Dexterous hand finger and dexterous hand

Abstract

The invention provides a dexterous hand finger and a dexterous hand. A near knuckle and a far knuckle in the dexterous hand finger are rotationally connected, one end of a first spring is connected with the far knuckle, and the other end of the first spring is connected with a finger mounting base; one end of each transmission connecting rod in the two transmission connecting rods is hinged to the finger mounting base, and the other end of each transmission connecting rod penetrates through the near knuckle and then is hinged to the far knuckle; one end of the first spring is connected with the far knuckle, and the other end is connected with the finger mounting base; through the arrangement of the first springs, the hinge gaps between the near knuckles and the far knuckles, the gaps between the near knuckles and the finger mounting base, the hinge gaps between the transmission connecting rods and the far knuckles and the hinge gaps between the transmission connecting rods and the finger mounting base can be eliminated; in addition, due to the arrangement position of the first spring, the deformation degree of the first spring can be reduced when the fingers move every time, and the service life of the first spring is further prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and more particularly, to a dexterous hand finger and a dexterous hand. Background Art

[0002] A dexterous hand is an automatic operating device that can imitate the action functions of a human hand to grasp, transport objects, or operate tools according to a fixed program, and needs to meet various conditions such as grasping force, grasping accuracy, adaptability, and degrees of freedom.

[0003] Currently, the main transmission methods of dexterous hands include transmission tendon ropes and linkages. Among them, linkages are widely used due to their strong grasping force and high motion accuracy. However, when the dexterous hand performs a grasping operation, there will be hinge clearances between the linkages during the operation process. The hinge clearances between the linkages will cause force feedback distortion, trigger slippage, and the clearances will cause a slapping effect, which may damage the linkages and the dexterous hand, and reduce the service life of the linkages and the dexterous hand. Summary of the Invention

[0004] To solve the above problems, an object of the embodiments of the present application is to provide a dexterous hand finger and a dexterous hand.

[0005] In a first aspect, an embodiment of the present application provides a dexterous hand finger, including: a driver, a proximal phalanx, a distal phalanx, a finger mounting base, a first spring, a driving linkage, and two transmission linkages;

[0006] The driver is rotatably connected to the palm skeleton. One end of the finger mounting base is fixedly connected to the palm skeleton, and the other end of the finger mounting base is rotatably connected to the proximal phalanx. The finger mounting base is also rotatably connected to the driving linkage; the driving linkage also abuts against the proximal phalanx;

[0007] The proximal phalanx is rotatably connected to the distal phalanx. One end of the first spring is connected to the distal phalanx, and the other end of the first spring is connected to the finger mounting base;

[0008] One end of each of the two transmission linkages is hinged to the finger mounting base, and the other end of each transmission linkage passes through the proximal phalanx and is hinged to the distal phalanx;

[0009] The driver is used to drive the proximal phalanx and the distal phalanx to rotate, so as to realize the bending and extension of the dexterous hand finger; when the dexterous hand finger bends and extends, the first spring will be stretched or compressed along with the movement of the distal phalanx. Since one end of the first spring is connected to the distal phalanx and the other end is connected to the finger mounting base, the hinge clearances between the proximal phalanx and the distal phalanx, the clearances between the proximal phalanx and the finger mounting base, the hinge clearances between each transmission linkage and the distal phalanx, and the hinge clearances between each transmission linkage and the finger mounting base are eliminated.

[0010] In a second aspect, an embodiment of the present application further provides a dexterous hand finger including the dexterous hand finger described in the first aspect above.

[0011] In the solutions provided in the first aspect to the second aspect of the embodiments of the present application, the proximal phalanx and the distal phalanx in the dexterous hand finger are rotatably connected. One end of the first spring is connected to the distal phalanx, and the other end of the first spring is connected to the finger mounting base; one end of each transmission link in the two transmission links is hinged to the finger mounting base, and the other end of each transmission link passes through the proximal phalanx and is hinged to the distal phalanx; one end of the first spring is connected to the distal phalanx and the other end is connected to the finger mounting base. Thus, by setting the first spring, the hinge clearance between the proximal phalanx and the distal phalanx, the clearance between the proximal phalanx and the finger mounting base, the hinge clearance between each transmission link and the distal phalanx, and the hinge clearance between each transmission link and the finger mounting base can be eliminated, improving the service life of the transmission link and the dexterous hand; moreover, the setting position of the first spring can reduce the deformation degree of the first spring each time the finger moves, further extending the service life of the first spring.

[0012] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, the detailed description is as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0014] Figure 1 Shows a schematic structural diagram of a dexterous hand finger provided by an embodiment of the present application;

[0015] Figure 2 Shows a partial cross-sectional view of the dexterous hand finger provided by an embodiment of the present application;

[0016] Figure 3 Shows an exploded structural diagram of the dexterous hand finger provided by an embodiment of the present application;

[0017] Figure 4 Shows a three-dimensional structural diagram of the finger mounting base in the dexterous hand finger provided by an embodiment of the present application;

[0018] Figure 5 Shows a schematic diagram of the relationship between the hinge points of the internal crossed four-bar linkage and the first spring when the dexterous hand finger provided by the embodiment of the present application is extended;

[0019] Figure 6 It shows a schematic diagram of the relationship between the hinge points of the internal cross four-bar linkage and the first spring when the finger of the dexterous hand provided by the embodiment of the present application bends;

[0020] Figure 7 It shows a schematic diagram of the relationship between the hinge points of the internal cross four-bar linkage and the spring when the finger extends in the related art provided by the embodiment of the present application;

[0021] Figure 8 It shows a schematic diagram of the relationship between the hinge points of the internal cross four-bar linkage and the spring when the finger bends in the related art provided by the embodiment of the present application.

[0022] Icon: 1. Driver; 2. Proximal phalanx; 201. Proximal phalanx housing; 2011. Limiting end face; 3. Distal phalanx; 301. Distal phalanx skeleton; 3011. First hinge hole; 3012. Second hinge hole; 3013. First spring connection hole; 4. Finger mounting base; 401. Third hinge hole; 402. Fourth hinge hole; 403. Second spring connection hole; 404. First opening groove; 5. First spring; 6. Driving link; 601. Fifth hinge hole; 602. Sixth hinge hole; 603. Second opening groove; 604. Third spring connection hole; 7. Transmission link; 8. Connecting block; 9. Second spring. Detailed implementation manners

[0023] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0024] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0025] In this application, unless otherwise clearly specified and defined, terms such as "installation", "connection", "attachment", "fixation" and the like shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] A dexterous hand is an automatic operating device that can imitate the motion functions of a human hand and is used to grasp, transport objects, or operate tools according to a fixed program, and needs to meet various conditions such as grasping force, grasping accuracy, adaptability, and degrees of freedom.

[0027] Currently, the main transmission methods of dexterous hands include transmission tendon ropes and linkages. Among them, linkages are widely used due to their strong grasping force and high motion accuracy. However, when the dexterous hand performs a grasping operation, there will be hinge clearances between the linkages during the operation process. The hinge clearances between the linkages will cause force feedback distortion, trigger slippage, and the clearances will cause a slapping effect, which may damage the linkages and the dexterous hand, and reduce the service life of the linkages and the dexterous hand.

[0028] Based on this, this embodiment proposes a dexterous hand finger and a dexterous hand. The proximal phalanx and the distal phalanx of the dexterous hand finger are rotatably connected. One end of the first spring is connected to the distal phalanx, and the other end of the first spring is connected to the finger mounting base. One end of each of the two transmission linkages is hinged to the finger mounting base, and the other end of each transmission linkage passes through the proximal phalanx and is hinged to the distal phalanx. One end of the first spring is connected to the distal phalanx and the other end is connected to the finger mounting base. Thus, by setting the first spring, the hinge clearances between the proximal phalanx and the distal phalanx, the clearances between the proximal phalanx and the finger mounting base, the hinge clearances between each transmission linkage and the distal phalanx, and the hinge clearances between each transmission linkage and the finger mounting base can be eliminated, and the service life of the transmission linkages and the dexterous hand can be improved. Moreover, the setting position of the first spring can reduce the deformation degree of the first spring each time the finger moves, and further extend the service life of the first spring.

[0029] To make the above objects, features, and advantages of this application more obvious and understandable, the following further details this application in conjunction with the drawings and embodiments.

[0030] Embodiment

[0031] See Figure 1 The structural schematic diagram of the dexterous hand finger shown and see Figure 2Partial cross-sectional view of the dexterous hand finger shown. In this embodiment, a dexterous hand finger is proposed, including: a driver 1, a proximal phalanx 2, a distal phalanx 3, a finger mounting base 4, a first spring 5, a driving link 6, and two transmission links 7.

[0032] The driver 1 is rotatably connected to the palm skeleton. One end of the finger mounting base 4 is fixedly connected to the palm skeleton, and the other end of the finger mounting base 4 is rotatably connected to the proximal phalanx 2. The finger mounting base 4 is also rotatably connected to the driving link 6; the driving link 6 also abuts against the proximal phalanx 2.

[0033] The proximal phalanx 2 is rotatably connected to the distal phalanx 3. One end of the first spring 5 is connected to the distal phalanx 3, and the other end of the first spring 5 is connected to the finger mounting base 4.

[0034] One end of each of the two transmission links 7 is hinged to the finger mounting base 4, and the other end of each transmission link 7 passes through the proximal phalanx 2 and is hinged to the distal phalanx 3.

[0035] The driver 1 is used to drive the proximal phalanx 2 and the distal phalanx 3 to rotate, realizing the bending and stretching of the dexterous hand finger; when the dexterous hand finger bends and stretches, the first spring 5 will be stretched or compressed along with the movement of the distal phalanx 3. Since one end of the first spring 5 is connected to the distal phalanx 3 and the other end is connected to the finger mounting base 4, the hinge clearance between the proximal phalanx 2 and the distal phalanx 3, the clearance between the proximal phalanx 2 and the finger mounting base 4, the hinge clearance between each transmission link 7 and the distal phalanx 3, and the hinge clearance between each transmission link 7 and the finger mounting base 4 are eliminated.

[0036] When the dexterous hand finger bends and stretches, the first spring 5 will always provide a pre-tightening force, which is used to eliminate the hinge clearance between the proximal phalanx 2 and the distal phalanx 3, the clearance between the proximal phalanx 2 and the finger mounting base 4, the hinge clearance between each transmission link 7 and the distal phalanx 3, and the hinge clearance between each transmission link 7 and the finger mounting base 4. In one embodiment, the driver 1 can be but is not limited to: an electric cylinder, a cylinder, and a hydraulic cylinder.

[0037] See Figure 3 The explosion structure schematic diagram of the dexterous hand finger shown. The proximal phalanx 2 has a proximal phalanx housing 201.

[0038] A limiting end face 2011 is formed on the proximal phalanx housing 201. One end of the driving link 6 extends into the proximal phalanx housing 201 and abuts against the limiting end face 2011, and the other end of the driving link 6 is rotatably connected to the finger mounting base 4.

[0039] One end of the distal phalanx 3 rotatably connected to the proximal phalanx 2 is provided with a distal phalanx skeleton 301. One end of the distal phalanx skeleton 301 facing the proximal phalanx 2 is respectively provided with a first hinge hole 3011, a second hinge hole 3012 and a first spring connection hole 3013. The axes of the first hinge hole 3011 and the second hinge hole 3012 are parallel, and the second hinge hole 3012 is hinged to the proximal phalanx housing 201.

[0040] The proximal phalanx housing 201, the distal phalanx skeleton 301, the finger mounting base 4 and the transmission link 7 form a crossed four-bar linkage structure.

[0041] Since one end of the first spring 5 is connected to the distal phalanx 3 and the other end is connected to the finger mounting base 4, the gaps between the transmission links 7 and the finger mounting base 4, the hinge gaps between the transmission links 7 and the distal phalanx skeleton 301, the gap between the proximal phalanx housing 201 and the finger mounting base 4, and the hinge gap between the proximal phalanx housing 201 and the distal phalanx skeleton 301 are eliminated.

[0042] Specifically, the second hinge hole 3012 of the distal phalanx skeleton 301 is hinged to the proximal phalanx housing 201 at the hinge point A through a connecting member.

[0043] See Figure 4 The three-dimensional structure schematic diagram of the finger mounting base in the dexterous hand finger shown in the figure. The finger mounting base 4 is provided with a third hinge hole 401, a fourth hinge hole 402, a second spring connection hole 403 and a first opening groove 404.

[0044] The axes of the third hinge hole 401 and the fourth hinge hole 402 are respectively perpendicular to the plane where the first opening groove 404 is located, and the proximal phalanx housing 201 is hinged to the fourth hinge hole 402 of the finger mounting base 4.

[0045] Both ends of the first spring 5 are respectively connected to the first spring connection hole 3013 and the second spring connection hole 403.

[0046] One end of each transmission link 7 in the two transmission links 7 is hinged to the third hinge hole 401 of the finger mounting base 4, and the other end of each transmission link 7 is hinged to the first hinge hole 3011 of the distal phalanx skeleton 301.

[0047] Specifically, one end of each transmission link 7 is hinged to the third hinge hole 401 of the finger mounting base 4 at the hinge point B through a connecting member.

[0048] The other end of each transmission link 7 is hinged to the first hinge hole 3011 of the distal phalanx skeleton 301 at the hinge point E through a connecting member.

[0049] The fourth hinge hole 402 of the proximal phalanx housing 201 and the finger mounting base 4 is hinged at the hinge point C through a connecting member.

[0050] Specifically, asFigure 3 As shown, the driving link 6 is respectively provided with a fifth hinge hole 601, a sixth hinge hole 602, a second opening groove 603 and a third spring connection hole 604.

[0051] The axes of the fifth hinge hole 601 and the sixth hinge hole 602 are respectively perpendicular to the plane where the second opening groove 603 is located.

[0052] The fifth hinge hole 601 of the driving link 6 is hinged to the fourth hinge hole 402 of the finger mounting base 4. After the output shaft of the driver 1 is located in the first opening groove 404, the output shaft of the driver 1 extends into the second opening groove 603 of the driving link 6 and is hinged to the sixth hinge hole 602 of the driving link 6.

[0053] Optionally, the fifth hinge hole 601 of the driving link 6 and the fourth hinge hole 402 of the finger mounting base 4 are hinged at the hinge point C through a connecting piece.

[0054] The output end of the driver 1 and the sixth hinge hole 602 of the driving link 6 are hinged at the hinge point D through a connecting piece.

[0055] Specifically, as Figure 3 shown, the dexterous hand finger proposed in this embodiment further includes: a connecting block 8 and a second spring 9.

[0056] The connecting block 8 is fixedly arranged on the proximal phalanx housing 201. One end of the second spring 9 is connected to the third spring connection hole 604 of the driving link 6, and the other end of the second spring 9 is connected to the connecting block 8. The second spring 9 can provide a pre-tightening force, and the pre-tightening force provided by the second spring 9 enables the driving link 6 to be in a state of being in contact with the limiting end face 2011 without external force.

[0057] In an embodiment, the distances from the first spring connection hole 3013 to the hinge point A and the hinge point E are the same, and the distances from the second spring connection hole 403 to the hinge point B and the hinge point C are the same.

[0058] Optionally, the connecting piece can be but is not limited to a pin shaft, a bolt and a rivet.

[0059] Refer to Figure 7 the schematic diagram of the relationship between the hinge points and the spring of the internal crossed four-bar linkage when the finger extends in the related art shown, and refer to Figure 8 the schematic diagram of the relationship between the hinge points and the spring of the internal crossed four-bar linkage when the finger bends in the related art shown. In the related art, to achieve the above purpose, the spring is directly arranged between the driving link and the transmission link. Under the action of the spring, the driving link and the proximal phalanx housing are in contact with each other without external force, and are in contact at point p. The spring is arranged between cp and be. During the operation, the deformation of the spring is large, the service life of the spring is very short, and the requirements for the spring are also high.

[0060] See Figure 5 Schematic diagram of the relationship between the hinge points of the internal cross four-bar linkage and the first spring when the finger of the dexterous hand proposed in this application extends, see Figure 6 Schematic diagram of the relationship between the hinge points of the internal cross four-bar linkage and the first spring when the finger of the dexterous hand proposed in this application bends. For the first spring 5, in the finger of the dexterous hand proposed in this embodiment, the proximal phalanx housing 201, the distal phalanx skeleton 301, the finger mounting base 4, and the transmission link 7 form a cross four-bar structure, that is, a cross four-bar structure is formed by the connection line of hinge points BC, the connection line of hinge points AC, the connection line of hinge points AE, and the connection line of hinge points BE. The setting of the first spring 5 can play a role in eliminating the initial clearance, enabling the finger of the dexterous hand to meet the requirements of high precision, high sensitivity, and reliability. And during the bending and extension process of the finger, as Figure 5 , Figure 6 shown, the deformation degree of the first spring 5 is small, which can greatly extend the service life of the first spring 5.

[0061] Finger bending and extension: When the output end of the driver 1 extends, it will drive the drive link 6 to rotate around the hinge point C. At the same time, since the drive link 6 abuts against the limit end face 2011, the drive link 6 will push the proximal phalanx housing 201 to rotate, and through the coupling action of the transmission link 7, that is, because the connection line of hinge points A and C intersects with the transmission link 7, when the proximal phalanx housing 201 rotates, the hinge point A rotates around the hinge point C, and the transmission link 7 rotates around the hinge point B. During this rotation process, the distal phalanx skeleton 301 rotates around the hinge point A, so that the distal phalanx 3 rotates to realize finger bending.

[0062] When the output end of the driver 1 retracts, it drives the drive link 6 to rotate in the reverse direction. At the same time, under the action of the second spring 9, the proximal phalanx housing 201 rotates in the reverse direction, and through the coupling action of the transmission link 7, the distal phalanx 3 is reset, thus realizing finger extension.

[0063] The setting of the above-mentioned second spring 9 mainly plays a role in resetting. At the same time, the second spring 9 can also play a buffering role. When the phalanx of the finger of the dexterous hand is impacted in the inward bending direction, the phalanx will rotate around the hinge axis, avoiding direct impact with the outside, and also reducing the impact force on the finger driver 1, improving the anti-impact ability of the dexterous hand.

[0064] Moreover, the setting of the first spring 5 and the second spring 9 in the present invention can reduce the requirement for the thrust of the driver compared with the design of a single spring in the related art. The driver 1 does not need to overcome the elastic force of the second spring 9 to drive the finger to bend, and the deformation of the first spring 5 is small, and the force requirement is much smaller than that of the related art, so the requirement for the thrust of the driver can be reduced.

[0065] This embodiment also provides a dexterous hand, including the dexterous hand fingers described above.

[0066] In summary, this embodiment provides a dexterous hand finger and a dexterous hand. The proximal phalanx in the dexterous hand finger is rotatably connected to the distal phalanx. One end of the first spring is connected to the distal phalanx, and the other end of the first spring is connected to the finger mounting base. One end of each of the two transmission linkages is hinged to the finger mounting base, and the other end of each transmission linkage passes through the proximal phalanx and is hinged to the distal phalanx. One end of the first spring is connected to the distal phalanx and the other end is connected to the finger mounting base. Thus, by setting the first spring, the hinge clearance between the proximal phalanx and the distal phalanx, the clearance between the proximal phalanx and the finger mounting base, the hinge clearance between each transmission linkage and the distal phalanx, and the hinge clearance between each transmission linkage and the finger mounting base can be eliminated, improving the service life of the transmission linkages and the dexterous hand. Moreover, the setting position of the first spring can reduce the deformation degree of the first spring each time the finger moves, further extending the service life of the first spring.

[0067] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A dexterous hand finger, characterized in that, Comprising: A driver, a proximal phalanx, a distal phalanx, a finger mounting base, a first spring, a driving link, and two transmission links; The driver is rotatably connected to the palm skeleton. One end of the finger mounting base is fixedly connected to the palm skeleton, and the other end of the finger mounting base is rotatably connected to the proximal phalanx. The finger mounting base is also rotatably connected to the driving link; the driving link is also in contact with the proximal phalanx; The proximal phalanx is rotatably connected to the distal phalanx. One end of the first spring is connected to the distal phalanx, and the other end of the first spring is connected to the finger mounting base; One end of each of the two transmission links is hinged to the finger mounting base, and the other end of each transmission link passes through the proximal phalanx and is hinged to the distal phalanx; The driver is used to drive the proximal phalanx and the distal phalanx to rotate, realizing the bending and stretching of the dexterous hand finger; when the dexterous hand finger bends and stretches, the first spring will be stretched or compressed along with the movement of the distal phalanx. Since one end of the first spring is connected to the distal phalanx and the other end is connected to the finger mounting base, the hinge clearance between the proximal phalanx and the distal phalanx, the clearance between the proximal phalanx and the finger mounting base, the hinge clearance between each transmission link and the distal phalanx, and the hinge clearance between each transmission link and the finger mounting base are eliminated.

2. The dexterous hand finger according to claim 1, characterized in that, The proximal phalanx has a proximal phalanx housing; A limiting end face is formed on the proximal phalanx housing. One end of the driving link extends into the proximal phalanx housing and abuts against the limiting end face, and the other end of the driving link is rotatably connected to the finger mounting base; One end of the distal phalanx rotatably connected to the proximal phalanx is provided with a distal phalanx skeleton. One end of the distal phalanx skeleton facing the proximal phalanx is respectively provided with a hinge hole one, a hinge hole two, and a spring connection hole one. The axes of the hinge hole one and the hinge hole two are parallel, and the hinge hole two is hinged to the proximal phalanx housing; The proximal phalanx housing, the distal phalanx skeleton, the finger mounting base, and the transmission link form a crossed four-bar linkage structure; Since one end of the first spring is connected to the distal phalanx and the other end is connected to the finger mounting base, the clearance between each transmission link and the finger mounting base, the hinge clearance between each transmission link and the distal phalanx skeleton, the clearance between the proximal phalanx housing and the finger mounting base, and the hinge clearance between the proximal phalanx housing and the distal phalanx skeleton are eliminated.

3. The dexterous hand finger according to claim 2, characterized in that, The finger mounting base is provided with a hinge hole three, a hinge hole four, a spring connection hole two, and an opening groove one; The axes of the hinge hole three and the hinge hole four are respectively perpendicular to the plane where the opening groove one is located, and the proximal phalanx housing is hinged to the hinge hole four of the finger mounting base; Both ends of the first spring are respectively connected to the spring connection hole one and the spring connection hole two.

4. The dexterous hand finger according to claim 3, characterized in that, One end of each of the two transmission links is hinged to the hinge hole three of the finger mounting base, and the other end of each transmission link is hinged to the hinge hole one of the distal phalanx skeleton.

5. The dexterous hand finger according to claim 4, characterized in that, The driving link is respectively provided with a hinge hole five, a hinge hole six, an opening groove two, and a spring connection hole three; The axes of the hinge hole five and the hinge hole six are respectively perpendicular to the plane where the opening groove two is located; The hinge hole five is hinged to the hinge hole four of the finger mounting base. After the output shaft of the driver is located in the opening groove one, the output shaft of the driver extends into the opening groove two of the driving link and is hinged to the hinge hole six of the driving link.

6. The dexterous hand finger according to claim 5, wherein Also comprising: A connecting block and a second spring; The connecting block is fixedly arranged on the proximal phalanx housing. One end of the second spring is connected to the spring connection hole three of the driving link, and the other end of the second spring is connected to the connecting block. The second spring can provide a pre-tightening force, and the pre-tightening force provided by the second spring enables the driving link to be in a state of abutting against the limiting end face without external force.

7. The dexterous hand finger according to claim 5, characterized in that, The hinge hole two of the distal phalanx skeleton is hinged to the proximal phalanx housing through a connecting piece at the hinge point A; One end of each transmission link is hinged to the hinge hole three of the finger mounting base through a connecting piece at the hinge point B; The hinge hole four of the proximal phalanx housing and the finger mounting base is hinged through a connecting piece at the hinge point C; The hinge hole five of the driving link and the hinge hole four of the finger mounting base are hinged through a connecting piece at the hinge point C; The output end of the driver is hinged to the hinge hole six of the driving link through a connecting piece at the hinge point D; The other ends of the transmission links are all hinged to the hinge hole one of the distal phalanx skeleton through a connecting piece at the hinge point E.

8. The dexterous hand finger according to claim 7, wherein The distances from the spring connection hole one to the hinge point A and the hinge point E are the same, and the distances from the spring connection hole two to the hinge point B and the hinge point C are the same.

9. A dexterous hand, comprising the dexterous hand finger according to any one of claims 1-8 above.

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