Dexterous hand finger, dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot to solve the problem that the size of the dexterous hand finger is large. According to the dexterous hand finger, a first driving part can move along a first straight line, a first side wall and a second side wall are oppositely arranged in the direction perpendicular to a first axis, the first side wall and the second side wall are arranged on the two sides of a poked part respectively, and in the rotating process of the poked part around the first axis, the first side wall or the second side wall abuts against the poked part; the first driving part can stir the stirred part to rotate around the first axis, the rotating structure of the second knuckles is simple and compact, and the size of the fingers of the dexterous hand can be reduced. Moreover, the first sliding groove provides a motion space for rotation of the poked part, so that the first linear driving assembly can be fixed to the first knuckle and does not need to be rotationally connected with the first knuckle, and the situation that the first linear driving assembly occupies more space of the first knuckle is avoided.

Description

Technical Field

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

[0002] In the field of robot technology, as a key component for achieving fine operations and complex interactions, the performance and structure of a dexterous hand have always been the focus of research. A dexterous hand finger needs to have a high degree of flexibility and precise motion control ability to simulate the complex movements of human fingers, so as to complete tasks such as grasping and operating objects of various shapes and materials.

[0003] However, while existing dexterous hand fingers pursue multiple active degrees of freedom to complete complex tasks, they generally have the problem of large size, which limits the application scenarios of dexterous hands. Summary of the Invention

[0004] In view of this, an embodiment of this application provides a dexterous hand finger to solve the problem of the large size of dexterous hand fingers.

[0005] An embodiment of this application provides a dexterous hand finger, including: a first phalanx; a second phalanx, rotatably connected to the first phalanx around a first axis, the second phalanx including a toggled portion located circumferentially around the first axis; a first linear drive assembly disposed on the first phalanx, the first linear drive assembly including a first drive portion capable of moving along a first straight line; wherein, the first drive portion has a first chute, the toggled portion extends into the first chute, the first chute includes a first side wall and a second side wall oppositely arranged in a direction perpendicular to the first axis, the first side wall and the second side wall are respectively disposed on both sides of the toggled portion, and during the rotation of the toggled portion around the first axis, the first side wall or the second side wall abuts against the toggled portion to toggle the toggled portion to rotate around the first axis.

[0006] In some implementation manners, the shape of the first linear drive assembly includes a long strip shape, and the extending direction of the first linear drive assembly is parallel to the extending direction of the dexterous hand finger when it is extended.

[0007] In some implementation manners, the dexterous hand finger has a back side and a palm side arranged opposite to each other; the first linear drive assembly further includes: a first drive body located on a side of the first drive portion away from the second phalanx along the extending direction of the first linear drive assembly and connected to the first drive portion for driving the first drive portion to move along the first straight line, wherein the first axis is located on a side of the first drive body facing the second phalanx and on a side of the first straight line facing the palm side.

[0008] In certain implementations, the second knuckle includes: a second knuckle body; a first support member, including a first connecting portion and a second connecting portion connected to each other, the first connecting portion being connected to the second knuckle body, the second connecting portion forming a toggled portion, and the strength of the material of the first support member being greater than the strength of the material of the second knuckle body; wherein the second knuckle body and / or the first support member are rotatably connected to the first knuckle around a first axis.

[0009] In some implementations, the first support member also includes: a third connection portion, the third connection portion is connected to the first connection portion and / or the second connection portion, and is rotatably connected to the first finger joint around the first axis, and in a plane perpendicular to the first axis, the first connection portion, the second connection portion and the third connection portion are arranged in a triangle.

[0010] In some embodiments, the first finger joint has a first accommodating space, a first opening, and a second accommodating space. The first accommodating space is located on the side of the first finger joint facing the second finger joint, and the second accommodating space is located on the side of the first finger joint away from the second finger joint. The first accommodating space is connected through the first opening, the first support member is located in the first accommodating space, and at least part of the first linear drive assembly is located in the second accommodating space. The first driving part can extend into the first accommodating space through the first opening to drive the driven part to rotate around the first axis.

[0011] In some implementations, the dexterous hand fingers also include: a third knuckle, rotatably connected to the second knuckle around a second axis, and the second axis is parallel to the first axis; a connecting rod, a first end of the connecting rod is rotatably connected to the first knuckle around a third axis, and a second end of the connecting rod is rotatably connected to the third knuckle around a fourth axis, wherein the third axis and the fourth axis are both parallel to the first axis, and on a section perpendicular to the first axis, a line connecting the first axis and the second axis intersects a line connecting the third axis and the fourth axis.

[0012] In certain embodiments, the first knuckle includes: a first knuckle body; a second support member, including a fourth connection portion and a fifth connection portion connected to each other, the fourth connection portion being connected to the first knuckle body, the fifth connection portion being rotatably connected to the first end of the connecting rod around a third axis, and the strength of the material of the second support member being greater than the strength of the material of the first knuckle body; wherein the first knuckle body and / or the second support member are rotatably connected to the second knuckle around the first axis.

[0013] In some implementations, the second support member also includes: a sixth connection portion, the sixth connection portion is connected to the fourth connection portion and / or the fifth connection portion, the sixth connection portion is rotatably connected to the second finger joint around the first axis, and in a plane perpendicular to the first axis, the fourth connection portion, the fifth connection portion and the sixth connection portion are arranged in a triangle.

[0014] In certain implementations, the third knuckle includes: a third support member, rotatably connected to the second knuckle around a second axis, and rotatably connected to the second end of the connecting rod around a fourth axis; a third knuckle body, connected to the third support member and wrapping at least a portion of the third support member, the strength of the material of the third support member being greater than the strength of the material of the third knuckle body.

[0015] In certain implementations, the third support member includes a seventh connection portion and an eighth connection portion that are connected, and the seventh connection portion is rotatably connected to the second end of the connecting rod around a fourth axis; the second finger joint includes: a second finger joint body, and the second finger joint body has a third accommodating space that can be connected to the outside world on the side facing the third finger joint body; the fourth support member includes a ninth connection portion and a tenth connection portion that are connected, and the ninth connection portion is rotatably connected to the eighth connection portion around the second axis, and the tenth connection portion extends into the third accommodating space and is connected to the second finger joint, and the strength of the material of the fourth support member is greater than the strength of the material of the second finger joint body.

[0016] In some implementations, the dexterous finger also includes: a fifth support member, rotatably connected to the first knuckle around a fifth axis, the fifth axis is parallel to the first axis, the fifth support member has a second slide groove, the second slide groove includes a third side wall and a fourth side wall oppositely arranged in a direction perpendicular to the first axis; a second linear drive assembly, arranged on the first knuckle, the second linear drive assembly includes a second drive body and a second drive part, the second drive body is connected to the second drive part, and is used to drive the second drive part to move along a second straight line relative to the second drive body, the second drive part extends into the second slide groove, the third side wall and the fourth side wall are respectively arranged on both sides of the second drive part, and during the rotation of the first knuckle around the fifth axis, the second drive part abuts against the third side wall or the fourth side wall to drive the first knuckle to rotate around the fifth axis.

[0017] In some implementations, the shape of the second linear drive component includes a long strip, and the extension direction of the second linear drive component is parallel to the extension direction of the fingers of the dexterous hand when they are stretched.

[0018] In some implementations, the fingers of the dexterous hand have a back side and a palm side that are arranged opposite to each other; the second driving body is located on the side of the second driving part facing the second knuckle along the extension direction of the second linear driving component, and the fifth axis is located on the side of the second driving body away from the second knuckle and the side of the second straight line facing the back side.

[0019] In some implementations, the fingers of the dexterous hand have a back side and a palm side disposed opposite to each other; the first linear drive assembly and the second linear drive assembly are arranged along the extension direction of the first axis.

[0020] In some implementations, the fifth support member includes a connected eleventh connecting portion and a twelfth connecting portion; the dexterous hand finger further includes: a side swing support member rotatably connected to the eleventh connecting portion about a sixth axis, the sixth axis being perpendicular to the fifth axis; a third linear drive assembly including a third drive body and a third drive portion, the third drive body being connected to the third drive portion and configured to drive the third drive portion to move linearly along a third direction relative to the third drive body, the third drive body being rotatably connected to the side swing support member about a seventh axis, and the third drive portion being rotatably connected to the twelfth connecting portion about an eighth axis, both the seventh axis and the eighth axis being parallel to the sixth axis.

[0021] In some implementations, the dexterous hand finger is applied to a dexterous hand, the dexterous hand including a palm substrate and at least one dexterous hand finger; the side swing support member includes a connected thirteenth connecting portion and a fourteenth connecting portion, the thirteenth connecting portion being rotatably connected to the palm substrate about a ninth axis, the ninth axis being perpendicular to the seventh axis and the palm substrate; the dexterous hand finger further includes: a fourth linear drive assembly including a fourth drive body and a fourth drive portion, the fourth drive body being connected to the fourth drive portion and configured to drive the fourth drive portion to move linearly along a fourth direction relative to the fourth drive body, the fourth drive body being disposed on the palm substrate and rotatably connected to the palm substrate about a tenth axis, and the fourth drive portion being rotatably connected to the fourteenth connecting portion about an eleventh axis, both the tenth axis and the eleventh axis being parallel to the ninth axis.

[0022] In some implementations, the third drive body includes: a first support seat rotatably connected to the side swing support member about a seventh axis; a first rotary drive member disposed on the first support seat; a first lead screw connected to the first rotary drive member and configured to rotate about a rotation axis of the first lead screw under the drive of the first rotary drive member, the rotation axis of the first lead screw and the third straight line being parallel to the extension direction of the first lead screw, the third drive portion being sleeved on the first lead screw and threadedly connected to the first lead screw; and / or, the fourth drive body includes: a second support seat rotatably connected to the palm substrate about a tenth axis; a second rotary drive member disposed on the second support seat; a second lead screw connected to the second rotary drive member and configured to rotate about a rotation axis of the second lead screw under the drive of the second rotary drive member, the rotation axis of the second lead screw and the fourth straight line being parallel to the extension direction of the second lead screw, the fourth drive portion being sleeved on the second lead screw and threadedly connected to the second lead screw.

[0023] In some implementations, when the third driving body includes the first support base, the third driving body further includes: a first potential measuring member disposed on the first support base. The shape of the first potential measuring member is strip-shaped, and the extending direction of the first potential measuring member is parallel to the extending direction of the first lead screw. The third driving part is sleeved on the first potential measuring member, and the first potential measuring member is used to obtain the position information of the third driving part. When the fourth driving body includes the second support base, the fourth driving body further includes: a second potential measuring member disposed on the second support base. The shape of the second potential measuring member is strip-shaped, and the extending direction of the second potential measuring member is parallel to the extending direction of the second lead screw. The fourth driving part is sleeved on the second potential measuring member, and the second potential measuring member is used to obtain the position information of the fourth driving part.

[0024] In some implementations, when the third driving body includes the first support base, the dexterous hand finger further includes: an elastic member, one end of the elastic member is connected to the fifth support member, and the other end of the elastic member is connected to the side swing support member. When the side swing angle of the dexterous hand finger is zero, the elastic member is in a stretched state or an undeformed state.

[0025] In a second aspect, an embodiment of the present application provides a dexterous hand, including: at least one dexterous hand finger mentioned in the first aspect.

[0026] In a third aspect, an embodiment of the present application provides a robot, including: at least one dexterous hand mentioned in the second aspect.

[0027] For the dexterous hand finger provided in this embodiment, since the first driving part can move along the first straight line, the driven part extends into the first chute of the first driving part, the first side wall and the second side wall are oppositely arranged in a direction perpendicular to the first axis, and the first side wall and the second side wall are respectively arranged on both sides of the driven part. During the rotation of the driven part around the first axis, the first side wall or the second side wall abuts against the driven part, so that the first driving part can drive the driven part to rotate around the first axis. The structure for realizing the rotation of the second finger joint is simple and compact, which is beneficial to reducing the size of the dexterous hand finger.

[0028] In addition, since the first chute provides a movement space for the rotation of the driven part, the first linear driving assembly can be fixed on the first finger joint without being rotatably connected to the first finger joint, avoiding the first linear driving assembly occupying more space of the first finger joint and reducing the size of the first finger joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other objects, features, and advantages of the present application will become more apparent by describing the embodiments of the present application in more detail with reference to the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. They are used together with the embodiments of the present application to explain the present application and do not constitute a limitation to the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0030] Figure 1 The structural schematic diagram of the finger of the dexterous hand provided by an embodiment of the present application is shown.

[0031] Figure 2 The left view of the finger of the dexterous hand provided by an embodiment of the present application is shown.

[0032] Figure 3 The structural schematic diagram of the finger of the dexterous hand provided by an embodiment of the present application after removing a first knuckle housing part is shown.

[0033] Figure 4 The structural schematic diagram of the first driving part provided by an embodiment of the present application is shown.

[0034] Figure 5 The structural schematic diagram of the second knuckle housing provided by an embodiment of the present application is shown.

[0035] Figure 6 The structural schematic diagram of the finger of the dexterous hand provided by an embodiment of the present application after removing a first knuckle housing and a second knuckle housing is shown.

[0036] Figure 7 The structural schematic diagram of the finger of the dexterous hand provided by an embodiment of the present application after removing the first knuckle body, the third knuckle body, and a second knuckle housing is shown.

[0037] Figure 8 Shown in an embodiment of the present application Figure 2 The cross-sectional schematic diagram of the shown dexterous hand finger along line AA is shown.

[0038] Figure 9 The structural schematic diagram of the robot provided by an embodiment of the present application is shown.

[0039] Figure 10 The structural schematic diagram of the finger of the dexterous hand and the palm substrate provided by an embodiment of the present application is shown.

[0040] Figure 11 The structural schematic diagram of the fifth support member, the third linear drive assembly, the fourth linear drive assembly, and the palm substrate provided by an embodiment of the present application is shown.

[0041] Figure 12The figure shows a schematic structural diagram of a fifth support member, a third linear drive assembly, a fourth drive assembly, and a palm substrate provided by another embodiment of the present application.

[0042] Figure 13 The figure shows a schematic structural diagram of a fourth linear drive assembly provided by an embodiment of the present application.

[0043] Reference numerals: 1. Dexterous hand; 10. Dexterous hand finger; 100. Dorsal side; 101. Palm side; 11. First phalanx; 110. First accommodation space; 111. First opening; 112. Second accommodation space; 113. First phalanx body; 1130. First phalanx housing; 114. Second support member; 1140. Fourth connection part; 1141. Fifth connection part; 1142. Sixth connection part; 12. Second phalanx; 120. Pushed part; 121. Second phalanx body; 1210. Third accommodation space; 1211. Second phalanx housing; 122. First support member; 1220. First connection part; 1221. Second connection part; 1222. Third connection part; 123. Fourth support member; 1230. Ninth connection part; 1231. Tenth connection part; 13. First linear drive assembly; 130. First drive part; 1300. First chute; 1301. First side wall; 1302. Second side wall; 131. First drive body; 14. Third phalanx; 140. Third support member; 1400. Seventh connection part; 1401. Eighth connection part; 141. Third phalanx body; 15. Link; 150. First end of the link; 151. Second end of the link; 16. Fifth support member; 160. Second chute; 1600. Third side wall; 1601. Fourth side wall; 161. Eleventh connection part; 162. Twelfth connection part; 17. Second linear drive assembly; 170. Second drive body; 171. Second drive part; 18. Side swing support member; 180. Thirteenth connection part; 181. Fourteenth connection part; 19. Third linear drive assembly; 190. Third drive body; 1900. First support base; 1901. First guide rod; 1902. First lead screw; 1903. First potential measuring member; 191. Third drive part; 20. Fourth linear drive assembly; 200. Fourth drive body; 2000. Second support base; 2001. Second guide rod; 2002. Second lead screw; 2003. Second potential measuring member; 201. Fourth drive part; 21. Tactile sensor; 22. Elastic member; 30. Palm base plate; 40. Robot; 41. Robot body; 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; L10. Tenth axis; L11. Eleventh axis; SL1. First straight line; SL2. Second straight line; SL3. Third straight line; SL4. Fourth straight line. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0045] In the field of robotics, the dexterous hand, as a key component for achieving fine operations and complex interactions, its performance and structure have always been the focus of research. The fingers of a dexterous hand usually include multiple phalanges and possess high flexibility and precise motion control capabilities to simulate the complex movements of human fingers, thereby completing tasks such as grasping and operating objects of various shapes and materials.

[0046] However, in order to complete complex tasks, the fingers of a dexterous hand usually have multiple active degrees of freedom, which means that the fingers of a dexterous hand include multiple driving structures. The existing driving structures for driving the rotation of phalanges are complex in structure, resulting in the common problem that the fingers of a dexterous hand are relatively large in size, which limits the application scenarios of the dexterous hand.

[0047] In view of the above problems, the embodiments of the present application provide a dexterous hand finger, including: a first phalanx; a second phalanx rotatably connected to the first phalanx around a first axis, the second phalanx including a toggled portion located circumferentially of the first axis; a first linear driving assembly disposed on the first phalanx, the first linear driving assembly including a first driving portion capable of moving along a first straight line; wherein, the first driving portion has a first chute, the toggled portion extends into the first chute, the first chute includes a first side wall and a second side wall oppositely arranged along a direction perpendicular to the first axis, the first side wall and the second side wall are respectively disposed on both sides of the toggled portion, and during the rotation of the toggled portion around the first axis, the first side wall or the second side wall abuts against the toggled portion to toggle the toggled portion to rotate around the first axis.

[0048] For the dexterous hand finger provided by the embodiments of the present application, since the first driving portion can move along the first straight line, the toggled portion extends into the first chute of the first driving portion, the first side wall and the second side wall are oppositely arranged along the direction perpendicular to the first axis, and the first side wall and the second side wall are respectively disposed on both sides of the toggled portion. During the rotation of the toggled portion around the first axis, the first side wall or the second side wall abuts against the toggled portion, enabling the first driving portion to toggle the toggled portion to rotate around the first axis. The structure for realizing the rotation of the second phalanx is simple and compact, which is beneficial to reducing the size of the dexterous hand finger.

[0049] In addition, since the first chute provides a movement space for the rotation of the driven part, the first linear driving assembly can be fixed to the first finger joint without being rotatably connected to the first finger joint, avoiding the first linear driving assembly occupying more space of the first finger joint and reducing the size of the first finger joint.

[0050] The following describes the specific structures of the dexterous hand finger, dexterous hand, and robot in conjunction with the accompanying drawings and specific embodiments.

[0051] Figure 1 The figure shows a schematic structural diagram of a dexterous hand finger provided by an embodiment of the present application. Figure 2 The figure shows a left view of a dexterous hand finger provided by an embodiment of the present application. Figure 3 The figure shows a schematic structural diagram of a dexterous hand finger provided by an embodiment of the present application after removing one first finger joint housing part. Figure 4 The figure shows a schematic structural diagram of a first driving part provided by an embodiment of the present application. Figure 5 The figure shows a schematic structural diagram of a second finger joint housing provided by an embodiment of the present application. Figure 6 The figure shows a schematic structural diagram of a dexterous hand finger provided by an embodiment of the present application after removing one first finger joint housing and one second finger joint housing. Figure 7 The figure shows a schematic structural diagram of a dexterous hand finger provided by an embodiment of the present application after removing the first finger joint body, the third finger joint body, and one second finger joint housing. Figure 8 The figure shows a dexterous hand finger provided by an embodiment of the present application Figure 2 The figure shows a cross-sectional schematic diagram of the dexterous hand finger along line AA. Figure 9 The figure shows a schematic structural diagram of a robot provided by an embodiment of the present application. As Figures 1 to 9 As shown, the dexterous hand finger 10 includes: a first finger joint 11, a second finger joint 12, and a first linear driving assembly 13.

[0052] Exemplarily, the dexterous hand finger 10 can be applied to the dexterous hand 1. The dexterous hand 1 can be a structure that imitates the human or animal hand. The dexterous hand 1 can include a palm and fingers. Exemplarily, the dexterous hand 1 can include a palm substrate 30 and one or more dexterous hand fingers 10 provided on the palm substrate 30. The dexterous hand fingers 10 can be used to form the fingers of the dexterous hand 1. The palm substrate 30 can be used to form the palm of the dexterous hand 1. The number of dexterous hand fingers 10 can be determined according to specific application scenarios and design requirements. Exemplarily, a dexterous hand 1 can include one, three, four, or five dexterous hand fingers 10. Exemplarily, the dexterous hand finger 10 has a back side 100 and a palm side 101 arranged opposite to each other.

[0053] The second phalanx 12 is rotatably connected to the first phalanx 11 about a first axis L1. The second phalanx 12 includes a toggled portion 120, and the toggled portion 120 is located in the circumferential direction of the first axis L1. Exemplarily, the first axis L1 is perpendicular to the extending direction when the dexterous hand finger 10 extends and the direction from the back side 100 to the palm side 101.

[0054] Specifically, a phalanx can be a structural unit segmented along the length extending direction of the dexterous hand finger 10. The dexterous hand finger 10 can include multiple sequentially connected phalanges. The first phalanx 11 and the second phalanx 12 can be two of the multiple phalanges included in the dexterous hand finger 10.

[0055] The first linear drive assembly 13 is disposed on the first phalanx 11. The first linear drive assembly 13 includes a first driving portion 130, and the first driving portion 130 is capable of moving along a first straight line SL1.

[0056] The first linear drive assembly 13 can include any structure capable of realizing the linear movement of the first driving portion 130. Exemplarily, the first linear drive assembly 13 can include a combination of one or more of the following structures: a lead screw linear module, a timing belt linear module, a linear motor module, a cylinder piston, and a telescopic rod. For example, the first linear drive assembly 13 can include a linear servo. The first driving portion 130 can be the output end of the linear servo.

[0057] The first driving portion 130 has a first chute 1300, and the toggled portion 120 extends into the first chute 1300. The first chute 1300 includes a first side wall 1301 and a second side wall 1302 that are oppositely disposed in a direction perpendicular to the first axis L1. The first side wall 1301 and the second side wall 1302 are respectively disposed on both sides of the toggled portion 120. During the rotation of the toggled portion 120 about the first axis L1, the first side wall 1301 or the second side wall 1302 abuts against the toggled portion 120 to toggle the toggled portion 120 to rotate about the first axis L1.

[0058] The first side wall 1301 and the second side wall 1302 are oppositely disposed in a direction perpendicular to the first axis L1. That is to say, the depth direction of the first chute 1300 can be parallel to the first axis L1. Such a setting facilitates the first side wall 1301 and the second side wall 1302 to provide a force to the toggled portion 120.

[0059] In some application scenarios, such as Figure 3 and Figure 4As shown, the first driving part 130 moves away from the first phalanx 11 along the first straight line SL1. The first side wall 1301 abuts against the part to be toggled 120 and toggles the part to be toggled 120 to rotate around the first axis L1 towards the palm side 101. When the first driving part 130 moves closer to the first phalanx 11 along the first straight line SL1, the second side wall 1302 abuts against the part to be toggled 120 and toggles the part to be toggled 120 to rotate around the first axis L1 towards the back of the hand side 100. During the rotation of the part to be toggled 120 around the first axis L1, the part to be toggled 120 moves in the first chute 1300.

[0060] Exemplarily, the first chute 1300 can be a straight chute or an arc chute. Exemplarily, in a plane perpendicular to the first straight line SL1, during the rotation of the part to be toggled 120 around the first axis L1, along the extending direction of the trajectory of the part to be toggled 120, the dimensions of the orthographic projections of the first side wall 1301 and the second side wall 1302 can be both greater than or equal to the dimension of the trajectory of the part to be toggled 120.

[0061] Optionally, when the dexterous hand finger 10 is extended, the first phalanx 11 is closer to the palm substrate 30 of the dexterous hand 1 than the second phalanx 12.

[0062] For the dexterous hand finger 10 provided in this embodiment, since the first driving part 130 can move along the first straight line SL1, the part to be toggled 120 extends into the first chute 1300 of the first driving part 130, the first side wall 1301 and the second side wall 1302 are oppositely arranged along the direction perpendicular to the first axis L1, the first side wall 1301 and the second side wall 1302 are respectively arranged on both sides of the part to be toggled 120, and during the rotation of the part to be toggled 120 around the first axis L1, the first side wall 1301 or the second side wall 1302 abuts against the part to be toggled 120, so that the first driving part 130 can toggle the part to be toggled 120 to rotate around the first axis L1, and the structure for realizing the rotation of the second phalanx 12 is simple and compact, which is beneficial to reducing the size of the dexterous hand finger 10.

[0063] In addition, since the first chute 1300 provides a movement space for the rotation of the part to be toggled 120, the first linear driving assembly 13 can be fixed on the first phalanx 11 without being rotatably connected to the first phalanx 11, avoiding the first linear driving assembly 13 occupying more space of the first phalanx 11 and reducing the size of the first phalanx 11.

[0064] In some embodiments, as Figure 3 shown, the shape of the first linear driving assembly 13 includes a long strip shape, and the extending direction of the first linear driving assembly 13 is parallel to the extending direction when the dexterous hand finger 10 is extended.

[0065] The shape of the first linear drive assembly 13 includes an elongated shape. It can be that the dimension of the first linear drive assembly 13 along its extension direction is greater than the dimension along the direction perpendicular to its extension direction. For example, the shape of the first linear drive assembly 13 can be a cube, where the length of the cube is greater than the width and greater than the height, then the first linear drive assembly 13 is in an elongated shape, and the extension direction of the first linear drive assembly 13 is the length direction of the first linear drive assembly 13.

[0066] For the dexterous hand finger 10 provided in this embodiment, since the extension direction of the first linear drive assembly 13 is parallel to the extension direction when the dexterous hand finger 10 extends, the circumferential dimension of the first finger joint 11 can be set to be relatively small, which is beneficial to reducing the size of the dexterous hand finger 10. Exemplarily, the extension direction of the first linear drive assembly 13 is parallel to the first straight line SL1.

[0067] In some embodiments, as Figure 3 shown, the dexterous hand finger 10 has a back side 100 and a palm side 101 arranged opposite to each other. The first linear drive assembly 13 further includes a first drive body 131. The first drive body 131 is located on the side of the first drive portion 130 away from the second finger joint 12 along the extension direction of the first linear drive assembly 13, and is connected to the first drive portion 130 for driving the first drive portion 130 to move along the first straight line SL1. The first axis L1 is located on the side of the first drive body 131 facing the second finger joint 12 and on the side of the first straight line SL1 facing the palm side 101.

[0068] Since the first drive body 131 is located on the side of the first drive portion 130 away from the second finger joint 12 along the extension direction of the first linear drive assembly 13, and the first straight line SL1 is located on the side of the first axis L1 facing the back side 100, the space on the side of the first drive body 131 facing the second finger joint 12 and on the side of the first straight line SL1 facing the palm side 101 is vacated, so that the first finger joint 11 and the second finger joint 12 can be rotatably connected at this space, making the distance between the first finger joint 11, the second finger joint 12 and the first linear drive assembly 13 smaller, the positional relationship of each component more compact, and the structure more compact, so that the size of the dexterous hand finger 10 can be further reduced.

[0069] Exemplarily, the first drive portion 130 protrudes from the first drive body 131 in the direction of the first drive body 131 facing the second finger joint 12. Such a setting can avoid interference of the first drive body 131 with the rotation of the second finger joint 12 when the first drive portion 130 moves along the first straight line SL1.

[0070] In some embodiments, as Figures 3 to 6As shown, the second phalanx 12 includes: a second phalanx body 121 and a first support member 122. The first support member 122 includes a connected first connection portion 1220 and a second connection portion 1221. The first connection portion 1220 is connected to the second phalanx body 121, and the second connection portion 1221 forms a portion 120 to be toggled. The strength of the material of the first support member 122 is greater than the strength of the material of the second phalanx body 121.

[0071] Since the strength of the material of the first support member 122 is greater than the strength of the material of the second phalanx body 121, the first support member 122 has a stronger ability to resist damage and a higher material load-bearing capacity than the second phalanx body 121 under external forces. Since the first connection portion 1220 is connected to the second phalanx body 121 and the second connection portion 1221 forms the portion 120 to be toggled, the first linear drive assembly 13 can rotate the second phalanx 12 by toggling the first support member 122 rather than the second phalanx body 121. The first support member 122 bears the force from the first linear drive assembly 13 and part of the external force applied to the second phalanx 12, improving the strength and load capacity of the second phalanx 12, so that the dexterous hand finger 10 can be applied to high-load scenarios.

[0072] In addition, the weight of the second phalanx body 121 is generally lighter than the weight of the first support member 122, which is beneficial to making the second phalanx 12 have high strength and high load capacity while being lighter in weight. At the same time, the shape of the second phalanx body 121 can be similar to the shape of a human phalanx, which is beneficial to improving the humanoid degree of the dexterous hand finger 10. Exemplarily, the density of the material of the second phalanx body 121 is less than the density of the material of the first support member 122.

[0073] The second phalanx body 121 can be rotatably connected to the first phalanx 11 about a first axis L1. The first support member 122 can also be rotatably connected to the first phalanx 11 about the first axis L1. That is to say, the rotatable connection between the second phalanx 12 and the first phalanx 11 can be realized through the second phalanx body 121 or through the first support member 122, and this embodiment does not make specific limitations.

[0074] Exemplarily, the material of the first support member 122 can include metal. The material of the second phalanx body 121 can include non-metal or can also include metal. For example, the material of the first support member 122 can be steel. The material of the second phalanx body 121 can be plastic, rubber or aluminum.

[0075] In some embodiments, such as Figures 3 to 6As shown, the first support member 122 further includes a third connection portion 1222. The third connection portion 1222 can be connected to the first connection portion 1220 or the second connection portion 1221. The third connection portion 1222 is rotatably connected to the first finger joint 11 around the first axis L1. In a plane perpendicular to the first axis L1, the first connection portion 1220, the second connection portion 1221 and the third connection portion 1222 are arranged in a triangle.

[0076] Since the material strength of the second knuckle body 121 is relatively low, the third connecting portion 1222 is rotatably connected to the first knuckle 11 around the first axis L1, which can avoid the unstable rotation axis generated by or only by the rotatable connection between the second knuckle body 121 and the first knuckle 11, making the rotation of the second knuckle 12 more coherent and smooth. At the same time, the first support member 122 can bear more of the force exerted on the second knuckle 12, further improving the load capacity of the second knuckle 12. In addition, in a plane perpendicular to the first axis L1, the first connecting portion 1220, the second connecting portion 1221 and the third connecting portion 1222 are arranged in a triangle, so that the structural strength of the first support member 122 is higher, and the load capacity of the first support member 122 is improved.

[0077] Exemplarily, the first connection part 1220 , the third connection part 1222 and the second connection part 1221 are connected in sequence, and the first connection part 1220 , the second connection part 1221 and the third connection part 1222 are arranged in a V shape. This arrangement can reduce the weight of the first support member 122 .

[0078] Exemplarily, when the dexterous finger 10 is extended, the first connection part 1220 and the second connection part 1221 are located on the side of the third connection part 1222 facing the back of the hand 100. This arrangement allows the first support member 122 to have more space on the side facing the palm side 101, which is conducive to expanding the rotation range of the second knuckle 12.

[0079] In some embodiments, Figure 6 As shown, the first finger joint 11 has a first accommodating space 110, a first opening 111 and a second accommodating space 112. The first accommodating space 110 is located on the side of the first finger joint 11 facing the second finger joint 12, and the second accommodating space 112 is located on the side of the first finger joint 11 away from the second finger joint 12. The first accommodating space 110 is connected through the first opening 111. The first support member 122 is located in the first accommodating space 110. At least part of the first linear drive assembly 13 is located in the second accommodating space 112, and the first driving portion 130 can extend into the first accommodating space 110 through the first opening 111 to drive the driven portion 120 to rotate around the first axis L1.

[0080] Since the first phalanx 11 has two accommodation spaces, at least part of the first support member 122 and the first linear drive assembly 13 can be respectively accommodated, enabling a more flexible design of the outer shape of the first phalanx 11, facilitating the wrapping of at least part of the first linear drive assembly 13 (such as the first drive body 131) by the first phalanx 11, thereby forming the main part of the outer shape of the first phalanx 11, which is beneficial to reducing the visual length of the first phalanx 11.

[0081] Exemplarily, during the movement of the first drive portion 130 along the first straight line SL1, it can extend into the first accommodation space 110 through the first opening 111.

[0082] In some embodiments, as Figures 6 to 8 shown, the dexterous hand finger 10 further includes: a third phalanx 14 and a connecting rod 15. The third phalanx 14 is rotatably connected to the second phalanx 12 about a second axis L2, and the second axis L2 is parallel to the first axis L1. The first end 150 of the connecting rod is rotatably connected to the first phalanx 11 about a third axis L3, and the second end 151 of the connecting rod is rotatably connected to the third phalanx 14 about a fourth axis L4. Both the third axis L3 and the fourth axis L4 are parallel to the first axis L1. In a cross-section perpendicular to the first axis L1, the connection line between the first axis L1 and the second axis L2 intersects the connection line between the third axis L3 and the fourth axis L4.

[0083] Specifically, the first phalanx 11, the second phalanx 12, the third phalanx 14 and the connecting rod 15 form a four-bar linkage mechanism. In the four-bar linkage mechanism, the first phalanx 11 is equivalent to the frame, the second phalanx 12 and the connecting rod 15 are equivalent to the connecting rods, the third phalanx 14 is equivalent to the connecting rod, and the second phalanx 12 is the driving member.

[0084] In some application scenarios, as Figure 6 shown, the first drive portion 130 toggles the second phalanx 12 to rotate relative to the first phalanx 11 towards the palm side 101 about the first axis L1, and the rotation of the second phalanx 12 is transmitted to the third phalanx 14 through the connecting rod 15, causing the third phalanx 14 to rotate relative to the second phalanx 12 towards the palm side 101 about the second axis L2, realizing the bending of the second phalanx 12 and the third phalanx 14 towards the palm side 101.

[0085] Exemplarily, the connecting rod 15 can be a straight rod, a bent rod or an arc-shaped rod. The specific shape and number of the connecting rods 15 can be set according to actual needs, and no specific limitation is made in this embodiment. Exemplarily, the third phalanx 14 can be used as the fingertip of the dexterous hand finger 10.

[0086] The finger 10 of the dexterous hand provided in this embodiment further includes a third phalanx 14 and a connecting rod 15. The first phalanx 11, the second phalanx 12, and the third phalanx 14 are sequentially rotatably connected, enabling the finger 10 of the dexterous hand to have more phalanges to complete more complex tasks. In addition, the first phalanx 11, the second phalanx 12, the third phalanx 14, and the connecting rod 15 form a four-bar linkage mechanism, realizing the coupling of the movements of the second phalanx 12 and the third phalanx 14, and realizing the overall bending of the second phalanx 12 and the third phalanx 14 towards the palm side 101. The structure is simple, has high rigidity, and is stable and reliable. Moreover, the fingertips of human fingers usually move in a coupled manner with the phalanges adjacent to the fingertips and are difficult to move independently, making the movements of the finger 10 of the dexterous hand more anthropomorphic.

[0087] Meanwhile, the size of the first phalanx 11 is generally designed to be larger than that of the second phalanx 12 and the third phalanx 14. The structure for driving the coupled movement of the second phalanx 12 and the third phalanx 14 is arranged on the first phalanx 11, which is conducive to making full use of the space at the first phalanx 11, making the dexterous hand finger 10 more anthropomorphic.

[0088] In some embodiments, as Figure 7 and Figure 8 shown, the first phalanx 11 includes: a first phalanx main body 113 and a second support member 114. The second support member 114 includes a connected fourth connecting portion 1140 and a fifth connecting portion 1141. The fourth connecting portion 1140 is connected to the first phalanx main body 113, and the fifth connecting portion 1141 is rotatably connected to the first end 150 of the connecting rod about the third axis L3. The strength of the material of the second support member 114 is greater than the strength of the material of the first phalanx main body 113.

[0089] Similar to the first support member 122 and the second phalanx main body 121 in the above text, the second support member 114 can bear the force from the connecting rod 15 and part of the force externally applied to the first phalanx 11, improving the strength and load capacity of the first phalanx 11, enabling the finger 10 of the dexterous hand to be applied to higher load scenarios, and facilitating the first phalanx main body 113 to have high strength and high load capacity while being lighter in weight. At the same time, the outer shape of the first phalanx main body 113 can be similar to the outer shape of a human phalanx, which is conducive to improving the anthropomorphic degree of the finger 10 of the dexterous hand. Exemplarily, the density of the material of the first phalanx main body 113 is less than the density of the material of the second support member 114.

[0090] The first phalanx main body 113 can be rotatably connected to the second phalanx 12 about the first axis L1. The second support member 114 can be rotatably connected to the second phalanx 12 about the first axis L1. That is to say, the rotatable connection between the first phalanx 11 and the second phalanx 12 can be realized through the first phalanx main body 113 or through the second support member 114. This embodiment does not make specific limitations.

[0091] Exemplarily, the material of the second support member 114 may include metal. The material of the first knuckle body 113 may include non-metal or may also include metal. For example, the material of the second support member 114 may be steel. The material of the first knuckle body 113 may be plastic, rubber or aluminum.

[0092] In some embodiments, as Figure 7 and Figure 8 shown, the second support member 114 further includes a sixth connecting portion 1142. The sixth connecting portion 1142 can be connected to the fourth connecting portion 1140 and can also be connected to the fifth connecting portion 1141. The sixth connecting portion 1142 is rotatably connected to the second knuckle 12 about the first axis L1. In a plane perpendicular to the first axis L1, the fourth connecting portion 1140, the fifth connecting portion 1141 and the sixth connecting portion 1142 are arranged in a triangular shape.

[0093] Since the strength of the material of the first knuckle body 113 is relatively low, the sixth connecting portion 1142 is rotatably connected to the second knuckle 12 about the first axis L1, which can avoid the situation of unstable rotation axis when the first knuckle body 113 and the second knuckle 12 are rotatably connected through or only through the first knuckle body 113, making the rotation of the second knuckle 12 more coherent and smooth. At the same time, the second support member 114 can bear more forces received by the first knuckle 11, further improving the load capacity of the first knuckle 11. In addition, in a plane perpendicular to the first axis L1, the fourth connecting portion 1140, the fifth connecting portion 1141 and the sixth connecting portion 1142 are arranged in a triangular shape, making the structural strength of the second support member 114 higher and improving the load capacity of the second support member 114.

[0094] Exemplarily, the fourth connecting portion 1140, the sixth connecting portion 1142 and the fifth connecting portion 1141 are connected in sequence, and the fourth connecting portion 1140, the sixth connecting portion 1142 and the fifth connecting portion 1141 are arranged in a V shape. Such an arrangement can reduce the weight and occupied space of the second support member 114.

[0095] Exemplarily, the first knuckle body 113 may include first knuckle shells 1130 that are oppositely arranged along the extending direction of the first axis L1. The two first knuckle shells 1130 are buckled to form a first accommodation space 110, a first opening 111 and a second accommodation space 112. Exemplarily, the fourth connecting portion 1140 is connected to one of the first knuckle shells 1130. Exemplarily, both the first support member 122 and the second support member 114 are located in the first accommodation space 110. Exemplarily, the first support member 122 and the second support member 114 are arranged at intervals along the extending direction of the first axis L1.

[0096] In some embodiments, as Figures 6 to 8As shown, the third phalanx 14 includes: a third support member 140 and a third phalanx body 141. The third support member 140 is rotatably connected to the second phalanx 12 about a second axis L2 and is rotatably connected to the second end 151 of the connecting rod about a fourth axis L4. The third phalanx body 141 is connected to the third support member 140 and wraps at least a portion of the third support member 140. The strength of the material of the third support member 140 is greater than the strength of the material of the third phalanx body 141.

[0097] Since the third phalanx body 141 is connected to the third support member 140 and wraps at least a portion of the third support member 140, and the strength of the material of the third support member 140 is greater than the strength of the material of the third phalanx body 141, the third support member 140 can support the third phalanx body 141, increasing the load capacity of the third phalanx 14. Moreover, by rotatably connecting the third support member 140 to the second phalanx 12 about the second axis L2 and rotatably connecting it to the second end 151 of the connecting rod about the fourth axis L4, the third support member 140 can bear more loads of the third phalanx 14, further increasing the load capacity of the third phalanx 14. Exemplarily, the density of the material of the third phalanx body 141 is less than the density of the material of the third support member 140. Such a setting is beneficial to reducing the weight of the third phalanx 14.

[0098] Exemplarily, the material of the third support member 140 may include metal. The material of the third phalanx body 141 may include non-metal or may also include metal. For example, the material of the third support member 140 may be steel. The material of the third phalanx body 141 may be plastic, rubber or aluminum.

[0099] Exemplarily, the dexterous hand finger 10 further includes a tactile sensor 21. The tactile sensor 21 is used to sense the external object contacted by the dexterous hand finger 10 and can also be used to sense the magnitude of the force when the dexterous hand 1 grasps an object in real time. Exemplarily, the tactile sensor 21 may be disposed at the fingertip of the dexterous hand finger 10. For example, the third phalanx 14 may be the fingertip of the dexterous hand finger 10. The tactile sensor 21 may be disposed on the third phalanx 14.

[0100] Exemplarily, as Figure 8 shown, the tactile sensor 21 may be wrapped by the third phalanx body 141. The detection surface of the tactile sensor 21 may be inclined with respect to the extension direction of the third phalanx 14 and face the pulp of the third phalanx 14.

[0101] In some embodiments, as Figure 7 and Figure 8As shown, the third support member 140 includes a connected seventh connection portion 1400 and an eighth connection portion 1401. The seventh connection portion 1400 is rotatably connected to the second end 151 of the connecting rod about a fourth axis L4. Exemplarily, the eighth connection portion 1401 is located on a side of the seventh connection portion 1400 facing the back of the hand side 100.

[0102] The second finger joint 12 includes: a second finger joint body 121 and a fourth support member 123. The side of the second finger joint body 121 facing the third finger joint body 141 has a third accommodation space 1210 that can communicate with the outside. The fourth support member 123 includes a connected ninth connection portion 1230 and a tenth connection portion 1231. The ninth connection portion 1230 is rotatably connected to the eighth connection portion 1401 about a second axis L2. The tenth connection portion 1231 extends into the third accommodation space 1210 and is connected to the second finger joint 12. The strength of the material of the fourth support member 123 is greater than the strength of the material of the second finger joint body 121.

[0103] Since the materials of the third support member 140 and the fourth support member 123 have higher strength, the rotatable connection between the second finger joint 12 and the third finger joint 14 is realized through the third support member 140 and the fourth support member 123, which is beneficial to increasing the connection strength of the rotatable connection. Moreover, by providing the fourth support member 123, the strength of the second finger joint 12 is also increased, so that part of the load of the second finger joint 12 and the third finger joint 14 can be borne by the fourth support member 123, increasing the strength and load capacity of the finger 10 of the dexterous hand.

[0104] Exemplarily, as Figure 2 、 Figure 3 and Figure 5 shown, the second finger joint body 121 may include second finger joint shells 1211 arranged oppositely in the extending direction of the first axis L1. The two second finger joint shells 1211 are snapped together to form the third accommodation space 1210. Exemplarily, the shape of the orthographic projection of the tenth connection portion 1231 in a plane perpendicular to the first axis L1 may include a triangle. One angle of the triangle faces the second finger joint body 121.

[0105] Exemplarily, the first support member 122 is connected to one second finger joint shell 1211. The tenth connection portion 1231 may be connected to both second finger joint shells 1211. Exemplarily, the fourth support member 123 may be located on a side of the connecting rod 15 facing the back of the hand side 100.

[0106] Exemplarily, the material of the fourth support member 123 may include metal. The material of the second phalanx body 121 may include non-metal or may also include metal. For example, the material of the fourth support member 123 may be steel. The material of the second phalanx body 121 may be plastic, ceramic, or aluminum. Exemplarily, the density of the material of the second phalanx body 121 is less than the density of the material of the fourth support member 123.

[0107] In some embodiments, as Figures 6 to 8 shown, the dexterous hand finger 10 further includes: a fifth support member 16 and a second linear drive assembly 17. The fifth support member 16 is rotatably connected to the first phalanx 11 about a fifth axis L5, and the fifth axis L5 is parallel to the first axis L1. The fifth support member 16 has a second chute 160, and the second chute 160 includes a third side wall 1600 and a fourth side wall 1601 oppositely arranged in a direction perpendicular to the first axis L1.

[0108] The second linear drive assembly 17 is disposed on the first phalanx 11. The second linear drive assembly 17 includes a second drive body 170 and a second drive portion 171. The second drive body 170 is connected to the second drive portion 171 and is configured to drive the second drive portion 171 to move relative to the second drive body 170 along a second straight line SL2. The second drive portion 171 extends into the second chute 160, and the third side wall 1600 and the fourth side wall 1601 are respectively disposed on both sides of the second drive portion 171. During the rotation of the first phalanx 11 about the fifth axis L5, the second drive portion 171 abuts against the third side wall 1600 or the fourth side wall 1601 to drive the first phalanx 11 to rotate about the fifth axis L5.

[0109] The third side wall 1600 and the fourth side wall 1601 are oppositely arranged in a direction perpendicular to the first axis L1, that is to say, the depth direction of the second chute 160 may be parallel to the first axis L1, and such an arrangement facilitates the abutment of the second drive portion 171 against the third side wall 1600 or the fourth side wall 1601.

[0110] In some application scenarios, as Figure 8 shown, the second drive portion 171 moves away from the fifth support member 16 relative to the second drive body 170 along the second straight line SL2, the fourth side wall 1601 abuts against the second drive portion 171, and the second drive portion 171 drives the first phalanx 11 to rotate towards the back of the hand side 100. The second drive portion 171 moves closer to the fifth support member 16 relative to the second drive body 170 along the second straight line SL2, the third side wall 1600 abuts against the second drive portion 171, and the second drive portion 171 drives the first phalanx 11 to rotate towards the palm side 101. During the rotation of the first phalanx 11 about the fifth axis L5, the second drive portion 171 moves in the second chute 160.

[0111] Exemplarily, the second chute 160 may be a straight chute or an arc chute. Exemplarily, in a plane perpendicular to the first straight line SL1, during the rotation of the second driving part 171 around the first axis L1, along the extending direction of the trajectory of the second driving part 171, the sizes of the orthographic projections of the third side wall 1600 and the fourth side wall 1601 are both greater than or equal to the size of the trajectory of the second driving part 171.

[0112] The second linear driving assembly 17 may include any structure capable of moving the first driving part 130 linearly. Exemplarily, the second linear driving assembly 17 may include one or a combination of more than one of the following structures: a lead screw linear module, a synchronous belt linear module, a linear motor module, a cylinder piston, and a telescopic rod. For example, the second linear driving assembly 17 may include a linear servo. The second driving body 170 may include the body of the linear servo, and the second driving part 171 may be the output end of the linear servo.

[0113] Exemplarily, the fifth support 16 may be connected to the palm substrate 30.

[0114] For the dexterous hand finger 10 provided in this embodiment, since the second driving part 171 can move relative to the second driving body 170 along the second straight line SL2, the second driving part 171 extends into the second chute 160, and the third side wall 1600 and the fourth side wall 1601 are respectively arranged on both sides of the second driving part 171. During the rotation of the first phalanx 11 around the fifth axis L5, the second driving part 171 abuts against the third side wall 1600 or the fourth side wall 1601, so that the second linear driving assembly 17 can drive the first phalanx 11 to rotate around the fifth axis L5. The structure for realizing the rotation of the first phalanx 11 is simple and compact, which is beneficial to reducing the size of the dexterous hand finger 10.

[0115] In addition, since the second chute 160 provides a movement space for the rotation of the second driving part 171, the second linear driving assembly 17 can be fixed to the first phalanx 11 without being rotatably connected to the first phalanx 11, avoiding the second linear driving assembly 17 occupying more space of the first phalanx 11 and reducing the size of the first phalanx 11.

[0116] In some embodiments, as Figure 7 and Figure 8 shown, the shape of the second linear driving assembly 17 includes a long strip shape, and the extending direction of the second linear driving assembly 17 is parallel to the extending direction when the dexterous hand finger 10 is extended.

[0117] Since the extending direction of the second linear driving assembly 17 is parallel to the extending direction when the dexterous hand finger 10 is extended, the circumferential dimension of the first phalanx 11 can be set smaller, which is beneficial to reducing the size of the dexterous hand finger 10. Exemplarily, the extending direction of the second linear driving assembly 17 is parallel to the second straight line SL2.

[0118] In some embodiments, Figure 7 and Figure 8 As shown, the dexterous finger 10 has a back-to-back side 100 and a palm side 101. The second driving body 170 is located on the side of the second driving part 171 that faces the second finger joint 12 along the extension direction of the second linear driving assembly 17, and the fifth axis L5 is located on the side of the second driving body 170 that faces away from the second finger joint 12 and on the side of the second straight line SL2 that faces the back-to-back side 100.

[0119] Since the second driving body 170 is located on the side of the second driving part 171 along the extension direction of the second linear driving component 17 facing the second knuckle 12, and the second straight line SL2 is located on the side of the fifth axis L5 facing the palm side 101, space is left on the side of the second driving body 170 facing away from the second knuckle 12 and on the side of the second straight line SL2 facing the back of the hand 100, so that the fifth support member 16 and the first knuckle 11 can be rotatably connected in the space, so that the distance between the first knuckle 11, the fifth support member 16 and the second linear driving component 17 is smaller, the positional relationship of each component is closer, and the structure is compact, so that the size of the dexterous finger 10 can be further reduced.

[0120] Exemplarily, the second driving part 171 protrudes from the second driving body 170 in a direction away from the second knuckle 12. This arrangement can prevent the fifth support member 16 from interfering with the rotation of the second driving body 170 when the second driving part 171 moves along the second straight line SL2.

[0121] In some embodiments, Figure 7 and Figure 8 As shown, the dexterous finger 10 has a back side 100 and a palm side 101 that are arranged opposite to each other. The first linear drive assembly 13 and the second linear drive assembly 17 are arranged along the extension direction of the first axis L1.

[0122] Since the dimensions of the first linear drive component 13 and the second linear drive component 17 along the extension direction of the first axis L1 are usually smaller than the dimensions along the direction from the palm side 101 to the back side 100, the arrangement of the first linear drive component 13 and the second linear drive component 17 along the extension direction of the first axis L1 is beneficial to reducing the circumferential dimension of the first knuckle 11.

[0123] Exemplarily, the first straight line SL1 is parallel to the second straight line SL2. The second straight line SL2 is located on the side of the first straight line SL1 that faces the palm side 101.

[0124] Figure 10 Shown is a schematic structural diagram of a dexterous hand finger and palm substrate provided in one embodiment of the present application.Figure 11 Shown is a schematic structural diagram of a fifth support member, a third linear drive assembly, a fourth linear drive assembly and a palm base plate provided in an embodiment of the present application. Figure 12 Shown is a schematic structural diagram of a fifth support member, a third linear drive assembly, a fourth drive assembly and a palm base plate provided in another embodiment of the present application. Figure 13 Shown is a schematic structural diagram of a fourth linear drive assembly provided in one embodiment of the present application.

[0125] In some embodiments, Figure 8 as well as Figures 10 to 13 As shown, the fifth support member 16 includes an eleventh connecting portion 161 and a twelfth connecting portion 162 connected to each other. The dexterous finger 10 also includes: a side swing support member 18 and a third linear drive assembly 19. The side swing support member 18 is rotatably connected to the eleventh connecting portion 161 around a sixth axis L6, and the sixth axis L6 is perpendicular to the fifth axis L5.

[0126] The third linear drive assembly 19 includes a third drive body 190 and a third drive portion 191. The third drive body 190 is connected to the third drive portion 191, and is used to drive the third drive portion 191 to move along the third straight line SL3 relative to the third drive body 190. The third drive body 190 is rotatably connected to the side swing support member 18 around the seventh axis L7, and the third drive portion 191 is rotatably connected to the twelfth connection portion 162 around the eighth axis L8, and the seventh axis L7 and the eighth axis L8 are both parallel to the sixth axis L6.

[0127] Specifically, when the third driving part 191 moves relative to the third driving body 190 along the third straight line SL3, the third driving part 191 drives the twelfth connecting part 162 to rotate around the sixth axis L6, thereby realizing the side-swinging action of the three knuckles.

[0128] For example, Figure 8 As shown, the twelfth connecting portion 162, the eleventh connecting portion 161 and the portion of the fifth support member 16 rotatably connected to the first finger joint 11 can be connected in sequence. The eighth axis L8 can be located on the side of the sixth axis L6 away from the first finger joint 11. In this way, the third linear drive assembly 19 can be arranged at the end of the fifth support member 16 away from the first finger joint 11, avoiding interference between the third linear drive assembly 19 and the fifth support member 16 during the rotation process.

[0129] Exemplarily, the third linear drive assembly 19 may include one or more combinations of the following structures: a lead screw linear module, a synchronous belt linear module, a linear motor module, a cylinder piston, and a telescopic rod. For example, the third linear drive assembly 19 may include an electric cylinder. The third drive body 190 may include the body of the electric cylinder, and the third drive part 191 may be the output end of the electric cylinder.

[0130] The dexterous finger 10 provided in this embodiment further includes a side swing support member 18 and a third linear drive assembly 19, enabling the dexterous finger 10 to also have a side swing function, further expanding the application scenarios of the dexterous finger 10. The third drive body 190 drives the third drive portion 191 to move along the third straight line SL3 relative to the third drive body 190. The third drive body 190 is rotatably connected to the side swing support member 18 about the seventh axis L7, and the third drive portion 191 is rotatably connected to the twelfth connection portion 162 about the eighth axis L8, enabling the third linear drive assembly 19 to drive the fifth support member 16 to swing sidewise without additionally arranging components such as gears and ropes. The structure is simple, with fewer components, facilitating the assembly and maintenance of the dexterous finger 10.

[0131] In some embodiments, as Figures 10 to 13 shown, the dexterous finger 10 is applied to the dexterous hand 1. The dexterous hand 1 includes a palm substrate 30 and at least one dexterous finger 10. The side swing support member 18 includes a connected thirteenth connection portion 180 and fourteenth connection portion 181. The thirteenth connection portion 180 can be rotatably connected to the palm substrate 30 about the ninth axis L9, and the ninth axis L9 is perpendicular to the seventh axis L7 and the palm substrate 30.

[0132] The dexterous finger 10 further includes a fourth linear drive assembly 20. The fourth linear drive assembly 20 includes a fourth drive body 200 and a fourth drive portion 201. The fourth drive body 200 is connected to the fourth drive portion 201 for driving the fourth drive portion 201 to move along the fourth straight line SL4 relative to the fourth drive body 200. The fourth drive body 200 can be disposed on the palm substrate 30 and is rotatably connected to the palm substrate 30 about the tenth axis L10. The fourth drive portion 201 is rotatably connected to the fourteenth connection portion 181 about the eleventh axis L11. Both the tenth axis L10 and the eleventh axis L11 are parallel to the ninth axis L9.

[0133] Specifically, during the process of the fourth drive portion 201 moving along the fourth straight line SL4 relative to the fourth drive body 200, the fourth drive portion 201 toggles the fourteenth connection portion 181 to rotate about the ninth axis L9, realizing the spin action of the dexterous finger 10.

[0134] Exemplarily, the portion of the side swing support member 18 connected to the fifth support member 16, the fourteenth connection portion 181, and the thirteenth connection portion 180 are connected in sequence.

[0135] Exemplarily, the fourth linear drive assembly 20 may include one or more combinations of the following structures: a lead screw linear module, a synchronous belt linear module, a linear motor module, a cylinder piston, and a telescopic rod. For example, the fourth linear drive assembly 20 may include an electric cylinder. The fourth drive body 200 may include the body of the electric cylinder, and the fourth drive part 201 may be the output end of the electric cylinder.

[0136] The dexterous hand finger 10 provided in this embodiment further includes a fourth linear drive assembly 20, enabling the dexterous hand finger 10 to also have a spin function, further expanding the application scenarios of the dexterous hand finger 10. Moreover, the third linear drive assembly 19 and the fourth linear drive assembly 20 are connected in series, such that the side-sway motion and the spin motion can be independent of each other, improving the flexibility of the dexterous hand finger 10 and facilitating an increase in the side-sway angle range and the spin angle range. Exemplarily, the side-sway angle range may be from 0 degrees to 130 degrees. The self-rotation angle range may be from 0 degrees to 70 degrees. For example, the side-sway angle may be 120 degrees. The self-rotation angle may be 60 degrees.

[0137] In addition, the fourth drive body 200 drives the fourth drive part 201 to move relative to the fourth drive body 200 along the fourth straight line SL4. The fourth drive body 200 can be rotatably connected to the palm substrate 30 about the tenth axis L10, and the fourth drive part 201 and the fourteenth connecting part 181 are rotatably connected about the eleventh axis L11, enabling the fourth linear drive assembly 20 to drive the side-sway support 18 to spin without additionally arranging components such as gears and ropes. The structure is simple, with few components, facilitating the assembly and maintenance of the dexterous hand finger 10.

[0138] In some embodiments, as Figures 10 to 12 shown, the third drive body 190 includes: a first support seat 1900, a first rotary drive, and a first lead screw 1902. The first support seat 1900 is rotatably connected to the side-sway support 18 about the seventh axis L7. The first rotary drive is disposed on the first support seat 1900.

[0139] The first lead screw 1902 is connected to the first rotary drive and can rotate about the rotation axis of the first lead screw 1902 under the drive of the first rotary drive. The rotation axis of the first lead screw 1902 and the third straight line SL3 are both parallel to the extension direction of the first lead screw 1902. The third drive part 191 is sleeved on the first lead screw 1902 and is threadedly connected to the first lead screw 1902.

[0140] Specifically, the first rotary drive drives the first lead screw 1902 to rotate, enabling the third drive part 191 to move along the third straight line SL3.

[0141] Exemplarily, the third driving body 190 may further include one or more first guide rods 1901. The first guide rods 1901 are disposed on the first support base 1900, and the extending direction of the first guide rods 1901 is parallel to the third straight line SL3. The third driving part 191 is sleeved on the first guide rods 1901 and is slidably connected to the first guide rods 1901. By guiding the movement of the third driving part 191 through the first guide rods 1901, the phenomena of shaking, offset or tilt that may occur when the third driving part 191 moves can be effectively avoided, and the accuracy of the movement of the third driving part 191 can be improved. Moreover, the first guide rods 1901 can share the shearing force of the third driving body 190 on the first lead screw 1902, so that the end of the first lead screw 1902 away from the first rotary driving member does not need to be fixed. For example, a bearing does not need to be provided at the end of the first lead screw 1902 to fix the first lead screw 1902, reducing the length of the third linear driving assembly 19 along the extending direction of the third straight line SL3, reducing the space occupied by the third linear driving assembly 19 in the palm substrate 30, and being beneficial to reducing the size of the dexterous hand 1.

[0142] For the dexterous hand finger 10 provided in this embodiment, the structure of the third driving body 190 is simple, the continuous change of the side swing angle can be realized, the control precision of the side swing angle is high, and the control precision of the dexterous hand finger 10 is improved.

[0143] In some embodiments, as Figures 10 to 13 shown, the fourth driving body 200 includes: a second support base 2000, a second rotary driving member, and a second lead screw 2002. The second support base 2000 can be rotatably connected to the palm substrate 30 about the tenth axis L10. The second rotary driving member is disposed on the second support base 2000.

[0144] The second lead screw 2002 is connected to the second rotary driving member and can rotate about the rotation axis of the second lead screw 2002 under the drive of the second rotary driving member. The rotation axis of the second lead screw 2002 and the fourth straight line SL4 are both parallel to the extending direction of the second lead screw 2002. The fourth driving part 201 is sleeved on the second lead screw 2002 and is screwed to the second lead screw 2002.

[0145] The structure, principle and benefits of the fourth driving body 200 are similar to those of the third driving body 190 and will not be elaborated here. Exemplarily, the fourth driving body 200 may further include one or more second guide rods 2001. The second guide rods 2001 are disposed on the second support base 2000, and the extending direction of the second guide rods 2001 is parallel to the fourth straight line SL4. The fourth driving part 201 is sleeved on the second guide rods 2001 and is slidably connected to the second guide rods 2001. The structure, principle and benefits of the second guide rods 2001 are similar to those of the first guide rods 1901 and will not be elaborated here.

[0146] In some embodiments, as Figures 10 to 12 shown, when the third driving body 190 includes the first support base 1900, the third driving body 190 further includes: a first potential measuring member 1903. The first potential measuring member 1903 is disposed on the first support base 1900. The shape of the first potential measuring member 1903 includes a long strip shape. The extending direction of the first potential measuring member 1903 is parallel to the extending direction of the first lead screw 1902. The third driving part 191 is sleeved on the first potential measuring member 1903. The first potential measuring member 1903 is used to obtain the position information of the third driving part 191.

[0147] The acquisition of the position information of the third driving part 191 is realized by the first potential measuring member 1903, and the structure is simple and the cost is low. Moreover, the extending direction of the first potential measuring member 1903 is parallel to the extending direction of the first lead screw 1902. The first potential measuring member 1903 can be disposed in the circumferential direction of the first lead screw 1902. While obtaining the position information of the third driving part 191, the length of the third linear driving assembly 19 along the extending direction of the third straight line SL3 is not increased, which is beneficial to reducing the size of the dexterous hand 1.

[0148] Exemplarily, the first potential measuring member 1903 may include a potentiometer.

[0149] In some embodiments, as Figure 13 shown, when the fourth driving body 200 includes the second support base 2000, the fourth driving body 200 further includes a second potential measuring member 2003. The second potential measuring member 2003 is disposed on the second support base 2000. The shape of the second potential measuring member 2003 includes a long strip shape. The extending direction of the second potential measuring member 2003 is parallel to the extending direction of the second lead screw 2002. The fourth driving part 201 is sleeved on the second potential measuring member 2003. The second potential measuring member 2003 is used to obtain the position information of the fourth driving part 201.

[0150] The structure, principle and benefits of the second potential measuring member 2003 are similar to those of the first potential measuring member 1903, and will not be elaborated here.

[0151] In some embodiments, as Figure 10 shown, when the third driving body 190 includes the first support base 1900, the dexterous hand finger 10 further includes: an elastic member 22. One end of the elastic member 22 is connected to the fifth support member 16, and the other end of the elastic member 22 is connected to the side swing support member 18. When the side swing angle of the dexterous hand finger 10 is zero, the elastic member 22 is in a stretched state or an undeformed state.

[0152] In some application scenarios, there is a gap after the third driving part 191 is screwed to the first lead screw 1902. For example, when the first lead screw 1902 is a T-shaped lead screw, and the lateral swing radius of the fifth support member 16 is usually large, the influence of the gap between the third driving part 191 and the first lead screw 1902 becomes greater, which may affect the accuracy of the lateral swing of the fifth support member 16.

[0153] By connecting one end of the elastic member 22 to the fifth support member 16 and the other end of the elastic member 22 to the lateral swing support member 18, the gap between the third driving part 191 and the first lead screw 1902 can be reduced or eliminated, so that the third driving part 191 can be in close contact with the first lead screw 1902, which is beneficial to improving the control accuracy of the lateral swing action and the operation accuracy and reaction speed of the dexterous hand finger 10.

[0154] An embodiment of the present application further provides a dexterous hand 1. The dexterous hand 1 includes: at least one dexterous hand finger 10 mentioned in the above embodiment.

[0155] Since the dexterous hand 1 includes the dexterous hand finger 10, the dexterous hand 1 has all the technical features and technical effects of the dexterous hand finger 10, which will not be elaborated here.

[0156] An embodiment of the present application further provides a robot 40. The robot 40 includes at least one dexterous hand 1 mentioned in the above embodiment.

[0157] Exemplarily, the robot 40 may include a robot main body 41 and at least one dexterous hand 1 mentioned in the above embodiment. The dexterous hand 1 is connected to the robot main body 41. The robot main body 41 may be the structure of the body part of a humanoid robot or the arm structure of an industrial robot, and the present application does not make specific limitations. Exemplarily, the robot 40 may include one or two dexterous hands 1.

[0158] Since the robot 40 includes the dexterous hand 1, the robot 40 has all the technical features and technical effects of the dexterous hand 1, which will not be elaborated here.

[0159] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only exemplary examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "provided with", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used here refer to the word "and / or", and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0160] It should also be noted that in the devices, equipment and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations shall be regarded as equivalent solutions of the present application.

[0161] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0162] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub - combinations thereof.

Claims

1. A dexterous hand finger, characterized in that, include: First knuckle; A second finger joint is rotatably connected to the first finger joint around a first axis, the second finger joint comprises a to-be-moved portion, and the to-be-moved portion is located in a circumferential direction of the first axis; A first linear drive assembly, disposed on the first finger joint, the first linear drive assembly comprising a first drive portion, the first drive portion being capable of moving along a first straight line; Among them, the first driving part has a first sliding groove, the driven part extends into the first sliding groove, the first sliding groove includes a first side wall and a second side wall arranged opposite to each other in a direction perpendicular to the first axis, the first side wall and the second side wall are respectively arranged on both sides of the driven part, and during the rotation of the driven part around the first axis, the first side wall or the second side wall abuts against the driven part to drive the driven part to rotate around the first axis.

2. The dexterous hand finger according to claim 1, characterized in that: The shape of the first linear drive component includes a long strip, and the extension direction of the first linear drive component is parallel to the extension direction of the fingers of the dexterous hand when they are stretched.

3. The dexterous hand finger according to claim 2, characterized in that, The fingers of the dexterous hand have a back side and a palm side arranged opposite to each other; The first linear drive assembly also includes: The first driving body is located on the side of the first driving part along the extension direction of the first linear driving component away from the second knuckle, and is connected to the first driving part, and is used to drive the first driving part to move along the first straight line, wherein the first axis is located on the side of the first driving body facing the second knuckle and the side of the first straight line facing the palm.

4. The dexterous hand finger according to claim 1, characterized in that, The second knuckle includes: Second phalanx body; A first support member includes a first connecting portion and a second connecting portion connected to each other, wherein the first connecting portion is connected to the second phalanx body, the second connecting portion forms the toggled portion, and the strength of the material of the first support member is greater than the strength of the material of the second phalanx body; Wherein, the second finger joint body and / or the first support member are rotatably connected to the first finger joint around the first axis.

5. The dexterous hand finger according to claim 4, characterized in that, The first support member further comprises: A third connecting part, wherein the third connecting part is connected to the first connecting part and / or the second connecting part, and is rotatably connected to the first finger joint around the first axis. In a plane perpendicular to the first axis, the first connecting part, the second connecting part and the third connecting part are arranged in a triangle.

6. The dexterous hand finger according to claim 4, characterized in that, The first finger joint has a first accommodating space, a first opening, and a second accommodating space. The first accommodating space is located on the side of the first finger joint facing the second finger joint, and the second accommodating space is located on the side of the first finger joint away from the second finger joint. The first accommodating space is connected through the first opening, the first support member is located in the first accommodating space, and at least part of the first linear drive assembly is located in the second accommodating space. The first driving part can extend into the first accommodating space through the first opening to drive the driven part to rotate around the first axis.

7. The dexterous hand finger according to claim 1, characterized in that, Also includes: The third phalanx is rotatably connected to the second phalanx about a second axis, and the second axis is parallel to the first axis; A connecting rod, the first end of the connecting rod is rotatably connected to the first phalanx about a third axis, and the second end of the connecting rod is rotatably connected to the third phalanx about a fourth axis, wherein both the third axis and the fourth axis are parallel to the first axis, and in a cross-section perpendicular to the first axis, the connection line between the first axis and the second axis intersects the connection line between the third axis and the fourth axis.

8. The dexterous hand finger according to claim 7, characterized in that, The first phalanx includes: A first phalanx body; A second support member, including a connected fourth connecting portion and a fifth connecting portion, the fourth connecting portion is connected to the first phalanx body, the fifth connecting portion is rotatably connected to the first end of the connecting rod about the third axis, and the strength of the material of the second support member is greater than the strength of the material of the first phalanx body; Wherein, the first phalanx body and / or the second support member are rotatably connected to the second phalanx about the first axis.

9. The dexterous hand finger according to claim 8, characterized in that, The second support member further includes: A sixth connecting portion, the sixth connecting portion is connected to the fourth connecting portion and / or the fifth connecting portion, the sixth connecting portion is rotatably connected to the second phalanx about the first axis, and in a plane perpendicular to the first axis, the fourth connecting portion, the fifth connecting portion and the sixth connecting portion are arranged in a triangle.

10. The dexterous hand finger according to claim 7, characterized in that, The third phalanx includes: A third support member, rotatably connected to the second phalanx about the second axis and rotatably connected to the second end of the connecting rod about the fourth axis; A third phalanx body, connected to the third support member and wrapping at least part of the third support member, and the strength of the material of the third support member is greater than the strength of the material of the third phalanx body.

11. The dexterous hand finger according to claim 10, characterized in that, The third support member includes a connected seventh connecting portion and an eighth connecting portion, the seventh connecting portion is rotatably connected to the second end of the connecting rod about the fourth axis; The second phalanx includes: A second phalanx body, and a third accommodation space capable of communicating with the outside is provided on a side of the second phalanx body facing the third phalanx body; A fourth support member, including a connected ninth connecting portion and a tenth connecting portion, the ninth connecting portion is rotatably connected to the eighth connecting portion about the second axis, the tenth connecting portion extends into the third accommodation space and is connected to the second phalanx, and the strength of the material of the fourth support member is greater than the strength of the material of the second phalanx body.

12. The dexterous hand finger according to any one of claims 1 to 11, characterized in that, Further included is: A fifth support member, rotatably connected to the first phalanx about a fifth axis, the fifth axis is parallel to the first axis, the fifth support member has a second sliding groove, and the second sliding groove includes a third side wall and a fourth side wall oppositely arranged in a direction perpendicular to the first axis; A second linear drive component is arranged on the first finger joint, and the second linear drive component includes a second drive body and a second drive part. The second drive body is connected to the second drive part and is used to drive the second drive part to move along a second straight line relative to the second drive body. The second drive part extends into the second slide groove, and the third side wall and the fourth side wall are respectively arranged on both sides of the second drive part. During the rotation of the first finger joint around the fifth axis, the second drive part abuts against the third side wall or the fourth side wall to drive the first finger joint to rotate around the fifth axis.

13. The dexterous hand finger according to claim 12, characterized in that, The shape of the second linear drive component includes a long strip, and the extension direction of the second linear drive component is parallel to the extension direction of the fingers of the dexterous hand when they are stretched.

14. The dexterous hand finger according to claim 13, characterized in that, The fingers of the dexterous hand have a back side and a palm side arranged opposite to each other; The second driving body is located on the side of the second driving portion along the extension direction of the second linear driving component facing the second knuckle, and the fifth axis is located on the side of the second driving body away from the second knuckle and on the side of the second straight line facing the back of the hand.

15. The dexterous hand finger according to claim 12, wherein The fingers of the dexterous hand have a back side and a palm side arranged opposite to each other; The first linear drive assembly and the second linear drive assembly are arranged along an extension direction of the first axis.

16. The dexterous hand finger according to claim 12, characterized in that, The fifth supporting member comprises an eleventh connecting portion and a twelfth connecting portion connected to each other; The dexterous hand fingers also include: a side swing support member, rotatably connected to the eleventh connection portion about a sixth axis, wherein the sixth axis is perpendicular to the fifth axis; The third linear drive assembly includes a third drive body and a third drive part. The third drive body is connected to the third drive part and is used to drive the third drive part to move along a third straight line relative to the third drive body. The third drive body is rotatably connected to the side swing support around a seventh axis. The third drive part is rotatably connected to the twelfth connection part around an eighth axis. The seventh axis and the eighth axis are both parallel to the sixth axis.

17. The dexterous hand finger according to claim 16, characterized in that, Applied to a dexterous hand, the dexterous hand comprises a palm substrate and at least one finger of the dexterous hand; The side swing support member includes a thirteenth connecting portion and a fourteenth connecting portion connected to each other, wherein the thirteenth connecting portion can be rotatably connected to the palm base plate around a ninth axis, and the ninth axis is perpendicular to the seventh axis and the palm base plate; The dexterous hand fingers also include: A fourth linear drive assembly comprises a fourth drive body and a fourth drive part, wherein the fourth drive body is connected to the fourth drive part and is used to drive the fourth drive part to move along a fourth straight line relative to the fourth drive body, the fourth drive body can be arranged on the palm base plate and is rotatably connected to the palm base plate around a tenth axis, the fourth drive part is rotatably connected to the fourteenth connection part around an eleventh axis, and the tenth axis and the eleventh axis are both parallel to the ninth axis.

18. The dexterous hand finger according to claim 17, characterized in that, The third driving body comprises: A first support seat, rotatably connected to the side swing support member around the seventh axis; The first rotation driving member is disposed on the first support base; The first lead screw is connected to the first rotation driving member and can rotate about the rotation axis of the first lead screw under the drive of the first rotation driving member. The rotation axis of the first lead screw and the third straight line are both parallel to the extension direction of the first lead screw. The third driving part is sleeved on the first lead screw and is screwed to the first lead screw; and / or The fourth driving main body includes: The second support base can be rotatably connected to the palm substrate about the tenth axis; The second rotation driving member is disposed on the second support base; The second lead screw is connected to the second rotation driving member and can rotate about the rotation axis of the second lead screw under the drive of the second rotation driving member. The rotation axis of the second lead screw and the fourth straight line are both parallel to the extension direction of the second lead screw. The fourth driving part is sleeved on the second lead screw and is screwed to the second lead screw.

19. The dexterous hand finger according to claim 18, characterized in that, When the third driving main body includes the first support base, the third driving main body further includes: The first potential measuring member is disposed on the first support base. The shape of the first potential measuring member includes a long strip shape. The extension direction of the first potential measuring member is parallel to the extension direction of the first lead screw. The third driving part is sleeved on the first potential measuring member. The first potential measuring member is used to obtain the position information of the third driving part; When the fourth driving main body includes the second support base, the fourth driving main body further includes: The second potential measuring member is disposed on the second support base. The shape of the second potential measuring member includes a long strip shape. The extension direction of the second potential measuring member is parallel to the extension direction of the second lead screw. The fourth driving part is sleeved on the second potential measuring member. The second potential measuring member is used to obtain the position information of the fourth driving part.

20. The dexterous hand finger according to claim 18, characterized in that, When the third driving main body includes the first support base, the dexterous hand finger further includes: The elastic member, one end of the elastic member is connected to the fifth support member, and the other end of the elastic member is connected to the side swing support member. When the side swing angle of the dexterous hand finger is zero, the elastic member is in a stretched state or an undeformed state.

21. A dexterous hand, characterized in that, Comprising: At least one dexterous hand finger according to any one of claims 1 to 20.

22. A robot, characterized in that, Comprising: At least one dexterous hand according to claim 21.

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