Dexterous fingers, dexterous hands, and robots

Abstract

The present application relates to the field of robotics, and in particular to a dexterous hand finger, a dexterous hand, and a robot, to solve the problem of the large size of the dexterous hand finger. In the dexterous hand finger, the first driving part is capable of moving along a first straight line, the first side wall and the second side wall are arranged relative 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 moved part, and during the rotation of the moved part around the first axis, the first side wall or the second side wall abuts against the moved part, so that the first driving part can move the moved part to rotate around the first axis, and the structure for realizing the rotation of the second finger joint is simple and compact, which is conducive to reducing the size of the dexterous hand finger. In addition, the first slide groove provides a movement space for the rotation of the moved part, so that the first linear drive component can be fixed to the first finger joint without the need for a rotatable connection with the first finger joint, thereby avoiding the first linear drive component taking up more space in the first finger joint.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a dexterous hand finger, a dexterous hand, and a robot. Background Art

[0002] In the field of robotics, the performance and structure of dexterous hands, a key component for achieving precise manipulation and complex interactions, have long been a focus of research. Dexterous hands require fingers with high flexibility and precise motion control to mimic the complex movements of human fingers, enabling tasks such as grasping and manipulating objects of various shapes and materials.

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

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

[0005] An embodiment of the present application provides a dexterous finger, comprising: a first finger joint; a second finger joint, rotatably connected to the first finger joint around a first axis, the second finger joint comprising a toggled portion, the toggled portion being located in the circumferential direction of the first axis; a first linear drive assembly, arranged 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; wherein, the first drive portion has a first slide groove, the toggled portion extends into the first slide groove, the first slide groove comprises 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 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 implementations, the shape of the first linear drive assembly includes an elongated strip, and an extension direction of the first linear drive assembly is parallel to an extension direction of the fingers of the dexterous hand when the fingers are extended.

[0007] 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 first linear drive assembly also includes: a first driving body, located on the side of the first driving part away from the second knuckle along the extension direction of the first linear drive assembly, and connected to the first driving part, for driving 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 side.

[0008] In some embodiments, the second phalanx includes: a second phalanx 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 phalanx 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 phalanx body; wherein the second phalanx body and / or the first support member are rotatably connected to the first phalanx around a first axis.

[0009] In some implementations, the first support member also includes: a third connecting portion, the third connecting portion is connected to the first connecting portion and / or the second connecting 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 connecting portion, the second connecting portion and the third connecting 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 finger joint, which is rotatably connected to the second finger joint around 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 finger joint around a third axis, and the second end of the connecting rod is rotatably connected to the third finger joint 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, the line connecting the first axis and the second axis intersects the line connecting the third axis and the fourth axis.

[0012] In some embodiments, the first phalanx includes: a first phalanx body; a second support member, including a fourth connecting portion and a fifth connecting portion connected to each other, the fourth connecting portion being connected to the first phalanx body, the fifth connecting 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 phalanx body; wherein the first phalanx body and / or the second support member are rotatably connected to the second phalanx 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 some embodiments, the third finger joint includes: a third support member, which is rotatably connected to the second finger joint around a second axis and is rotatably connected to the second end of the connecting rod around a fourth axis; a third finger joint body, which is connected to the third support member and wraps at least a portion 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 finger joint body.

[0015] In some implementations, the third support member includes a connected seventh connection portion and an eighth connection portion, 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 communicated with the outside world on the side facing the third finger joint body; the fourth support member includes a connected ninth connection portion and a tenth connection portion, 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 hand fingers also include: a fifth support member, rotatably connected to the first finger joint 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 arranged opposite to each other in a direction perpendicular to the first axis; a second linear drive assembly, arranged on the first finger joint, 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 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.

[0017] In some implementations, the shape of the second linear drive assembly includes an elongated strip, and an extension direction of the second linear drive assembly is parallel to an extension direction of the fingers of the dexterous hand when the fingers are extended.

[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 toward the second joint 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 joint and the side of the second straight line toward 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 an extension direction of the first axis.

[0020] In some implementations, the fifth support member includes an eleventh connecting portion and a twelfth connecting portion that are connected; the dexterous hand fingers also include: a side-swing support member, rotatably connected to the eleventh connecting portion around a sixth axis, and the sixth axis is perpendicular to the fifth axis; a third linear drive assembly, including a third drive body and a third drive portion, the third drive body is connected to the third drive portion, and is used to drive the third drive portion 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 member around a seventh axis, the third drive portion is rotatably connected to the twelfth connecting portion around an eighth axis, and the seventh axis and the eighth axis are both parallel to the sixth axis.

[0021] In some implementations, the dexterous hand fingers are applied to a dexterous hand, which includes a palm substrate and at least one dexterous hand finger; the side swing support includes a thirteenth connection part and a fourteenth connection part connected to each other, and the thirteenth connection part can be rotatably connected to the palm substrate around a ninth axis, and the ninth axis is perpendicular to the seventh axis and the palm substrate; the dexterous hand fingers also include: a fourth linear drive assembly, including a fourth drive body and a fourth drive part, 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 set on the palm substrate, and is rotatably connected to the palm substrate 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.

[0022] In some implementations, the third driving body includes: a first support seat, which is rotatably connected to the side swing support member around the seventh axis; a first rotating drive member, which is arranged on the first support seat; a first screw rod, which is connected to the first rotating drive member and can rotate around the rotation axis of the first screw rod under the drive of the first rotating drive member, and the rotation axis of the first screw rod and the third straight line are both parallel to the extension direction of the first screw rod, and the third driving part is sleeved on the first screw rod and screwed to the first screw rod; and / or, the fourth driving body includes: a second support seat, which can be rotatably connected to the palm base plate around the tenth axis; a second rotating drive member, which is arranged on the second support seat; a second screw rod, which is connected to the second rotating drive member and can rotate around the rotation axis of the second screw rod under the drive of the second rotating drive member, and the rotation axis of the second screw rod and the fourth straight line are both parallel to the extension direction of the second screw rod, and the fourth driving part is sleeved on the second screw rod and screwed to the second screw rod.

[0023] In some implementations, when the third driving body includes a first support seat, the third driving body also includes: a first potential measuring member, the first potential measuring member is arranged on the first support seat, the shape of the first potential measuring member includes a long strip, the extension direction of the first potential measuring member is parallel to the extension direction of the first screw rod, 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 a second support seat, the fourth driving body also includes: a second potential measuring member, the second potential measuring member is arranged on the second support seat, the shape of the second potential measuring member includes a long strip, the extension direction of the second potential measuring member is parallel to the extension direction of the second screw rod, 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 a first support seat, the dexterous hand finger also 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 an elongated state or an undeformed state.

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

[0027] The dexterous hand finger provided by this embodiment has a first driving part that can move along a first straight line, and the moved part extends into the first sliding groove of the first driving part. The first side wall and the second side wall are arranged relative to each other 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 moved part. During the rotation of the moved part around the first axis, the first side wall or the second side wall abuts against the moved part, so that the first driving part can move the moved part to rotate around the first axis, and the structure for realizing the rotation of the second finger joint is simple and compact, which is conducive to reducing the size of the dexterous hand finger.

[0028] In addition, since the first sliding groove provides movement space for the rotation of the moved part, the first linear drive component can be fixed to the first finger joint without the need for a rotatable connection with the first finger joint, thereby avoiding the first linear drive component occupying more space in the first finger joint and reducing the size of the first finger joint. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0030] Figure 1 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in one embodiment of the present application.

[0031] Figure 2 Shown is a left view of the fingers of a dexterous hand provided in one embodiment of the present application.

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

[0033] Figure 4 Shown is a structural schematic diagram of a first driving unit provided in one embodiment of the present application.

[0034] Figure 5 Shown is a schematic structural diagram of a second finger joint housing provided in one embodiment of the present application.

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

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

[0037] Figure 8 The following is an example of an embodiment of the present application. Figure 2 The diagram shows a cross-sectional view of the fingers of the dexterous hand along line AA.

[0038] Figure 9 Shown is a schematic structural diagram of a robot provided in one embodiment of the present application.

[0039] Figure 10 Shown is a schematic structural diagram of the finger and palm substrates of a dexterous hand provided in one embodiment of the present application.

[0040] Figure 11 Shown is a structural schematic diagram of the fifth support member, the third linear drive assembly, the fourth linear drive assembly and the palm base plate provided in one embodiment of the present application.

[0041] Figure 12Shown 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.

[0042] Figure 13 Shown is a schematic structural diagram of a fourth linear drive assembly provided in one embodiment of the present application.

[0043] Reference numerals:

[0044] 1. Dexterous hand; 10. Dexterous hand fingers; 100. Dorsal side of hand; 101. Palm side of hand; 11. First phalanx; 110. First accommodating space; 111. First opening; 112. Second accommodating space; 113. First phalanx body; 1130. First phalanx shell; 114. Second support member; 1140. Fourth connecting portion; 1141. Fifth connecting portion; 1142. Sixth connecting portion; 12. Second phalanx; 120. Activated portion; 121. Second phalanx body; 1210. Third accommodating space; 1211. Second phalanx shell; 122. First support member; 1220. First connecting portion; 1221 , second connecting portion; 1222, third connecting portion; 123, fourth supporting member; 1230, ninth connecting portion; 1231, tenth connecting portion; 13, first linear drive assembly; 130, first driving portion; 1300, first slide; 1301, first side wall; 1302, second side wall; 131, first driving body; 14, third finger joint; 140, third supporting member; 1400, seventh connecting portion; 1401, eighth connecting portion; 141, third finger joint body; 15, connecting rod; 150, first end of connecting rod; 151, second end of connecting rod; 16, fifth supporting member; 160, second slide; 160 0, third side wall; 1601, fourth side wall; 161, eleventh connecting portion; 162, twelfth connecting portion; 17, second linear drive assembly; 170, second driving body; 171, second driving unit; 18, side swing support; 180, thirteenth connecting portion; 181, fourteenth connecting portion; 19, third linear drive assembly; 190, third driving body; 1900, first support seat; 1901, first guide rod; 1902, first screw rod; 1903, first potential measuring element; 191, third driving unit; 20, fourth linear drive assembly; 200, fourth driving body; 2000, second support Seat; 2001, second guide rod; 2002, second screw rod; 2003, second potential measuring element; 201, fourth driving unit; 21, tactile sensor; 22, elastic member; 30, palm substrate; 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 DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0046] In the field of robotics, the performance and structure of dexterous hands, a key component for achieving precise manipulation and complex interactions, have long been a focus of research. Dexterous hands typically have fingers comprised of multiple joints and possess high dexterity and precise motion control capabilities, mimicking the complex movements of human fingers to accomplish tasks such as grasping and manipulating objects of various shapes and materials.

[0047] However, to accomplish complex tasks, dexterous fingers typically require multiple active degrees of freedom, meaning they include multiple drive mechanisms. Existing drive mechanisms for knuckle rotation are complex, leading to the widespread large size of dexterous fingers, limiting their application scenarios.

[0048] In response to the above problems, an embodiment of the present application provides a dexterous finger, including: a first finger joint; a second finger joint, rotatably connected to the first finger joint around a first axis, the second finger joint including a toggled part, and the toggled part is located in the circumferential direction of the first axis; a first linear drive component, arranged on the first finger joint, the first linear drive component including a first drive part, and the first drive part can move along a first straight line; wherein, the first drive part has a first slide groove, the toggled part extends into the first slide groove, the first slide 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 toggled part, and during the rotation of the toggled part around the first axis, the first side wall or the second side wall abuts against the toggled part to toggle the toggled part to rotate around the first axis.

[0049] The dexterous hand finger provided in the embodiment of the present application has a first driving part that can move along a first straight line, and the moved part extends into the first sliding groove of the first driving part. The first side wall and the second side wall are arranged relative to each other 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 moved part. During the rotation of the moved part around the first axis, the first side wall or the second side wall abuts against the moved part, so that the first driving part can move the moved part to rotate around the first axis, and the structure for realizing the rotation of the second finger joint is simple and compact, which is conducive to reducing the size of the dexterous hand finger.

[0050] In addition, since the first sliding groove provides movement space for the rotation of the moved part, the first linear drive component can be fixed to the first finger joint without the need for a rotatable connection with the first finger joint, thereby avoiding the first linear drive component occupying more space in the first finger joint and reducing the size of the first finger joint.

[0051] The specific structures of the dexterous hand fingers, dexterous hand and robot are described below with reference to the accompanying drawings and specific embodiments.

[0052] Figure 1 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in one embodiment of the present application. Figure 2 Shown is a left view of the fingers of a dexterous hand provided in one 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 a first knuckle housing portion. Figure 4 Shown is a structural schematic diagram of a first driving unit provided in one embodiment of the present application. Figure 5 Shown is a schematic structural diagram of a second finger joint housing provided in one 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 a first knuckle shell and a second knuckle shell. Figure 7 The figure shows a schematic structural diagram of the dexterous hand finger provided by an embodiment of the present application after removing the first knuckle body, the third knuckle body and a second knuckle shell. Figure 8 The following is an example of an embodiment of the present application. Figure 2 The diagram shows a cross-sectional view of the fingers of the dexterous hand along line AA. Figure 9 The figure shows a schematic diagram of the structure of a robot provided by an embodiment of the present application. Figures 1 to 9 As shown, the dexterous hand finger 10 includes a first knuckle 11 , a second knuckle 12 and a first linear drive assembly 13 .

[0053] Exemplarily, the dexterous hand fingers 10 can be applied to the dexterous hand 1. The dexterous hand 1 can be a structure that imitates the hand of a human or an animal. 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 arranged 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 fingers 10 have a back side 100 and a palm side 101 arranged opposite to each other.

[0054] The second phalanx 12 is rotatably connected to the first phalanx 11 about a first axis L1. The second phalanx 12 includes a plucking portion 120, which is located circumferentially to the first axis L1. For example, the first axis L1 is perpendicular to the direction of extension of the dexterous hand's fingers 10 when extended, and to the direction from the back of the hand 100 to the palm 101.

[0055] Specifically, the knuckles may be structural units segmented along the length of the dexterous hand finger 10. The dexterous hand finger 10 may include a plurality of knuckles connected in sequence. The first knuckle 11 and the second knuckle 12 may be two of the plurality of knuckles included in the dexterous hand finger 10.

[0056] The first linear driving assembly 13 is disposed on the first finger joint 11 . The first linear driving assembly 13 includes a first driving portion 130 . The first driving portion 130 is capable of moving along a first straight line SL1 .

[0057] The first linear drive assembly 13 can include any structure capable of enabling linear movement of the first drive unit 130. For example, the first linear drive assembly 13 can 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 first linear drive assembly 13 can include a linear servo. The first drive unit 130 can be the output end of the linear servo.

[0058] The first driving portion 130 has a first slot 1300, into which the activated portion 120 extends. The first slot 1300 includes a first sidewall 1301 and a second sidewall 1302, which are arranged opposite each other perpendicular to the first axis L1. The first sidewall 1301 and the second sidewall 1302 are disposed on either side of the activated portion 120. During rotation of the activated portion 120 about the first axis L1, either the first sidewall 1301 or the second sidewall 1302 abuts against the activated portion 120, thereby causing the activated portion 120 to rotate about the first axis L1.

[0059] The first side wall 1301 and the second side wall 1302 are arranged relative to each other in a direction perpendicular to the first axis L1, that is, the depth direction of the first sliding groove 1300 can be parallel to the first axis L1. This arrangement makes it easier for the first side wall 1301 and the second side wall 1302 to provide force to the moved part 120.

[0060] In some application scenarios, such as Figure 3 and Figure 4As shown, the first driving portion 130 moves away from the first phalanx 11 along the first straight line SL1, while the first sidewall 1301 abuts the moved portion 120, causing the moved portion 120 to rotate about the first axis L1 toward the palm side 101. The first driving portion 130 moves toward the first phalanx 11 along the first straight line SL1, while the second sidewall 1302 abuts the moved portion 120, causing the moved portion 120 to rotate about the first axis L1 toward the back of the hand 100. During the rotation of the moved portion 120 about the first axis L1, the moved portion 120 moves within the first slot 1300.

[0061] For example, the first sliding groove 1300 can be a straight groove or an arc-shaped groove. For example, on a plane perpendicular to the first straight line SL1, during the rotation of the moved portion 120 about the first axis L1, along the extension direction of the trajectory of the moved portion 120, the dimensions of the orthographic projections of the first side wall 1301 and the second side wall 1302 can both be greater than or equal to the dimensions of the trajectory of the moved portion 120.

[0062] Optionally, when the finger 10 of the dexterous hand is extended, the first joint 11 is closer to the palm base plate 30 of the dexterous hand 1 than the second joint 12 .

[0063] The dexterous hand finger 10 provided in this embodiment has the first driving part 130 capable of moving along the first straight line SL1, the moved part 120 extends into the first sliding groove 1300 of the first driving part 130, the first side wall 1301 and the second side wall 1302 are arranged relative to each other in a direction perpendicular to the first axis L1, and the first side wall 1301 and the second side wall 1302 are respectively arranged on both sides of the moved part 120. During the rotation of the moved part 120 around the first axis L1, the first side wall 1301 or the second side wall 1302 abuts against the moved part 120, so that the first driving part 130 can move the moved part 120 to rotate around the first axis L1, and the structure for realizing the rotation of the second finger joint 12 is simple and compact, which is conducive to reducing the size of the dexterous hand finger 10.

[0064] In addition, since the first slide groove 1300 provides movement space for the rotation of the moved part 120, the first linear drive component 13 can be fixed to the first finger joint 11 without the need for a rotatable connection with the first finger joint 11, thereby avoiding the first linear drive component 13 occupying more space of the first finger joint 11 and reducing the size of the first finger joint 11.

[0065] In some embodiments, as Figure 3 As shown, the shape of the first linear drive component 13 includes an elongated strip, and the extension direction of the first linear drive component 13 is parallel to the extension direction of the dexterous hand fingers 10 when they are stretched.

[0066] The first linear drive assembly 13 may be in the shape of an elongated strip, where the dimension of the first linear drive assembly 13 along its extension direction is greater than the dimension perpendicular to its extension direction. For example, the first linear drive assembly 13 may be in the shape of a cube, where the length of the cube is greater than the width and greater than the height. In this case, the first linear drive assembly 13 is in the shape of an elongated strip, and the extension direction of the first linear drive assembly 13 is the length direction of the first linear drive assembly 13.

[0067] In 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 of the dexterous hand finger 10 when extended, the circumferential dimension of the first phalanx 11 can be set to be smaller, which is conducive to reducing the size of the dexterous hand finger 10. For example, the extension direction of the first linear drive assembly 13 is parallel to the first straight line SL1.

[0068] In some embodiments, as Figure 3 As shown, the dexterous hand finger 10 has a back side 100 and a palm side 101 disposed opposite to each other. The first linear drive assembly 13 also includes a first drive body 131. The first drive body 131 is located on the side of the first drive unit 130 that is away from the second phalanx 12 along the extension direction of the first linear drive assembly 13, and is connected to the first drive unit 130 to drive the first drive unit 130 to move along the first straight line SL1. The first axis L1 is located on the side of the first drive body 131 that faces the second phalanx 12 and on the side of the first straight line SL1 that faces the palm side 101.

[0069] Since the first driving body 131 is located on the side of the first driving part 130 away from the second knuckle 12 along the extension direction of the first linear driving component 13, the first straight line SL1 is located on the side of the first axis L1 facing the back of the hand 100, so that the space on the side of the first driving body 131 facing the second knuckle 12 and the side of the first straight line SL1 facing the palm side 101 is vacated, so that the first knuckle 11 and the second knuckle 12 can be rotatably connected in the space, so that the distance between the first knuckle 11, the second knuckle 12 and the first linear driving component 13 is smaller, the positional relationship of each component is closer, and the structure is compact, so that the size of the dexterous hand finger 10 can be further reduced.

[0070] For example, the first driving portion 130 protrudes from the first driving body 131 in a direction toward the second phalanx 12. This arrangement can prevent the first driving body 131 from interfering with the rotation of the second phalanx 12 when the first driving portion 130 moves along the first straight line SL1.

[0071] 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 first connecting portion 1220 and a second connecting portion 1221. The first connecting portion 1220 is connected to the second phalanx body 121, and the second connecting portion 1221 forms the toggled portion 120. The material of the first support member 122 is stronger than the material of the second phalanx body 121.

[0072] Because the material strength of the first support member 122 is greater than that of the second phalanx body 121, the first support member 122 is more resistant to damage under external forces and has a higher material bearing capacity than the second phalanx body 121. Since the first connecting portion 1220 is connected to the second phalanx body 121, the second connecting portion 1221 forms the toggled portion 120, so that the first linear drive assembly 13 can achieve the rotation of the second phalanx 12 by toggling the first support member 122 instead of toggling 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, thereby improving the strength and load capacity of the second phalanx 12, so that the dexterous finger 10 can be used in high-load scenarios.

[0073] Furthermore, the weight of the second phalanx body 121 is generally lighter than that of the first support member 122, facilitating the second phalanx 12 to possess high strength and load-bearing capacity while remaining lightweight. Furthermore, the shape of the second phalanx body 121 can resemble that of a human knuckle, thereby enhancing the human-like nature of the dexterous hand finger 10. For example, the density of the material of the second phalanx body 121 is lower than that of the material of the first support member 122.

[0074] The second phalanx body 121 can be rotatably connected to the first phalanx 11 about the first axis L1. The first support member 122 can also be rotatably connected to the first phalanx 11 about the first axis L1. In other words, the rotatable connection between the second phalanx 12 and the first phalanx 11 can be achieved through the second phalanx body 121 or the first support member 122, and this is not specifically limited in this embodiment.

[0075] For example, the material of the first support member 122 may include metal. The material of the second phalanx body 121 may include non-metal or metal. For example, the material of the first support member 122 may be steel. The material of the second phalanx body 121 may be plastic, rubber, or aluminum.

[0076] In some embodiments, as Figures 3 to 6As shown, the first support member 122 also includes a third connecting portion 1222. The third connecting portion 1222 can be connected to the first connecting portion 1220 or the second connecting portion 1221. The third connecting portion 1222 is rotatably connected to the first finger joint 11 about the first axis L1. 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.

[0077] Because the material strength of the second phalanx body 121 is relatively low, the third connecting portion 1222 is rotatably connected to the first phalanx 11 about the first axis L1. This avoids the instability of the rotation axis that occurs when the second phalanx body 121 is rotatably connected to the first phalanx 11, or only when the second phalanx body 121 is rotatably connected to the first phalanx 11, making the rotation of the second phalanx 12 more consistent and smooth. At the same time, the first support member 122 can bear more of the force exerted on the second phalanx 12, further improving the load capacity of the second phalanx 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, which increases the structural strength of the first support member 122 and improves its load capacity.

[0078] For example, the first connection portion 1220 , the third connection portion 1222 and the second connection portion 1221 are connected in sequence, and the first connection portion 1220 , the second connection portion 1221 and the third connection portion 1222 are arranged in a V-shape. This arrangement can reduce the weight of the first support member 122 .

[0079] For example, when the dexterous hand fingers 10 are extended, the first connection portion 1220 and the second connection portion 1221 are located on the side of the third connection portion 1222 facing the back of the hand 100. This arrangement allows more space on the side of the first support member 122 facing the palm side 101, which helps expand the rotation range of the second phalanx 12.

[0080] In some embodiments, as Figure 6 As shown, the first phalanx 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 phalanx 11 facing the second phalanx 12, and the second accommodating space 112 is located on the side of the first phalanx 11 facing away from the second phalanx 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 a portion 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.

[0081] Since the first phalanx 11 has two accommodating spaces, the first support member 122 and at least part of the first linear drive assembly 13 can be accommodated separately, so that the appearance design of the first phalanx 11 can be more flexible, which makes it easier for the first phalanx 11 to wrap at least part of the first linear drive assembly 13 (for example, the first drive body 131), thereby forming the main part of the appearance of the first phalanx 11, which is conducive to reducing the visual length of the first phalanx 11.

[0082] For example, the first driving portion 130 may extend into the first receiving space 110 through the first opening 111 during the process of moving along the first straight line SL1 .

[0083] In some embodiments, as Figures 6 to 8 As shown, the dexterous finger 10 further includes a third knuckle 14 and a connecting rod 15. The third knuckle 14 is rotatably connected to the second knuckle 12 about a second axis L2, which is parallel to the first axis L1. The first end 150 of the connecting rod is rotatably connected to the first knuckle 11 about a third axis L3, and the second end 151 of the connecting rod is rotatably connected to the third knuckle 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 line connecting the first axis L1 and the second axis L2 intersects the line connecting the third axis L3 and the fourth axis L4.

[0084] Specifically, the first knuckle 11, the second knuckle 12, the third knuckle 14 and the connecting rod 15 form a four-bar linkage. In the four-bar linkage, the first knuckle 11 is equivalent to the frame, the second knuckle 12 and the connecting rod 15 are equivalent to the connecting rod, the third knuckle 14 is equivalent to the connecting rod, and the second knuckle 12 is the active component.

[0085] In some application scenarios, such as Figure 6 As shown, the first driving part 130 drives the second knuckle 12 to rotate relative to the first knuckle 11 around the first axis L1 toward the palm side 101, and the rotation of the second knuckle 12 is transmitted to the third knuckle 14 through the connecting rod 15, so that the third knuckle 14 rotates relative to the second knuckle 12 around the second axis L2 toward the palm side 101, thereby realizing the bending of the second knuckle 12 and the third knuckle 14 toward the palm side 101.

[0086] For example, the connecting rod 15 can be a straight rod, a bent rod, or an arcuate rod. The specific shape and number of the connecting rod 15 can be set according to actual needs and are not specifically limited in this embodiment. For example, the third phalanx 14 can serve as the fingertip of the dexterous hand finger 10.

[0087] The dexterous hand finger 10 provided in this embodiment also includes a third knuckle 14 and a connecting rod 15. The first knuckle 11, the second knuckle 12 and the third knuckle 14 are rotatably connected in sequence, so that the dexterous hand finger 10 has more knuckles to complete more complex tasks. In addition, the first knuckle 11, the second knuckle 12, the third knuckle 14 and the connecting rod 15 form a four-bar linkage mechanism, which realizes the coupling of the movement of the second knuckle 12 and the third knuckle 14, and realizes the bending of the second knuckle 12 and the third knuckle 14 toward the palm side 101 as a whole. The structure is simple, rigid, stable and reliable. In addition, the fingertips of human fingers usually move in coupling with the knuckles adjacent to the fingertips and are difficult to move independently, making the movements of the dexterous hand finger 10 more anthropomorphic.

[0088] At the same time, the size of the first knuckle 11 can usually be designed to be larger than that of the second knuckle 12 and the third knuckle 14. The structure that drives the coupled movement of the second knuckle 12 and the third knuckle 14 is set on the first knuckle 11, which is conducive to making full use of the space at the first knuckle 11, making the dexterous hand fingers 10 more human-like.

[0089] In some embodiments, as Figure 7 and Figure 8 As shown, the first phalanx 11 includes a first phalanx body 113 and a second support member 114. The second support member 114 includes a fourth connecting portion 1140 and a fifth connecting portion 1141. The fourth connecting portion 1140 is connected to the first phalanx 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 material of the second support member 114 is stronger than that of the first phalanx body 113.

[0090] Similar to the first support member 122 and second phalanx body 121 described above, the second support member 114 can bear the force from the connecting rod 15 as well as some of the external force applied to the first phalanx 11, thereby increasing the strength and load capacity of the first phalanx 11. This allows the dexterous hand finger 10 to be used in higher load scenarios and helps ensure that the first phalanx body 113 has high strength and high load capacity while being lightweight. Furthermore, the shape of the first phalanx body 113 can be similar to that of a human phalanx, which helps to enhance the human-like nature of the dexterous hand finger 10. For example, the density of the material of the first phalanx body 113 is less than that of the material of the second support member 114.

[0091] The first phalanx 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. In other words, the rotatable connection between the first phalanx 11 and the second phalanx 12 can be achieved through the first phalanx body 113 or the second support member 114, and this is not specifically limited in this embodiment.

[0092] For example, the material of the second support member 114 may include metal. The material of the first phalanx body 113 may include non-metal or metal. For example, the material of the second support member 114 may be steel. The material of the first phalanx body 113 may be plastic, rubber, or aluminum.

[0093] In some embodiments, as Figure 7 and Figure 8 As shown, the second support member 114 also includes a sixth connecting portion 1142. The sixth connecting portion 1142 can be connected to the fourth connecting portion 1140 and the fifth connecting portion 1141. The sixth connecting portion 1142 is rotatably connected to the second finger joint 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 triangle.

[0094] Because the material strength of the first phalanx body 113 is relatively low, the sixth connecting portion 1142 is rotatably connected to the second phalanx 12 about the first axis L1. This avoids the instability of the rotation axis that occurs when the first phalanx body 113 and the second phalanx 12 are rotatably connected, or only when the first phalanx body 113 and the second phalanx 12 are rotatably connected, making the rotation of the second phalanx 12 more consistent and smooth. At the same time, the second support member 114 can bear more of the force exerted on the first phalanx 11, further improving the load capacity of the first phalanx 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 triangle, which increases the structural strength of the second support member 114 and improves its load capacity.

[0095] For example, the fourth connection portion 1140, the sixth connection portion 1142 and the fifth connection portion 1141 are connected in sequence, and the fourth connection portion 1140, the sixth connection portion 1142 and the fifth connection portion 1141 are arranged in a V shape. This arrangement can reduce the weight and occupied space of the second support member 114.

[0096] Illustratively, the first phalanx body 113 may include first phalanx housings 1130 disposed opposite each other along the extension direction of the first axis L1. The two first phalanx housings 1130 are coupled to form the first accommodating space 110, the first opening 111, and the second accommodating space 112. Illustratively, the fourth connecting portion 1140 is connected to one of the first phalanx housings 1130. Illustratively, the first support member 122 and the second support member 114 are both located in the first accommodating space 110. Illustratively, the first support member 122 and the second support member 114 are spaced apart along the extension direction of the first axis L1.

[0097] In some embodiments, as Figures 6 to 8As shown, the third knuckle 14 includes a third support member 140 and a third knuckle body 141. The third support member 140 is rotatably connected to the second knuckle 12 about the second axis L2 and is rotatably connected to the second end 151 of the connecting rod about the fourth axis L4. The third knuckle body 141 is connected to the third support member 140 and encases at least a portion of the third support member 140. The material of the third support member 140 is stronger than the material of the third knuckle body 141.

[0098] Because the third knuckle body 141 is connected to the third support member 140 and wraps around at least a portion of the third support member 140, the material strength of the third support member 140 is greater than that of the third knuckle body 141. This allows the third support member 140 to support the third knuckle body 141, thereby increasing the load-bearing capacity of the third knuckle 14. Furthermore, because the third support member 140 is rotatably connected to the second knuckle 12 about the second axis L2 and to the second end 151 of the connecting rod about the fourth axis L4, the third support member 140 can bear more of the load of the third knuckle 14, further increasing the load-bearing capacity of the third knuckle 14. For example, the density of the material of the third knuckle body 141 is lower than that of the material of the third support member 140. This arrangement helps reduce the weight of the third knuckle 14.

[0099] For example, the material of the third support member 140 may include metal. The material of the third phalanx body 141 may include non-metal or 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.

[0100] Illustratively, the dexterous hand finger 10 also includes a tactile sensor 21. The tactile sensor 21 is used to sense external objects contacted by the dexterous hand finger 10 and can also be used to sense in real time the strength of the dexterous hand 1 when grasping an object. Illustratively, the tactile sensor 21 can be located at the fingertip of the dexterous hand finger 10. For example, the third phalanx 14 can be the fingertip of the dexterous hand finger 10. The tactile sensor 21 can be located at the third phalanx 14.

[0101] For example, Figure 8 As shown, the touch sensor 21 can be wrapped by the third phalanx body 141. The detection surface of the touch sensor 21 can be tilted relative to the extension direction of the third phalanx 14 and face the fingertips of the third phalanx 14.

[0102] In some embodiments, as Figure 7 and Figure 8As shown, the third support member 140 includes a seventh connecting portion 1400 and an eighth connecting portion 1401 connected to each other. The seventh connecting portion 1400 is rotatably connected to the second end 151 of the connecting rod around the fourth axis L4. Exemplarily, the eighth connecting portion 1401 is located on the side of the seventh connecting portion 1400 facing the back of the hand 100.

[0103] The second phalanx 12 includes a second phalanx body 121 and a fourth support member 123. The second phalanx body 121 has a third accommodating space 1210 on the side facing the third phalanx body 141, which is communicable with the outside world. The fourth support member 123 includes a ninth connecting portion 1230 and a tenth connecting portion 1231, which are connected to each other. The ninth connecting portion 1230 is rotatably connected to the eighth connecting portion 1401 about the second axis L2. The tenth connecting portion 1231 extends into the third accommodating space 1210 and connects to the second phalanx 12. The material strength of the fourth support member 123 is greater than that of the material of the second phalanx body 121.

[0104] Because the materials of third support member 140 and fourth support member 123 are made of higher strength, the rotatable connection between second phalanx 12 and third phalanx 14 is achieved through third support member 140 and fourth support member 123, which helps increase the strength of the rotatable connection. Furthermore, the provision of fourth support member 123 increases the strength of second phalanx 12, allowing a portion of the load on second phalanx 12 and third phalanx 14 to be borne by fourth support member 123, thereby increasing the strength and load-bearing capacity of dexterous finger 10.

[0105] For example, Figure 2 、 Figure 3 and Figure 5 As shown, the second phalanx body 121 may include second phalanx housings 1211 disposed opposite to each other in the direction of the first axis L1. The two second phalanx housings 1211 are coupled to form a third accommodating space 1210. For example, the orthographic projection of the tenth connecting portion 1231 onto a plane perpendicular to the first axis L1 may be a triangle, with one corner of the triangle facing the second phalanx body 121.

[0106] Illustratively, the first support member 122 is connected to one second knuckle housing 1211. The tenth connection portion 1231 may be connected to both second knuckle housings 1211. Illustratively, the fourth support member 123 may be located on the side of the connecting rod 15 facing the back of the hand 100.

[0107] Illustratively, the material of the fourth support member 123 may include metal. The material of the second phalanx body 121 may include non-metal or 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. Illustratively, the density of the material of the second phalanx body 121 is lower than the density of the material of the fourth support member 123.

[0108] In some embodiments, as Figures 6 to 8 As shown, the dexterous 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, which is parallel to the first axis L1. The fifth support member 16 has a second slide 160, which includes a third sidewall 1600 and a fourth sidewall 1601, which are arranged opposite each other in a direction perpendicular to the first axis L1.

[0109] The second linear drive assembly 17 is provided 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 used to drive the second drive portion 171 to move along the second straight line SL2 relative to the second drive body 170. The second drive portion 171 extends into the second slide groove 160, and the third side wall 1600 and the fourth side wall 1601 are respectively provided on both sides of the second drive portion 171. During the rotation of the first phalanx 11 around 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 around the fifth axis L5.

[0110] The third side wall 1600 and the fourth side wall 1601 are arranged relative to each other in a direction perpendicular to the first axis L1, that is, the depth direction of the second slide groove 160 can be parallel to the first axis L1. This arrangement facilitates the second driving part 171 to abut against the third side wall 1600 or the fourth side wall 1601.

[0111] In some application scenarios, such as Figure 8 As shown, the second driving portion 171 moves relative to the second driving body 170 along the second straight line SL2, away from the fifth support member 16. The fourth side wall 1601 abuts the second driving portion 171, and the second driving portion 171 drives the first phalanx 11 to rotate toward the back of the hand 100. The second driving portion 171 moves relative to the second driving body 170 along the second straight line SL2, closer to the fifth support member 16. The third side wall 1600 abuts the second driving portion 171, and the second driving portion 171 drives the first phalanx 11 to rotate toward the palm of the hand 101. During the rotation of the first phalanx 11 about the fifth axis L5, the second driving portion 171 moves within the second slot 160.

[0112] Exemplarily, the second sliding groove 160 may be a straight groove or an arc-shaped groove. Exemplarily, on a plane perpendicular to the first straight line SL1, during the rotation of the second driving portion 171 about the first axis L1, along the extension direction of the trajectory of the second driving portion 171, the dimensions of the orthographic projections of the third side wall 1600 and the fourth side wall 1601 are both greater than or equal to the dimensions of the trajectory of the second driving portion 171.

[0113] The second linear drive assembly 17 can include any structure capable of achieving linear movement of the first drive unit 130. For example, the second linear drive assembly 17 can 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 second linear drive assembly 17 can include a linear servo. The second drive body 170 can include the body of the linear servo, and the second drive unit 171 can be the output end of the linear servo.

[0114] Exemplarily, the fifth support member 16 may be connected to the palm base plate 30 .

[0115] The dexterous hand finger 10 provided in this embodiment has a second driving part 171 that can move along the second straight line SL2 relative to the second driving body 170. The second driving part 171 extends into the second slide groove 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 finger joint 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 component 17 can drive the first finger joint 11 to rotate around the fifth axis L5, so that the structure for realizing the rotation of the first finger joint 11 is simple and compact, which is conducive to reducing the size of the dexterous hand finger 10.

[0116] In addition, since the second slide groove 160 provides movement space for the rotation of the second drive part 171, the second linear drive component 17 can be fixed to the first finger joint 11 without the need for a rotatable connection with the first finger joint 11, thereby avoiding the second linear drive component 17 occupying more space of the first finger joint 11 and reducing the size of the first finger joint 11.

[0117] In some embodiments, as Figure 7 and Figure 8 As shown, the shape of the second linear drive component 17 includes a long strip, and the extension direction of the second linear drive component 17 is parallel to the extension direction of the dexterous hand fingers 10 when they are stretched.

[0118] Because the extension direction of the second linear drive assembly 17 is parallel to the extension direction of the dexterous hand finger 10 when it is extended, the circumferential dimension of the first phalanx 11 can be set to be smaller, which is conducive to reducing the size of the dexterous hand finger 10. For example, the extension direction of the second linear drive assembly 17 is parallel to the second straight line SL2.

[0119] In some embodiments, as Figure 7 and Figure 8 As shown, the finger 10 of the dexterous hand 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 portion 171 that faces the second phalanx 12 along the extension direction of the second linear driving assembly 17. The fifth axis L5 is located on the side of the second driving body 170 that faces away from the second phalanx 12 and on the side of the second straight line SL2 that faces the back-to-back side 100.

[0120] Since the second driving body 170 is located on the side of the second driving part 171 facing the second knuckle 12 along the extension direction of the second linear driving component 17, 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 this 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 hand finger 10 can be further reduced.

[0121] For example, the second driving portion 171 protrudes from the second driving body 170 in a direction away from the second finger joint 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 portion 171 moves along the second straight line SL2.

[0122] In some embodiments, as Figure 7 and Figure 8 As shown, the finger 10 of the dexterous hand has a back side 100 and a palm side 101 disposed 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.

[0123] 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.

[0124] 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 .

[0125] Figure 10 Shown is a schematic structural diagram of the finger and palm substrates of a dexterous hand provided in one embodiment of the present application. Figure 11 Shown is a structural schematic diagram of the fifth support member, the third linear drive assembly, the fourth linear drive assembly and the palm base plate provided in one 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.

[0126] In some embodiments, as 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. The dexterous finger 10 also includes a roll support member 18 and a third linear drive assembly 19. The roll support member 18 and the eleventh connecting portion 161 are rotatably connected about a sixth axis L6, which is perpendicular to the fifth axis L5.

[0127] 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 configured to drive the third drive portion 191 to move relative to the third drive body 190 along the third straight line SL3. The third drive body 190 is rotatably connected to the roll support member 18 about the seventh axis L7, and the third drive portion 191 is rotatably connected to the twelfth connecting portion 162 about the eighth axis L8. Both the seventh axis L7 and the eighth axis L8 are parallel to the sixth axis L6.

[0128] 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-swing action of the three knuckles.

[0129] 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. This allows the third linear drive assembly 19 to be positioned at the end of the fifth support member 16 away from the first finger joint 11, preventing interference between the third linear drive assembly 19 and the fifth support member 16 during rotation.

[0130] Illustratively, 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 comprise the cylinder's body, and the third drive portion 191 may be the cylinder's output terminal.

[0131] The dexterous hand finger 10 provided in this embodiment also includes a side-swing support 18 and a third linear drive assembly 19, so that the dexterous hand finger 10 can also have a side-swing function, further expanding the application scenarios of the dexterous hand finger 10. The third drive body 190 drives the third drive part 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 18 around the seventh axis L7, and the third drive part 191 is rotatably connected to the twelfth connection part 162 around the eighth axis L8, so that the third linear drive assembly 19 can drive the fifth support member 16 to side-swing without the need for additional gears, ropes and other components. The structure is simple, the number of components is small, and the assembly and maintenance of the dexterous hand finger 10 is convenient.

[0132] In some embodiments, as Figures 10 to 13 As shown, the dexterous hand finger 10 is applied to the dexterous hand 1, which includes a palm base 30 and at least one dexterous hand finger 10. The side swing support member 18 includes a thirteenth connecting portion 180 and a fourteenth connecting portion 181. The thirteenth connecting portion 180 is rotatably connected to the palm base 30 about a ninth axis L9, which is perpendicular to the seventh axis L7 and the palm base 30.

[0133] The dexterous finger 10 also includes a fourth linear drive assembly 20. The fourth linear drive assembly 20 includes a fourth drive body 200 and a fourth drive unit 201. The fourth drive body 200 is connected to the fourth drive unit 201 and is configured to drive the fourth drive unit 201 to move relative to the fourth drive body 200 along a fourth straight line SL4. The fourth drive body 200 can be disposed on the palm base 30 and rotatably connected to the palm base 30 about a tenth axis L10. The fourth drive unit 201 is rotatably connected to the fourteenth connecting portion 181 about an eleventh axis L11. The tenth axis L10 and the eleventh axis L11 are both parallel to the ninth axis L9.

[0134] Specifically, when the fourth driving part 201 moves relative to the fourth driving body 200 along the fourth straight line SL4, the fourth driving part 201 drives the fourteenth connecting part 181 to rotate around the ninth axis L9, thereby realizing the spinning action of the dexterous hand finger 10.

[0135] Illustratively, the portion of the side swing support 18 connected to the fifth support 16, the fourteenth connecting portion 181 and the thirteenth connecting portion 180 are connected in sequence.

[0136] Illustratively, the fourth linear drive assembly 20 may include one or more of the following components: 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 comprise the cylinder's body, and the fourth drive unit 201 may be the cylinder's output terminal.

[0137] The dexterous hand finger 10 provided in this embodiment also includes a fourth linear drive component 20, so that the dexterous hand finger 10 can also have a self-spinning function, further expanding the application scenarios of the dexterous hand finger 10. In addition, the third linear drive component 19 and the fourth linear drive component 20 are connected in series, so that the side swing action and the self-spinning action can not interfere with each other, thereby improving the flexibility of the dexterous hand finger 10, and helping to improve the side swing angle range and the self-spinning angle range. Exemplarily, the side swing angle range can be 0 degrees to 130 degrees. The optional angle range can be 0 degrees to 70 degrees. For example, the side swing angle can be 120 degrees. The self-selected angle can be 60 degrees.

[0138] In addition, the fourth driving body 200 drives the fourth driving part 201 to move along the fourth straight line SL4 relative to the fourth driving body 200. The fourth driving body 200 can be rotatably connected to the palm base plate 30 around the tenth axis L10, and the fourth driving part 201 is rotatably connected to the fourteenth connecting part 181 around the eleventh axis L11, so that the fourth linear drive assembly 20 can drive the side swing support 18 to spin without additional gears, ropes and other components. The structure is simple and has few components, which facilitates the assembly and maintenance of the dexterous hand fingers 10.

[0139] In some embodiments, as Figures 10 to 12 As shown, the third driving body 190 includes: a first support base 1900, a first rotary driving member and a first screw rod 1902. The first support base 1900 is rotatably connected to the roll support member 18 around the seventh axis L7. The first rotary driving member is disposed on the first support base 1900.

[0140] The first screw rod 1902 is connected to the first rotary drive member and is driven by the first rotary drive member to rotate about the rotation axis of the first screw rod 1902. The rotation axis of the first screw rod 1902 and the third straight line SL3 are both parallel to the extension direction of the first screw rod 1902. The third driving portion 191 is sleeved on the first screw rod 1902 and is threadedly connected to the first screw rod 1902.

[0141] Specifically, the first rotary driving member drives the first screw rod 1902 to rotate, so that the third driving portion 191 can move along the third straight line SL3.

[0142] For example, 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, extending parallel to the third straight line SL3. The third driving unit 191 is sleeved on the first guide rods 1901 and slidably connected thereto. The first guide rods 1901 guide the movement of the third driving unit 191, effectively preventing any shaking, deviation, or tilting of the third driving unit 191 during movement, and improving the accuracy of the movement of the third driving unit 191. In addition, the first guide rod 1901 can share the shear force of the third driving body 190 on the first screw rod 1902, so that the end of the first screw rod 1902 away from the first rotating driving member does not need to be fixed. For example, there is no need to set a bearing at the end of the first screw rod 1902 to fix the first screw rod 1902, thereby reducing the length of the third linear drive component 19 along the extension direction of the third straight line SL3 and reducing the space occupied by the third linear drive component 19 in the palm base plate 30, which is conducive to reducing the size of the dexterous hand 1.

[0143] The dexterous hand finger 10 provided in this embodiment has a simple structure of the third driving body 190, which can achieve continuous change of the side swing angle, and has high control accuracy of the side swing angle, thereby improving the control accuracy of the dexterous hand finger 10.

[0144] In some embodiments, as Figures 10 to 13 As shown, the fourth driving body 200 includes: a second support base 2000, a second rotary drive member and a second screw rod 2002. The second support base 2000 can be rotatably connected to the palm base 30 around the tenth axis L10. The second rotary drive member is disposed on the second support base 2000.

[0145] The second screw rod 2002 is connected to the second rotary drive member and is driven by the second rotary drive member to rotate about the rotation axis of the second screw rod 2002. The rotation axis of the second screw rod 2002 and the fourth straight line SL4 are both parallel to the extension direction of the second screw rod 2002. The fourth driving unit 201 is sleeved on the second screw rod 2002 and is threadedly connected to the second screw rod 2002.

[0146] 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 described in detail here. For example, 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 seat 2000, and the extension direction of the second guide rods 2001 is parallel to the fourth straight line SL4. The fourth driving unit 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 rod 1901 and will not be described in detail here.

[0147] In some embodiments, as Figures 10 to 12 As shown, when the third driving body 190 includes the first support base 1900, the third driving body 190 also includes a first potential measuring member 1903. The first potential measuring member 1903 is disposed on the first support base 1900 and is in the shape of an elongated strip. The extension direction of the first potential measuring member 1903 is parallel to the extension direction of the first screw rod 1902. The third driving unit 191 is sleeved on the first potential measuring member 1903 and is used to obtain position information of the third driving unit 191.

[0148] Acquiring position information of the third drive unit 191 through the first potential measuring element 1903 offers a simple structure and low cost. Furthermore, the extension direction of the first potential measuring element 1903 is parallel to that of the first lead screw 1902 and can be positioned circumferentially around the first lead screw 1902. This allows acquisition of position information of the third drive unit 191 without increasing the length of the third linear drive assembly 19 along the extension direction of the third straight line SL3, thereby facilitating a reduction in the size of the dexterous hand 1.

[0149] For example, the first potential measuring component 1903 may include a potentiometer.

[0150] In some embodiments, as Figure 13 As shown, when the fourth driving body 200 includes the second support base 2000, the fourth driving body 200 also includes a second potential measuring member 2003. The second potential measuring member 2003 is disposed on the second support base 2000. The second potential measuring member 2003 is in the shape of an elongated strip. The extension direction of the second potential measuring member 2003 is parallel to the extension direction of the second lead screw 2002. The fourth driving unit 201 is sleeved on the second potential measuring member 2003. The second potential measuring member 2003 is used to obtain position information of the fourth driving unit 201.

[0151] The structure, principle and benefits of the second potential measuring element 2003 are similar to those of the first potential measuring element 1903 and will not be described in detail here.

[0152] In some embodiments, as Figure 10 As 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 roll support member 18. When the roll angle of the dexterous hand finger 10 is zero, the elastic member 22 is in an extended state or an undeformed state.

[0153] In some application scenarios, there is a gap between the third drive part 191 and the first screw rod 1902 after being screwed together. For example, when the first screw rod 1902 is a T-type screw rod, and the side swing radius of the fifth support member 16 is usually large, the influence of the gap between the third drive part 191 and the first screw rod 1902 becomes larger, which may affect the accuracy of the side swing of the fifth support member 16.

[0154] 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 side swing support member 18, the gap between the third drive part 191 and the first screw rod 1902 can be reduced or eliminated, so that the third drive part 191 can be in close contact with the first screw rod 1902, which is beneficial to improving the control accuracy of the side swing action and improving the operating accuracy and reaction speed of the dexterous hand fingers 10.

[0155] The embodiment of the present application further provides a dexterous hand 1. The dexterous hand 1 comprises: at least one dexterous hand finger 10 mentioned in the above embodiment.

[0156] Since the dexterous hand 1 includes the dexterous hand fingers 10, the dexterous hand 1 has all the technical features and technical effects of the dexterous hand fingers 10, which will not be repeated here.

[0157] The 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.

[0158] Illustratively, the robot 40 may include a robot body 41 and at least one of the dexterous hands 1 described in the above embodiments. The dexterous hand 1 is connected to the robot body 41. The robot body 41 may be a humanoid robot or an industrial robot arm, and this application does not specifically limit this. Illustratively, the robot 40 may include one or two dexterous hands 1.

[0159] 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 described in detail here.

[0160] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0161] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0162] 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 will be readily apparent to those skilled in the art, and the general principles defined herein may 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 be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0163] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A dexterous finger, characterized in that: include: First knuckle; a second finger joint rotatably connected to the first finger joint about a first axis, the second finger joint comprising a toggled portion, the toggled portion being located in a circumferential direction of the first axis; A first linear drive assembly is fixedly disposed on the first finger joint, the first linear drive assembly includes a first drive portion, and the first drive portion is capable of moving along a first straight line; The first driving portion has a first sliding groove, the activated portion 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 activated portion, and during the rotation of the activated portion around the first axis, the first side wall or the second side wall abuts against the activated portion to activate the activated portion to rotate around the first axis; Wherein, the dexterous hand fingers also include: a third finger joint, rotatably connected to the second finger joint about a second axis, the second axis being parallel to the first axis; a connecting rod, wherein a first end of the connecting rod is rotatably connected to the first finger joint about a third axis, and a second end of the connecting rod is rotatably connected to the third finger joint about a fourth axis, wherein the third axis and the fourth axis are both parallel to the first axis, and in a cross 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; Wherein, the first finger joint includes: First phalanx body; a second supporting member comprising a fourth connecting portion and a fifth connecting portion connected to each other, wherein the fourth connecting portion is connected to the first finger joint body, and the fifth connecting portion is rotatably connected to the first end of the connecting rod around the third axis; Wherein, the first finger joint body and / or the second support member are rotatably connected to the second finger joint 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 an elongated 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 extended.

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 disposed opposite to each other; The first linear drive assembly further 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 finger joint, 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 finger joint and the side of the first straight line facing the palm side.

4. The dexterous hand finger according to claim 1, characterized in that: The second phalanx includes: Second phalanx body; a first supporting member, comprising a first connecting portion and a second connecting portion connected to each other, the first connecting portion being connected to the second phalanx body, the second connecting portion forming the toggled portion, the strength of the material of the first supporting member being 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: 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. 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: The strength of the material of the second supporting member is greater than the strength of the material of the first knuckle body.

8. The dexterous hand finger according to claim 1, characterized in that: The second support member further includes: The sixth connecting part is connected to the fourth connecting part and / or the fifth connecting part, and the sixth connecting part is rotatably connected to the second finger joint around the first axis. In a plane perpendicular to the first axis, the fourth connecting part, the fifth connecting part and the sixth connecting part are arranged in a triangle.

9. The dexterous hand finger according to claim 1, characterized in that: The third phalanx comprises: a third support member rotatably connected to the second finger joint about the second axis and rotatably connected to the second end of the connecting rod about the fourth axis; The third finger joint body is connected to the third support member and wraps at least a portion of the third support member. The strength of the material of the third support member is greater than the strength of the material of the third finger joint body.

10. The dexterous hand finger according to claim 9, characterized in that: The third support member includes a seventh connecting portion and an eighth connecting portion connected to each other, and the seventh connecting portion is rotatably connected to the second end of the connecting rod around the fourth axis; The second phalanx comprises: A second phalanx body, wherein the second phalanx body has a third accommodating space on a side facing the third phalanx body and capable of communicating with the outside; The fourth support member includes a ninth connecting part and a tenth connecting part connected to each other, the ninth connecting part and the eighth connecting part are rotatably connected around the second axis, the tenth connecting part 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.

11. The dexterous hand finger according to any one of claims 1 to 10, characterized in that: Also includes: a fifth support member rotatably connected to the first finger joint about a fifth axis, the fifth axis being parallel to the first axis, the fifth support member having a second slide groove, the second slide groove including a third side wall and a fourth side wall oppositely disposed in a direction perpendicular to the first axis; The second linear drive component is fixedly arranged on the first finger joint. 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. 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.

12. The dexterous hand finger according to claim 11, characterized in that: The shape of the second linear drive component includes an elongated 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.

13. The dexterous hand finger according to claim 12, characterized in that: The fingers of the dexterous hand have a back side and a palm side disposed 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 the side of the second straight line facing the back of the hand.

14. The dexterous hand finger according to claim 11, characterized in that: 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 an extension direction of the first axis.

15. The dexterous hand finger according to claim 11, characterized in that: The fifth supporting member includes 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 connecting 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. Both the seventh axis and the eighth axis are parallel to the sixth axis.

16. The dexterous hand finger according to claim 15, 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 comprises a thirteenth connecting portion and a fourteenth connecting portion connected to each other, wherein the thirteenth connecting portion is 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: The fourth linear drive assembly includes a fourth drive body and a fourth drive part. 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 set 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. The tenth axis and the eleventh axis are both parallel to the ninth axis.

17. The dexterous hand finger according to claim 16, characterized in that: The third driving body includes: a first support seat, rotatably connected to the side swing support member around the seventh axis; a first rotary driving member, disposed on the first supporting seat; a first screw rod connected to the first rotary drive member and capable of rotating around a rotation axis of the first screw rod under the drive of the first rotary drive member, wherein the rotation axis of the first screw rod and the third straight line are both parallel to an extension direction of the first screw rod, and the third driving portion is sleeved on the first screw rod and threadedly connected to the first screw rod; and / or, The fourth driving body includes: a second support base, capable of being rotatably connected to the palm base plate around the tenth axis; a second rotary driving member, disposed on the second supporting seat; The second screw rod is connected to the second rotating drive member and can rotate around the rotation axis of the second screw rod under the drive of the second rotating drive member. The rotation axis of the second screw rod and the fourth straight line are parallel to the extension direction of the second screw rod. The fourth driving part is sleeved on the second screw rod and threadedly connected to the second screw rod.

18. The dexterous hand finger according to claim 17, characterized in that: In the case where the third driving body includes the first supporting seat, the third driving body further includes: a first potential measuring member, the first potential measuring member being disposed on the first support seat, the first potential measuring member being in the shape of an elongated strip, the extension direction of the first potential measuring member being parallel to the extension direction of the first screw rod, the third driving unit being sleeved on the first potential measuring member, the first potential measuring member being used to obtain position information of the third driving unit; In the case where the fourth driving body includes the second supporting seat, the fourth driving body further includes: A second potential measuring member is provided on the second support seat, the shape of the second potential measuring member includes a long strip, the extension direction of the second potential measuring member is parallel to the extension direction of the second screw rod, 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.

19. The dexterous hand finger according to claim 17, characterized in that: In the case where the third driving body includes the first supporting seat, the dexterous hand fingers further include: An elastic member, one end of which is connected to the fifth support member, and the other end of which is connected to the side swing support member. When the side swing angle of the fingers of the dexterous hand is zero, the elastic member is in an elongated state or an undeformed state.

20. A dexterous hand, characterized in that: include: At least one dexterous hand finger according to any one of claims 1 to 19.

21. A robot, characterized in that: include: At least one dexterous hand as claimed in claim 20.

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