the tenth axis L10 through connection with the lateral connector 301, so as to change the position of the support member 11 and facilitate the wiring of the lateral drive member 300.

[0135] Exemplarily, the lateral drive assembly 30 also includes a lateral base 302. The lateral drive assembly 30 is disposed on the lateral base 302. The lateral base 302 is disposed on the spin drive assembly 31 for mounting the lateral drive assembly 30.

[0136] The dexterous hand fingers provided in this embodiment have a lateral swing drive assembly that drives the support member to laterally swing around the tenth axis, which is perpendicular to the first axis. The spin drive assembly is connected to the lateral swing drive assembly, and the spin drive assembly drives the lateral swing drive assembly to reciprocate around the eleventh axis, which is perpendicular to the tenth axis and the palm base plate, so that the dexterous hand fingers can also perform lateral swing and spin movements.

[0137] Meanwhile, because the three drive components—spin drive component, lateral drive component, and rotation drive component—are connected in series rather than in parallel, the circumferential dimension of the dexterous hand's fingers is smaller. Since the spin drive component is located on the palm base plate, the area occupied by the dexterous hand's fingers on the palm base plate is smaller. Furthermore, the aforementioned series sequence allows the spin drive component to avoid lateral movement, thus preventing it from occupying too much movement space due to its swing. This increases the dexterity of the dexterous hand's fingers while reducing the size of the palm base plate, resulting in a compact and reliable structure.

[0138] In some embodiments, the spin-driven assembly 31 includes a spin drive 310, a third engagement member 311, a fourth engagement member 312, and a rotating base 313. The spin drive 310 can be disposed on the palm base plate 20. The third engagement member 311 is connected to the spin drive 310. The third engagement member 311 can rotate about a twelfth axis L12 under the drive of the spin drive 310. The twelfth axis L12 is perpendicular to the eleventh axis L11.

[0139] The fourth engaging member 312 engages with the third engaging member 311 and is connected to the side-swing drive assembly 30. The fourth engaging member 312 can rotate around the eleventh axis L11 under the drive of the third engaging member 311. The rotating base 313 can be disposed on the palm base plate 20, and the fourth engaging member 312 and the rotating base 313 are rotatably connected around the eleventh axis L11.

[0140] Since the dimension of the spin drive 310 along the extension 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 310 so that the extension direction of the twelfth axis L12 is parallel to the palm base plate 20. The spin drive 310 can directly drive the side swing drive assembly 30 to rotate without extending along the eleventh axis L11, so that the dimension of the dexterous hand finger 10 along the extension direction of the eleventh axis L11 can be set to be smaller.

[0141] For example, both the third meshing member 311 and the fourth meshing member 312 can be helical gears. The third meshing member 311 can be a worm gear, and the fourth meshing member 312 can be a helical gear. This allows the third meshing member 311 to be disposed on the circumferential side of the fourth meshing member 312, rather than on the end face, which is beneficial for reducing the dimension of the dexterous hand finger 10 along the extension direction of the eleventh axis L11.

[0142] For example, such as Figure 8 As shown, the end face of the fourth engagement member 312 facing the side-swing drive assembly 30 can be connected to the side-swing drive assembly 30. The rotating base 313 can be located on the side of the fourth engagement member 312 having the other end face.

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

[0144] The dexterous hand finger provided in this embodiment has a spin drive that can be disposed on the palm base plate. A third engagement member is connected to the spin drive member and can rotate around the twelfth axis under the drive of the spin drive member. The twelfth axis is perpendicular to the eleventh axis. A fourth engagement member engages with the third engagement member and is connected to the side-swing drive assembly. The fourth engagement member can rotate around the eleventh axis under the drive of the third engagement member. A rotating base can be disposed on the palm base plate. The fourth engagement member and the rotating base are rotatably connected around the eleventh axis, so that the extension direction of the twelfth axis can be parallel to the palm base plate. The spin drive member can directly drive the side-swing drive assembly to rotate without extending along the eleventh axis, so that the size of the dexterous hand finger along the extension direction of the eleventh axis can be set to be relatively small.

[0145] In some embodiments, the third engagement member 311 is a helical gear or a worm gear, and the fourth engagement member 312 is a helical gear. This arrangement allows the third engagement member 311 to be located on the circumferential side of the fourth engagement member 312, rather than the end face, which helps to reduce the size of the rotary drive assembly 31 in the direction perpendicular to the palm base 20, thereby reducing the size of the dexterous hand fingers 10 in the direction perpendicular to the palm base 20.

[0146] In some embodiments, the spin actuator 310 includes an elongated shape, and the extension direction of the spin actuator 310 is parallel to the extension direction of the twelfth axis L12. Since the dimension of the spin actuator 310 along the extension direction of the twelfth axis L12 is relatively large, this arrangement makes the dimension of the spin actuator 310 in the direction perpendicular to the palm substrate 20 smaller, thereby further reducing the dimension of the dexterous hand fingers 10 in the direction perpendicular to the palm substrate 20.

[0147] In some embodiments, the spin drive 310 includes a spin output shaft and a spin drive body 3100. The spin output shaft is located on the side of the lateral drive assembly 30 away from the first knuckle 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 a third engagement member 311 for driving the third engagement member 311 to rotate about the twelfth axis L12.

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

[0149] The end face of the fourth engagement member 312 facing the first phalanx 12 is connected to the side-swing drive assembly 30. A rotating base 313 is provided on the side of the fourth engagement member 312 opposite to the first phalanx 12, and at least a portion of the rotating base 313 is located on the side of the third engagement member 311 opposite to the side-swing drive assembly 30.

[0150] Specifically, the spin drive body 3100 is located on one 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] In this embodiment, the dexterous hand fingers have both a spin output shaft and a spin drive body located on the side of the lateral swing drive assembly away from the first phalanx, avoiding excessive circumferential dimensions at the lateral swing drive assembly. Simultaneously, the spin drive body is located on one side of the spin output shaft extending along the twelfth axis, and a rotating base is provided on the side of the fourth engagement member opposite to the first phalanx. This leaves the sides of the spin output shaft facing the palm substrate and the spin drive body facing the spin output shaft unoccupied, allowing at least a portion of the rotating base to be located on the side of the third engagement member opposite to the lateral swing drive assembly. This results in smaller distances between the third engagement member, the fourth engagement member, the rotating base, the spin drive body, and the spin output shaft, leading to a closer and more compact structure. This further reduces the circumferential dimensions of the dexterous hand fingers, thereby reducing the area of ​​the palm substrate occupied by the dexterous hand fingers and making the structure of the dexterous hand more compact.

[0152] In addition, the end face of the fourth engagement member facing the first phalanx is directly connected to the side swing drive assembly. The connection method is simple, does not involve any parts that further increase the volume, and has a compact structure.

[0153] In some embodiments, the circumferential dimension (circumference) of the dexterous hand fingers can be greater than or equal to 15 mm and less than or equal to 22 mm. When the dexterous hand fingers are extended, the total length of the first, second, and third phalanges can be greater than or equal to 50 mm and less than or equal to 60 mm. The dimensions of the lateral swing 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 also includes a tactile sensor 33. The tactile sensor 33 is used to sense external objects contacted by the dexterous hand finger 10, and can also be used to sense the magnitude of the force exerted by the dexterous hand 10 when grasping an object in real time. Exemplarily, the tactile sensor 33 can be disposed on the fingertip of the dexterous hand finger 10. For example, the third knuckle 14 can be the fingertip of the dexterous hand finger 10. The tactile sensor 33 can be disposed on the third knuckle 14. Exemplarily, the dexterous hand finger 10 also includes a friction-enhancing film. The friction-enhancing film can be disposed on the surface of the dexterous hand finger 10 to increase the friction force when the dexterous hand grasps an object, thereby increasing the probability of successful grasping. Exemplarily, the friction-enhancing film is disposed on the surface of the third knuckle 14 or the surface of the tactile sensor 33. Exemplarily, the material of the friction-enhancing film can be rubber, silicone, polyurethane, or ultra-high molecular weight polyethylene.

[0155] Embodiments of this application also provide a dexterous hand 1. For example... Figure 7 As shown, the dexterous hand 1 includes at least one dexterous hand finger 10 mentioned in the above embodiments.

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

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

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

[0159] Exemplarily, robot 40 may include a body 41 and at least one dexterous hand 1 as mentioned in the above embodiments. The dexterous hand 1 is connected to the body 41. The body 41 may be a structure of the body part of a humanoid robot or an arm structure of an industrial robot, and this application does not specifically limit it. Exemplarily, robot 40 may 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 effects of the dexterous hand 1, which will not be described in detail here.

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

[0162] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered 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 be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0164] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary 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 hand finger, characterized by, The utility model relates to a dexterous hand, comprising: a support; a first phalanx rotatably connected with the support about a first axis; a second phalanx rotatably connected with the first phalanx about a second axis, the second axis being parallel to the first axis; a third phalanx rotatably connected with the second phalanx about a third axis, the third axis being parallel to the first axis; a first linkage assembly, a first end of the first linkage assembly being rotatably connected with the support about a fourth axis, a second end of the first linkage assembly being rotatably connected with the second phalanx about a fifth axis, the fourth axis and the fifth axis both 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 linkage assembly, a first end of the second linkage assembly being rotatably connected with the first phalanx about a sixth axis, a second end of the second linkage assembly being rotatably connected with the third phalanx about a seventh axis, wherein the sixth axis and the seventh axis both being 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 rotary driving assembly arranged on the first phalanx and connected with or abutting against the second phalanx, for driving the second phalanx to rotate about the second axis; wherein the dexterous hand finger has a back side and a palm side arranged oppositely; the second phalanx comprises a pushed part; the rotary driving assembly comprises: a rotary driving member arranged on the first phalanx; a first engaging member connected with the rotary driving member and capable of rotating about an eighth axis under the driving of the rotary driving member, wherein the eighth axis is perpendicular to the second axis; a second engaging member rotatably connected with the first phalanx about a ninth axis and engaged with the first engaging member, the second engaging member comprising a pushing part, in the rotating process of the second engaging member, the pushing part can abut against the pushed part to push the pushed part to rotate about the second axis to the palm side or the back side, wherein the ninth axis is parallel to the second axis; wherein the second engaging member has a sliding groove, the sliding groove forms the pushing part, the pushed part extends into the sliding groove, the sliding groove has oppositely arranged first and second side walls, the first side wall is located on a side of the pushed part facing the palm side, and the second side wall is located on a side of the pushed part facing the back side; in the case that the pushing part rotates toward the palm side, the second side wall abuts against the pushed part to push the pushed part to rotate about the second axis to the palm side; in the case that the pushing part rotates toward the back side, the first side wall abuts against the pushed part to push the pushed part to rotate about the second axis to the back side.

2. The dexterous hand finger of claim 1, wherein, Further comprising: a connecting member arranged on the second phalanx and located on a side of the third axis facing the back side. An elastic member, one end of the elastic member is connected with a side of the third knuckle facing the back side of the hand, the other end of the elastic member is connected with the connecting member, and the elastic member is in a stretched state or an undeformed state when the dexterous hand finger is stretched.

3. The dexterous hand finger of claim 1, wherein, The ninth axis is located on a side of the second axis facing the palm side of the hand; The second engaging member further comprises: A rotating connection portion, which is rotatably connected with the first knuckle around the ninth axis, and the pushing portion is connected to the rotating connection portion; A fan-shaped engaging portion, which is connected to a side of the rotating connection portion facing the back side of the hand and engages with the first engaging member.

4. The dexterous hand finger of claim 3, wherein, Along the circumferential direction of the ninth axis, a first end of the fan-shaped engaging portion and a second end of the fan-shaped engaging portion are oppositely arranged, and the first end of the fan-shaped engaging portion is located on a side of the second end of the fan-shaped engaging portion facing the second knuckle; The pushing portion is arranged at the first end of the fan-shaped engaging portion.

5. The dexterous hand finger of claim 3, wherein, The fan-shaped engaging portion comprises a plurality of inclined teeth. The first engaging member is an inclined gear or a worm, and the first engaging member is located on a side of the second engaging member facing the back side of the hand, and the eighth axis extends along the extension direction of the dexterous hand finger when stretched.

6. The dexterous hand finger of claim 5, wherein, The shape of the rotary driving member comprises a long strip shape, and the extension direction of the rotary driving member is parallel to the extension direction of the eighth axis.

7. The dexterous hand finger of claim 6, wherein, The rotary driving member comprises: A rotary output shaft, a rotation axis of the rotary output shaft is collinear with the extension direction of the eighth axis, the rotary output shaft is connected with the first engaging member, and is used to drive the first engaging member to rotate around the eighth axis; A rotary driving body, which is located on a side of the rotary output shaft away from the second knuckle and is connected with 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 driving body in the direction of the rotary driving body facing the second knuckle, and the second engaging member is located on a side of the rotary driving body facing the second knuckle and a side of the rotary output shaft facing the palm side of the hand; The size of the rotary driving body along the extension direction of the first axis is smaller than the size of the rotary driving body along the direction from the palm side to the back side of the hand.

8. The dexterous hand finger of claim 7, wherein, The first knuckle has an avoiding space, the avoiding space is located on a side of the first knuckle facing the second knuckle, the first engaging member and the second engaging member are located in the avoiding space, a side of the first knuckle away from the second knuckle has a first opening, the first opening is in communication with the avoiding space, the rotary driving body is located on a side of the first knuckle away from the second knuckle, and the rotary output shaft extends into the avoiding space through the first opening and is connected with the first engaging member.

9. The dexterous hand finger of any one of claims 1 to 8, wherein, The application is applied to a dexterous hand, and the dexterous hand comprises a palm base plate and at least one dexterous hand finger. The dexterous hand finger further comprises: A side swing driving assembly, which is connected with the support member and is used to drive the support member to reciprocatingly rotate around a tenth axis, and the tenth axis is perpendicular to the first axis; A spin driving assembly, connected with the side swing driving assembly, capable of being arranged on the palm substrate, for driving the side swing driving assembly to reciprocate rotation around an eleventh axis, the eleventh axis being perpendicular to the tenth axis and the palm substrate.

10. The dexterous hand finger of claim 9, wherein, The spin driving assembly comprises: A spin driving member, capable of being arranged on the palm substrate; A third engaging member, connected with the spin driving member, capable of rotating around a twelfth axis under the driving of the spin driving member, wherein the twelfth axis is perpendicular to the eleventh axis; A fourth engaging member, engaged with the third engaging member and connected with the side swing driving assembly, the fourth engaging member being capable of rotating around the eleventh axis under the driving of the third engaging member; A rotation base, capable of being arranged on the palm substrate, the fourth engaging member being rotatably connected with the rotation base around the eleventh axis.

11. The dexterous hand finger of claim 10, wherein, The third engaging member is a helical gear or a worm, and the fourth engaging member is a helical gear.

12. The dexterous hand finger of claim 10, wherein, The shape of the spin driving member comprises an elongated shape, and the extension direction of the spin driving member is parallel to the extension direction of the twelfth axis.

13. The dexterous hand finger of claim 12, wherein, The spin driving member comprises: A spin output shaft, located on the side of the side swing driving assembly away from the first knuckle, the rotation axis of the spin output shaft being collinear with the extension direction of the twelfth axis, the spin output shaft being connected with the third engaging member for driving the third engaging member to rotate around the twelfth axis; A spin driving body, located on the side of the side swing driving assembly away from the first knuckle and on the side of the spin output shaft along the extension direction of the twelfth axis, and connected with the spin output shaft for driving the spin output shaft to rotate around the twelfth axis; The end surface of the fourth engaging member on the side facing the first knuckle is connected with the side swing driving assembly, and the rotation base is arranged on the side of the fourth engaging member away from the first knuckle, at least part of the rotation base being located on the side of the third engaging member away from the side swing driving assembly.

14. A dexterous hand, characterized in that, At least one dexterous hand finger according to any one of claims 1 to 13.

15. A robot, characterized in that Further comprising: At least one dexterous hand according to claim 14.

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