Dexterous hand finger, dexterous hand and robot

Abstract

The invention relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot, and aims to solve the problem that the size of the dexterous hand finger with three active degrees of freedom is large. According to the dexterous hand finger, the first knuckle can have the functions of laterally swinging and rotating towards the palm side or the hand back side through the first linear driving assembly and the second linear driving assembly which are connected in parallel, and the knuckle assembly has the function of rotating towards the palm side or the hand back side through the third linear driving assembly. Due to the fact that the third straight line can be parallel to the palm base plate, on the plane perpendicular to the second axis, the distance between the orthographic projection of the third straight line and the orthographic projection of the first straight line in the extending direction of the first axis is gradually reduced in the direction from the third straight line to the first knuckle. The circumferential size of the end, away from the knuckle assembly, of the first knuckle is small, and the space occupied by the three linear driving assemblies in the palm is close to the shape of the palm of a person.

Description

Technical Field

[0001] This 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, dexterous hands, as key components for simulating human hand functions and achieving fine operations, have always attracted much attention. The movement flexibility and structural compactness of dexterous hand fingers play a crucial role in improving the overall performance and expanding the application scenarios. To meet the requirements of complex tasks, dexterous hand fingers are designed to have three active degrees of freedom.

[0003] However, the size of such dexterous hand fingers and dexterous hands including such dexterous hand fingers is relatively large, which limits the use of dexterous hands in some application scenarios with strict space requirements. Summary of the Invention

[0004] In view of this, embodiments of this application provide a dexterous hand finger to solve the problem of the relatively large size of dexterous hand fingers with three active degrees of freedom.

[0005] In a first aspect, an embodiment of the present application provides a dexterous hand finger, which is applied to a dexterous hand. The dexterous hand includes a palm substrate and at least one dexterous hand finger. The dexterous hand finger includes a back side and a palm side that are oppositely arranged. The dexterous hand finger includes: a side swing connecting member that can be rotatably connected to the palm substrate around a first axis, and the first axis is parallel to the direction from the palm side towards the back side; a first finger joint that is rotatably connected to the side swing connecting member around a second axis, and the second axis is perpendicular to the first axis. The first finger joint includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion are located in the circumferential direction of the first axis; a first link assembly, the first end of the first link assembly is movably connected to the first connecting portion; a first linear driving assembly that can be arranged on the palm substrate and is movably connected to the second end of the first link assembly for driving the second end of the first link assembly to move along a first straight line; a second link assembly, the first end of the second link assembly is movably connected to the second connecting portion; a second linear driving assembly that can be arranged on the palm substrate and is movably connected to the second end of the second link assembly for driving the second end of the second link assembly to move along a second straight line; a finger joint assembly that is rotatably connected to the first finger joint around a third axis, and the third axis is parallel to the second axis; a first connecting member, including a connected third connecting portion, a fourth connecting portion, and a fifth connecting portion. The third connecting portion is located between the first connecting portion and the second connecting portion and is rotatably connected to the first finger joint around a fourth axis, and the fourth axis is parallel to the second axis. The first connecting portion and the second connecting portion are arranged oppositely along the fourth axis; a first link, the first end of the first link is rotatably connected to the fourth connecting portion around a fifth axis, and the second end of the first link is rotatably connected to the finger joint assembly around a sixth axis, and both the fifth axis and the sixth axis are parallel to the second axis; a third link assembly, the first end of the third link assembly is movably connected to the fifth connecting portion; a third linear driving assembly that can be arranged on the palm substrate and is movably connected to the second end of the third link assembly for driving the second end of the third link assembly to move along a third straight line; wherein, the third linear driving assembly is located on the side towards the back side of the first linear driving assembly and the second linear driving assembly; the third straight line can be parallel to the palm substrate. In a plane perpendicular to the second axis, the distance between the positive projection of the third straight line and the positive projection of the first straight line in the extending direction of the first axis gradually decreases along the direction of the third straight line towards the first finger joint. In a plane perpendicular to the second axis, the distance between the positive projection of the third straight line and the positive projection of the second straight line in the extending direction of the first axis gradually decreases along the direction of the third straight line towards the first finger joint.

[0006] In some implementations, driven by the first linear drive assembly and the second linear drive assembly, the second ends of the first link assembly and the second link assembly move simultaneously in the direction of the first phalanx along the first straight line and the second straight line or move simultaneously away from the first phalanx, so that the first phalanx rotates around the second axis; driven by the first linear drive assembly and the second linear drive assembly, the second end of the first link assembly moves in the direction of the first phalanx along the first straight line, and the second end of the second link assembly moves away from the first phalanx along the second straight line, or the second end of the first link assembly moves away from the first phalanx along the first straight line, and the second end of the second link assembly moves in the direction of the first phalanx along the second straight line, so that the first phalanx rotates around the first axis.

[0007] In some implementations, the first straight line is parallel to the second straight line, and the first straight line and the second straight line are spaced apart along the extension direction of the second axis.

[0008] In some implementations, the side-swing connecting member includes a sixth connecting portion, a seventh connecting portion, and an eighth connecting portion connected in sequence. The sixth connecting portion and the eighth connecting portion are oppositely arranged along the extension direction of the second axis, and the seventh connecting portion is located on the side facing the back of the hand of the sixth connecting portion; the first phalanx has a first accommodating space and a first side and a second side oppositely arranged along the extension direction of the second axis. The sixth connecting portion and the eighth connecting portion are respectively rotatably connected to the inner walls of the first phalanx located on the first side and the second side around the second axis. The sixth connecting portion and the eighth connecting portion are located in the first accommodating space. An edge on the side of the first phalanx facing the seventh connecting portion has a notch, and the seventh connecting portion can pass through the notch and be rotatably connected to the palm substrate around the first axis.

[0009] In some implementations, the surface of the side-swing connecting member facing the notch includes an arc surface. The shape of the orthographic projection of the arc surface in a plane perpendicular to the second axis includes an arc, and the center of the arc is the orthographic projection of the second axis in a plane perpendicular to the second axis.

[0010] In some implementations, the side-swing connecting member further includes at least one first limiting portion. The first limiting portion protrudes from the notch, and the shape of the edge of the first limiting portion facing the notch is adapted to the shape of the edge of the notch facing the first limiting portion.

[0011] In some implementations, when the finger of the dexterous hand is extended, the fifth connecting portion is located on the side facing the back of the hand of the fourth axis; the first phalanx has a first accommodating space, and the side of the first phalanx facing the palm side has an opening. The opening is communicated with the first accommodating space, and the fifth connecting portion extends into the first accommodating space from the opening.

[0012] In some implementations, the first link includes a connected straight rod portion and a bent rod portion. The straight rod portion is close to the first end of the first link, and the bent rod portion is close to the second end of the first link. The bent rod portion protrudes toward the palm side. When the phalangeal joint assembly rotates toward the palm side relative to the first phalanx, at least a portion of the bent rod portion is received into the first receiving space by the opening.

[0013] In some implementations, the phalangeal joint assembly includes: a second link, the first end of the second link is rotatably connected to the first phalanx about a third axis and is rotatably connected to the second end of the first link about a sixth axis; a second phalanx, which is rotatably connected to the first phalanx about a seventh axis, and the seventh axis is parallel to the second axis; a third phalanx, which is rotatably connected to the second end of the second link about an eighth axis and is rotatably connected to the second phalanx about a ninth axis, and both the eighth axis and the ninth axis are parallel to the second axis; wherein, in a plane perpendicular to the second axis, the connection line between the third axis and the eighth axis intersects the connection line between the seventh axis and the ninth axis.

[0014] In some implementations, the first phalanx includes: a first phalanx body, which is rotatably connected to the side swing connecting member about a second axis, is rotatably connected to the second link about a third axis, is rotatably connected to the second phalanx about a seventh axis, and is rotatably connected to the third connecting portion about a fourth axis. The first phalanx body includes a first connecting portion and a second connecting portion; a second limiting portion, which is arranged on the outer surface of the first phalanx body and is located on the back-of-hand side of the seventh axis; a third limiting portion, which is arranged on the outer surface of the first phalanx body and is located on the palm side of the seventh axis. The second limiting portion and the third limiting portion are used to allow the second phalanx to rotate between a first position and a second position about the fourth axis.

[0015] In some implementations, the first phalanx further includes: a first phalanx housing, which is sleeved on the first phalanx body, and the hardness of the material of the first phalanx housing is less than the hardness of the material of the first phalanx body; and / or, the second phalanx includes: a second phalanx body, which is rotatably connected to the first phalanx about a seventh axis and is rotatably connected to the third phalanx about a ninth axis; a second phalanx housing, which is sleeved on the second phalanx body, and the hardness of the material of the second phalanx housing is less than the hardness of the material of the second phalanx body.

[0016] In some implementations, the third phalanx includes: a support member, which is rotatably connected to the second end of the second link about an eighth axis and is rotatably connected to the second phalanx about a ninth axis; a third phalanx body, which is connected to the support member and wraps at least a portion of the support member, and the strength of the material of the support member is greater than the strength of the material of the third phalanx body.

[0017] In some implementations, the first linear drive assembly includes: a first drive portion movably connected to the second end of the first link assembly; a first support base capable of being connected to the palm substrate; a first rotary drive member disposed on the first support base; a first lead screw connected to the first rotary drive member and capable of rotating about the rotation axis of the first lead screw under the drive of the first rotary drive member, the rotation axis of the first lead screw and the first straight line being parallel to the extension direction of the first lead screw, the first drive portion sleeved on the first lead screw and threadedly connected to the first lead screw; and / or, the second linear drive assembly includes: a second drive portion movably connected to the second end of the second link assembly; a second support base capable of being connected to the palm substrate; a second rotary drive member disposed on the second support base; a second lead screw connected to the second rotary drive member and capable of rotating about the rotation axis of the second lead screw under the drive of the second rotary drive member, the rotation axis of the second lead screw and the second straight line being parallel to the extension direction of the second lead screw, the second drive portion sleeved on the second lead screw and threadedly connected to the second lead screw; and / or, the third linear drive assembly includes: a third drive portion movably connected to the second end of the third link assembly; a third support base capable of being connected to the palm substrate; a third rotary drive member disposed on the third support base; a third lead screw connected to the third rotary drive member and capable of rotating about the rotation axis of the third lead screw under the drive of the third rotary drive member, the rotation axis of the third lead screw and the third straight line being parallel to the extension direction of the third lead screw, the third drive portion sleeved on the third lead screw and threadedly connected to the third lead screw.

[0018] In some implementations, when the first linear drive assembly includes the first support base, the first linear drive assembly further includes: a first potential measuring member disposed on the first support base, the shape of the first potential measuring member including a long strip shape, the extension direction of the first potential measuring member being parallel to the first straight line, the first drive portion sleeved on the first potential measuring member, and the first potential measuring member being used to obtain the position information of the first drive portion; and / or, when the second linear drive assembly includes the second support base, the second linear drive assembly further includes: a second potential measuring member disposed on the second support base, the shape of the second potential measuring member including a long strip shape, the extension direction of the second potential measuring member being parallel to the second straight line, the second drive portion sleeved on the second potential measuring member, and the second potential measuring member being used to obtain the position information of the second drive portion; and / or, when the third linear drive assembly includes the third support base, the third linear drive assembly further includes: a third potential measuring member disposed on the third support base, the shape of the third potential measuring member including a long strip shape, the extension direction of the third potential measuring member being parallel to the third straight line, the third drive portion sleeved on the third potential measuring member, and the third potential measuring member being used to obtain the position information of the third drive portion.

[0019] In a second aspect, an embodiment of the present application provides a dexterous hand, including: at least one dexterous hand finger mentioned in the first aspect.

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

[0021] The finger of the dexterous hand provided in this embodiment realizes the rotation of the first phalanx around the first axis and the second axis through the first linear drive assembly and the second linear drive assembly connected in parallel, so that the first phalanx can have the functions of lateral swing and rotation towards the palm side or the back side of the hand. The rotation of the phalanx assembly around the third axis is realized through the third linear drive assembly, so that the phalanx assembly has the function of rotating towards the palm side or the back side of the hand, so that the finger of the dexterous hand has at least three active degrees of freedom. The structure of the linear drive assembly is relatively simple, and the structure for realizing the lateral swing and flexion / extension of the finger of the dexterous hand can be without additional components such as gears and tendon ropes, with a simple structure, high rigidity, stability and reliability, and is beneficial to reducing the size of the finger of the dexterous hand and the dexterous hand.

[0022] In addition, the third linear drive assembly is located on the side of the first linear drive assembly and the second linear drive assembly facing the back side of the hand. The third straight line can be parallel to the palm substrate. In the plane perpendicular to the second axis, the positive projection of the third straight line and the distance between the positive projection of the third straight line and the positive projection of the first straight line in the extension direction of the first axis both gradually decrease along the direction of the third straight line towards the first phalanx, so that the end of the first linear drive assembly and the second linear drive assembly facing the phalanx assembly is closer to the back side of the hand than the end of the first linear drive assembly and the second linear drive assembly away from the phalanx assembly, so that the circumferential dimension of the end of the first phalanx away from the phalanx assembly is smaller and closer to the shape of a human finger. At the same time, the space occupied by the first linear drive assembly, the second linear drive assembly and the third linear drive assembly in the palm is close to the shape of a human palm, which is beneficial to making full use of the space of the palm part and improving the humanoid degree of the palm of the dexterous hand. Description of the Drawings

[0023] By describing the embodiments of the present application in more detail in conjunction with the drawings, the above and other objects, features and advantages of the present application will become more obvious. The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0024] Figure 1 The figure shows a schematic structural diagram of a dexterous hand provided by an embodiment of the present application.

[0025] Figure 2 The figure shows a right view of the finger of the dexterous hand and the palm substrate provided by an embodiment of the present application.

[0026] Figure 3The following shows a rear view of the finger and palm substrate of the dexterous hand provided by an embodiment of the present application.

[0027] Figure 4 The following shows a schematic structural diagram of the finger of the dexterous hand provided by an embodiment of the present application after removing the first phalanx housing and the second phalanx housing.

[0028] Figure 5 The following shows a front view of the finger of the dexterous hand provided by an embodiment of the present application.

[0029] Figure 6 The following shows a right view of the finger of the dexterous hand provided by an embodiment of the present application.

[0030] Figure 7 The following shows provided by an embodiment of the present application Figure 5 A schematic cross-sectional view of the dexterous hand finger along line AA.

[0031] Figure 8 The following shows a schematic structural diagram of the first phalanx and the side swing connecting member provided by an embodiment of the present application.

[0032] Figure 9 The following shows a schematic structural diagram of the side swing connecting member provided by an embodiment of the present application.

[0033] Figure 10 The following shows a schematic structural diagram of the finger of the dexterous hand provided by an embodiment of the present application after removing the side swing connecting member and one first phalanx housing.

[0034] Figure 11 The following shows a schematic structural diagram of the third phalanx provided by an embodiment of the present application.

[0035] Figure 12 The following shows a schematic structural diagram of the third phalanx provided by another embodiment of the present application.

[0036] Figure 13 The following shows a schematic structural diagram of the first linear drive assembly provided by an embodiment of the present application.

[0037] Figure 14 The following shows a schematic structural diagram of the robot provided by an embodiment of the present application.

[0038] Reference numerals: 1. Dexterous hand; 10. Dexterous hand finger; 100. Dorsal side; 101. Palmar side; 11. Lateral swing connecting member; 110. Sixth connecting portion; 111. Seventh connecting portion; 112. Eighth connecting portion; 113. Arc surface; 114. First limiting portion; 1140. First edge; 1411. Second edge; 115. Avoidance portion; 12. First phalanx; 120. First connecting portion; 121. Second connecting portion; 122. First accommodating space; 123. First side; 124. Second side; 125. Notch; 126. First phalanx housing; 127. First phalanx body; 1270. Opening; 128. Second limiting portion; 129. Third limiting portion; 1290. First phalanx outer shell; 1291. First outer shell; 1292. Second outer shell; 13. First link assembly; 130. First end of the first link assembly; 131. Second end of the first link assembly; 132. Third link; 133. Fourth link; 14. First linear drive assembly; 140. First drive portion; 141. First support seat; 142. First lead screw; 143. First guide rod; 144. First potential measuring member; 15. Second link assembly; 150. First end of the second link assembly; 151. Second end of the second link assembly; 16. Second linear drive assembly; 160. Second drive portion; 161. Second support seat; 162. Second lead screw; 163. Second guide rod; 164. Second potential measuring member; 17. Phalanx assembly; 170. Second link; 1700. First end of the second link; 1701. Second end of the second link; 171. Second phalanx; 1710. Second phalanx body; 1711. Second phalanx outer shell; 172. Third phalanx; 1720. Support member; 1721. Third phalanx body; 18. First connecting member; 180. Third connecting portion; 181. Fourth connecting portion; 182. Fifth connecting portion; 19. First link; 190. First end of the first link; 191. Second end of the first link; 192. Straight rod portion; 193. Bent rod portion; 20. Third link assembly; 200. First end of the third link assembly; 201. Second end of the third link assembly; 21. Third linear drive assembly; 210. Third drive portion; 211. Third support seat; 212. Third lead screw; 213. Third guide rod; 214. Third potential measuring member; 22. Tactile sensor; 30. Palm substrate; 300. Palm side; 301. Dorsal side of the palm; 40. Robot; 41. Robot main body; L1. First axis; L2. Second axis; L3. Third axis; L4. Fourth axis; L5. Fifth axis; L6. Sixth axis; L7. Seventh axis; L9. Ninth axis; L10. Tenth axis; L11. Eleventh axis; SL1. First straight line; SL2. Second straight line; SL3. Third straight line. Detailed implementation manner

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

[0040] In the field of robotics, the dexterous hand, as a key component for simulating the functions of the human hand and achieving fine operations, has always received much attention. The movement flexibility and structural compactness of the fingers of the dexterous hand play a crucial role in improving the overall performance and expanding the application scenarios. To meet the requirements of complex tasks, the fingers of the dexterous hand are designed to have three active degrees of freedom.

[0041] However, the drive structure for realizing the three active degrees of freedom of the fingers of the dexterous hand is complex and occupies a large space, resulting in a relatively large size of such dexterous hand fingers and the dexterous hand including such dexterous hand fingers, which limits the use of the dexterous hand in some application scenarios with strict space requirements.

[0042] In view of the above problems, an embodiment of the present application provides a dexterous hand finger, which is applied to a dexterous hand. The dexterous hand includes a palm substrate and at least one dexterous hand finger. The dexterous hand finger includes a back side and a palm side arranged opposite to each other. The dexterous hand finger includes: a side swing connecting member capable of rotatably connecting with the palm substrate around a first axis, and the first axis is parallel to the direction from the palm side towards the back side; a first finger joint rotatably connected with the side swing connecting member around a second axis, and the second axis is perpendicular to the first axis. The first finger joint includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion are located in the circumferential direction of the first axis; a first link assembly, the first end of the first link assembly is movably connected with the first connecting portion; a first linear driving assembly capable of being arranged on the palm substrate and movably connected with the second end of the first link assembly, and used for driving the second end of the first link assembly to move along a first straight line; a second link assembly, the first end of the second link assembly is movably connected with the second connecting portion; a second linear driving assembly capable of being arranged on the palm substrate and movably connected with the second end of the second link assembly, and used for driving the second end of the second link assembly to move along a second straight line; a finger joint assembly rotatably connected with the first finger joint around a third axis, and the third axis is parallel to the second axis; a first connecting member including a connected third connecting portion, a fourth connecting portion and a fifth connecting portion, the third connecting portion is located between the first connecting portion and the second connecting portion and rotatably connected with the first finger joint around a fourth axis, and the fourth axis is parallel to the second axis, and the first connecting portion and the second connecting portion are arranged opposite to each other along the fourth axis; a first link, the first end of the first link is rotatably connected with the fourth connecting portion around a fifth axis, and the second end of the first link is rotatably connected with the finger joint assembly around a sixth axis, and both the fifth axis and the sixth axis are parallel to the second axis; a third link assembly, the first end of the third link assembly is movably connected with the fifth connecting portion; a third linear driving assembly capable of being arranged on the palm substrate and movably connected with the second end of the third link assembly, and used for driving the second end of the third link assembly to move along a third straight line; wherein, the third linear driving assembly is located on the side towards the back side of the first linear driving assembly and the second linear driving assembly; the third straight line can be parallel to the palm substrate, in a plane perpendicular to the second axis, the distance between the positive projection of the third straight line and the positive projection of the first straight line in the extending direction of the first axis gradually decreases along the direction of the third straight line towards the first finger joint, and in a plane perpendicular to the second axis, the distance between the positive projection of the third straight line and the positive projection of the second straight line in the extending direction of the first axis gradually decreases along the direction of the third straight line towards the first finger joint.

[0043] The dexterous hand finger provided in this embodiment realizes the rotation of the first phalanx around the first axis and the second axis through the parallel first linear drive assembly and second linear drive assembly, enabling the first phalanx to have the functions of lateral swing and rotation towards the palm side or the back of the hand. The rotation of the phalanx assembly around the third axis is realized through the third linear drive assembly, enabling the phalanx assembly to have the function of rotating towards the palm side or the back of the hand, so that the dexterous hand finger has at least three active degrees of freedom. The structure of the linear drive assembly is relatively simple. The structure for realizing the lateral swing and flexion / extension of the dexterous hand finger can be without additional components such as gears and tendon ropes, with a simple structure, high rigidity, stability and reliability, and is beneficial to reducing the size of the dexterous hand finger and the dexterous hand.

[0044] In addition, the third linear drive assembly is located on the side towards the back of the hand of the first linear drive assembly and the second linear drive assembly. The third straight line can be parallel to the palm substrate. In the plane perpendicular to the second axis, the positive projection of the third straight line and the distance between the positive projection of the third straight line and the positive projection of the first straight line in the extension direction of the first axis both gradually decrease along the direction of the third straight line towards the first phalanx, making the end of the first linear drive assembly and the second linear drive assembly towards the phalanx assembly closer to the back of the hand than the end of the first linear drive assembly and the second linear drive assembly away from the phalanx assembly, making the circumferential dimension of the end of the first phalanx away from the phalanx assembly smaller and closer to the shape of a human finger. At the same time, the space occupied by the first linear drive assembly, the second linear drive assembly and the third linear drive assembly in the palm is close to the shape of a human palm, which is beneficial to making full use of the space of the palm part and improving the humanoid degree of the palm of the dexterous hand.

[0045] The following combines the drawings and specific embodiments to illustrate the specific structures of the dexterous hand finger, the dexterous hand and the robot.

[0046] Figure 1 The figure shows a schematic structural diagram of a dexterous hand provided in an embodiment of the present application. Figure 2 The figure shows a right view of the dexterous hand finger and the palm substrate provided in an embodiment of the present application. Figure 3 The figure shows a rear view of the dexterous hand finger and the palm substrate provided in an embodiment of the present application. Figure 4 The figure shows a schematic structural diagram of the dexterous hand finger provided in an embodiment of the present application after removing the first phalanx housing and the second phalanx housing. Figure 5 The figure shows a front view of the dexterous hand finger provided in an embodiment of the present application. Figure 6 The figure shows a right view of the dexterous hand finger provided in an embodiment of the present application. Figure 7 The figure shows provided in an embodiment of the present application Figure 5 A cross-sectional schematic view of the dexterous hand finger along line AA in the figure. Figure 8 The figure shows a schematic structural diagram of the first phalanx and the lateral swing connecting piece provided in an embodiment of the present application.Figure 9 The figure shows a schematic structural diagram of a side-swing connecting member provided by an embodiment of the present application. Figure 10 The figure shows a schematic structural diagram of a dexterous hand finger provided by an embodiment of the present application after removing the side-swing connecting member and a first knuckle housing.

[0047] As Figures 1 to 10 As shown, the dexterous hand finger 10 is applied to the dexterous hand 1. The dexterous hand 1 includes a palm substrate 30 and at least one dexterous hand finger 10. The dexterous hand finger 10 includes a back side 100 and a palm side 101 that are oppositely arranged.

[0048] 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. The dexterous hand finger 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. Exemplarily, the palm substrate 30 can be a plate-like structure, a frame structure, etc. 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. The dexterous hand finger 10 can be used to form the thumb, index finger, middle finger, ring finger, or little finger of the dexterous hand 1.

[0049] The dexterous hand finger 10 includes: a side-swing connecting member 11, a first knuckle 12, a first link assembly 13, a first linear drive assembly 14, a second link assembly 15, a second linear drive assembly 16, a knuckle assembly 17, a first connecting member 18, a first link 19, a third link assembly 20, and a third linear drive assembly 21.

[0050] As Figures 7 to 9 As shown, the side-swing connecting member 11 can be rotatably connected to the palm substrate 30 about a first axis L1, and the first axis L1 is parallel to the direction from the palm side 101 towards the back side 100. Exemplarily, the first axis L1 can be perpendicular to the palm substrate 30. The first knuckle 12 is rotatably connected to the side-swing connecting member 11 about a second axis L2, and the second axis L2 is perpendicular to the first axis L1. The first knuckle 12 includes a first connecting portion 120 and a second connecting portion 121, and the first connecting portion 120 and the second connecting portion 121 are located in the circumferential direction of the first axis L1.

[0051] Specifically, a phalanx can be a structural unit segmented along the length extension direction of the dexterous hand finger 10. The dexterous hand finger 10 can include multiple sequentially connected phalanges. The first phalanx 12 can be one of the multiple phalanges included in the dexterous hand finger 10. Since the first connecting portion 120 and the second connecting portion 121 are located in the circumferential direction of the first axis L1, the first phalanx 12 can be rotated relative to the palm substrate 30 around the first axis L1 by pushing the first connecting portion 120 or the second connecting portion 121 around the first axis L1 to perform a side swing action. Exemplarily, the first connecting portion 120 and the second connecting portion 121 are symmetrically arranged with respect to a plane passing through the first axis L1 and perpendicular to the second axis L2.

[0052] The first end 130 of the first link assembly is movably connected to the first connecting portion 120. The first linear drive assembly 14 can be disposed on the palm substrate 30 and is movably connected to the second end 131 of the first link assembly for driving the second end 131 of the first link assembly to move along the first straight line SL1. The first end 150 of the second link assembly is movably connected to the second connecting portion 121. The second linear drive assembly 16 can be disposed on the palm substrate 30 and is movably connected to the second end 151 of the second link assembly for driving the second end 151 of the second link assembly to move along the second straight line SL2.

[0053] Exemplarily, the movable connection mentioned in the present application can be achieved by means of a universal joint, a spherical bearing or a fish-eye bearing, etc.

[0054] Exemplarily, by controlling the moving speed and moving direction of the second end 131 of the first link assembly driven by the first linear drive assembly 14 along the first straight line SL1, and controlling the moving speed and moving direction of the second end 151 of the second link assembly driven by the second linear drive assembly 16 along the second straight line SL2, the first phalanx 12 can be rotated around the first axis L1 to perform a side swing action, and the first phalanx 12 can be rotated around the second axis L2, and the first phalanx 12 can be rotated relative to the palm substrate 30.

[0055] Exemplarily, the first connection part 120 and the second connection part 121 may be located in the area corresponding to the palm base plate 30, and the first linear drive component 14 may be located on the side of the first connection part 120 and the second connection part 121 facing the finger joint component 17. The second linear drive component 16 may be located on the side of the first connection part 120 and the second connection part 121 away from the finger joint component 17. Under the drive of the first linear drive component 14 and the second linear drive component 16, the second end 131 of the first connecting rod component and the second end 151 of the second connecting rod component move simultaneously along the first straight line SL1 and the second straight line SL2 toward the first finger joint 12 or move simultaneously away from the first finger joint 12, so that the first finger joint 12 rotates around the first axis L1. When the moving speeds of the second end 131 of the first connecting rod component and the second end 151 of the second connecting rod component are different, the first finger joint 12 can further rotate around the second axis L2.

[0056] The finger joint assembly 17 is rotatably connected to the first finger joint 12 around a third axis L3, and the third axis L3 is parallel to the second axis L2. The first connecting member 18 includes a third connecting portion 180, a fourth connecting portion 181 and a fifth connecting portion 182 that are connected. The third connecting portion 180 is located between the first connecting portion 120 and the second connecting portion 121, and is rotatably connected to the first finger joint 12 around a fourth axis L4, and the fourth axis L4 is parallel to the second axis L2. The first connecting portion 120 and the second connecting portion 121 are arranged opposite to each other along the fourth axis L4.

[0057] The first end 190 of the first connecting rod is rotatably connected to the fourth connecting portion 181 around the fifth axis L5, and the second end 191 of the first connecting rod is rotatably connected to the finger joint assembly 17 around the sixth axis L6, and the fifth axis L5 and the sixth axis L6 are both parallel to the second axis L2. The first end 200 of the third connecting rod assembly is movably connected to the fifth connecting portion 182. The third linear drive assembly 21 can be disposed on the palm base plate 30 and movably connected to the second end 201 of the third connecting rod assembly, and is used to drive the second end 201 of the third connecting rod assembly to move along the third straight line SL3.

[0058] Specifically, when the third linear drive assembly 21 drives the second end 201 of the third connecting rod assembly to move along the third straight line SL3, the first connecting member 18 will be driven to rotate around the fourth axis L4. At the same time, the first finger joint 12, the first connecting member 18, the first connecting rod 19 and the finger joint assembly 17 form a four-bar linkage. The first finger joint 12 is equivalent to the frame, the first connecting member 18 and the finger joint assembly 17 are equivalent to the connecting rod, the first connecting rod 19 is equivalent to the connecting rod, and the first connecting member 18 is an active member, so that the third linear drive assembly 21 can make the finger joint assembly 17 rotate around the third axis L3, realize the independent rotation of the finger joint assembly 17 relative to the first finger joint 12, so that the dexterous hand finger 10 has three active degrees of freedom.

[0059] As shown Figure 2 in the figure, the third linear drive assembly 21 is located on the side facing the back of the hand 100 of the first linear drive assembly 14 and the second linear drive assembly 16. The third straight line SL3 can be parallel to the palm substrate 30. On a plane perpendicular to the second axis L2, the distance between the orthographic projection of the third straight line SL3 and the orthographic projection of the first straight line SL1 in the extending direction of the first axis L1 gradually decreases along the direction of the third straight line SL3 towards the first phalanx 12. On a plane perpendicular to the second axis L2, the distance between the orthographic projection of the third straight line SL3 and the orthographic projection of the second straight line SL2 in the extending direction of the first axis L1 gradually decreases along the direction of the third straight line SL3 towards the first phalanx 12.

[0060] Since the first linear drive assembly 14, the second linear drive assembly 16 and the third linear drive assembly 21 are generally strip-shaped and extend along the extending directions of the first straight line SL1, the second straight line SL2 and the third straight line SL3 respectively, on a plane perpendicular to the second axis L2, both the orthographic projection of the third straight line SL3 and the distance between the orthographic projection of the third straight line SL3 and the orthographic projection of the first straight line SL1 in the extending direction of the first axis L1 gradually decrease along the direction of the third straight line SL3 towards the first phalanx 12, which is beneficial to making the ends of the first linear drive assembly 14 and the second linear drive assembly 16 facing the phalanx assembly 17 closer to the back of the hand 100 than the ends of the first linear drive assembly 14 and the second linear drive assembly 16 away from the phalanx assembly 17.

[0061] Moreover, the thickness of the side where the human palm is connected to the fingers is smaller than the thickness of the side where it is connected to the wrist. The third linear drive assembly 21 close to the back of the hand 100 is arranged parallel to the palm substrate 30. The first linear drive assembly 14 and the second linear drive assembly 16 are close to the palm side 101, and the ends of the first linear drive assembly 14 and the second linear drive assembly 16 facing the phalanx assembly 17 are closer to the back of the hand 100 than the ends of the first linear drive assembly 14 and the second linear drive assembly 16 away from the phalanx assembly 17, making the circumferential dimension of the end of the first phalanx 12 away from the phalanx assembly 17 smaller and closer to the shape of the human finger. At the same time, it makes the space occupied by the first linear drive assembly 14, the second linear drive assembly 16 and the third linear drive assembly 21 in the palm close to the shape of the human palm, which is beneficial to making full use of the space of the palm part and improving the humanoid degree of the palm of the dexterous hand 1.

[0062] Exemplarily, the shapes of the first linear drive assembly 14, the second linear drive assembly 16, and the third linear drive assembly 21 may all include an elongated shape. The first linear drive assembly 14 may extend along the extension direction of the first straight line SL1, the second linear drive assembly 16 may extend along the extension direction of the second straight line SL2, and the third linear drive assembly 21 may extend along the extension direction of the third straight line SL3.

[0063] Exemplarily, the first linear drive assembly 14, the second linear drive assembly 16, and the third linear drive assembly 21 may include any structure capable of driving an object to move linearly. Exemplarily, the first linear drive assembly 14 may include one or more combinations of the following structures: a ball 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 14 may include a linear servo. The structures of the second linear drive assembly 16 and the third linear drive assembly 21 may be similar to that of the first linear drive assembly 14, which will not be elaborated here.

[0064] The dexterous hand finger 10 provided in this embodiment realizes the rotation of the first phalanx 12 around the first axis L1 and the second axis L2 through the parallel first linear drive assembly 14 and the second linear drive assembly 16, so that the first phalanx 12 can have the functions of lateral swing and rotation towards the palm side 101 or the back of the hand side 100. The rotation of the phalanx assembly 17 around the third axis L3 is realized through the third linear drive assembly 21, so that the phalanx assembly 17 has the function of rotating towards the palm side 101 or the back of the hand side 100, thereby enabling the dexterous hand finger 10 to have at least three active degrees of freedom. The structure of the linear drive assembly is relatively simple, and the structure for realizing the lateral swing and flexion and extension of the dexterous hand finger 10 may not require additional components such as gears and tendon ropes. The structure is simple, has high rigidity, is stable and reliable, and is beneficial to reducing the size of the dexterous hand finger 10 and the dexterous hand 1.

[0065] In addition, the third linear drive assembly 21 is located on the side facing the back of the hand 100 of the first linear drive assembly 14 and the second linear drive assembly 16. The third straight line SL3 can be parallel to the palm substrate 30. In a plane perpendicular to the second axis L2, the positive projection of the third straight line SL3 and the distance between the positive projection of the third straight line SL3 and the positive projection of the first straight line SL1 in the extending direction of the first axis L1 both gradually decrease along the direction of the third straight line SL3 towards the first phalanx 12. This makes the ends of the first linear drive assembly 14 and the second linear drive assembly 16 facing the phalanx assembly 17 closer to the back of the hand 100 than the ends of the first linear drive assembly 14 and the second linear drive assembly 16 away from the phalanx assembly 17. As a result, the circumferential dimension of the end of the first phalanx 12 away from the phalanx assembly 17 is smaller, making it more conform to the shape of a human finger. At the same time, the space occupied by the first linear drive assembly 14, the second linear drive assembly 16, and the third linear drive assembly 21 in the palm is close to the shape of a human palm, which is beneficial for making full use of the space in the palm part and improving the human-like degree of the palm of the dexterous hand 1.

[0066] In some embodiments, as Figures 2 to 7 shown, driven by the first linear drive assembly 14 and the second linear drive assembly 16, the second end 131 of the first link assembly and the second end 151 of the second link assembly simultaneously move along the first straight line SL1 and the second straight line SL2 towards the first phalanx 12 or simultaneously move away from the first phalanx 12, so that the first phalanx 12 rotates around the second axis L2.

[0067] For example, the first linear drive assembly 14 drives the second end 131 of the first link assembly to move along the first straight line SL1 towards the first phalanx 12, and the second linear drive assembly 16 drives the second end 151 of the second link assembly to move along the second straight line SL2 towards the first phalanx 12. The first phalanx 12 will rotate around the second axis L2, realizing the rotation of the first phalanx 12 towards the palm side 101.

[0068] Driven by the first linear drive assembly 14 and the second linear drive assembly 16, the second end 131 of the first link assembly moves along the first straight line SL1 towards the first phalanx 12, and the second end 151 of the second link assembly moves along the second straight line SL2 away from the first phalanx 12, or the second end 131 of the first link assembly moves along the first straight line SL1 away from the first phalanx 12, and the second end 151 of the second link assembly moves along the second straight line SL2 towards the first phalanx 12, so that the first phalanx 12 rotates around the first axis L1.

[0069] For example, as Figure 5As shown, the first linear drive component 14 drives the second end 131 of the first connecting rod assembly to move along the first straight line SL1 away from the first finger joint 12, and the second linear drive component 16 drives the second end 151 of the second connecting rod assembly to move along the second straight line SL2 toward the first finger joint 12, and the first finger joint 12 will rotate clockwise around the first axis L1 to realize the side swing action of the first finger joint 12.

[0070] Exemplarily, driven by the first linear drive component 14 and the second linear drive component 16, the second end 131 of the first connecting rod assembly and the second end 151 of the second connecting rod assembly move simultaneously along the first straight line SL1 and the second straight line SL2 toward the first knuckle 12, respectively. The moving speed of the second end 131 of the first connecting rod assembly is greater than the moving speed of the second end 151 of the second connecting rod assembly. The first knuckle 12 will rotate around the second axis L2 toward the palm side 101, and rotate clockwise around the first axis L1 to swing sideways.

[0071] For example, Figure 4 As shown, the first linear drive assembly 14 and the second linear drive assembly 16 are both located on the side of the third connecting portion 180 away from the finger joint assembly 17. Exemplarily, the fourth axis L4 is located on the side of the second axis L2 facing the finger joint assembly 17.

[0072] The dexterous finger 10 provided in this embodiment drives the second end 131 of the first connecting rod assembly and the second end 151 of the second connecting rod assembly to move in the same direction relative to the first knuckle 12 along the first straight line SL1 and the second straight line SL2 respectively through the first linear drive component 14 and the second linear drive component 16, so that the first knuckle 12 performs a side-swinging motion. The second end 131 of the first connecting rod assembly and the second end 151 of the second connecting rod assembly can also be driven to move in the opposite directions relative to the first knuckle 12 along the first straight line SL1 and the second straight line SL2 respectively, so that the first knuckle 12 rotates around the second axis L2. The control method for realizing the side-swinging and rotation of the first knuckle 12 around the second axis L2 is simple, which is conducive to improving the agility of the dexterous finger 10.

[0073] In some embodiments, Figure 2 , Figure 4 and Figure 5 As shown, the first straight line SL1 is parallel to the second straight line SL2, and the first straight line SL1 and the second straight line SL2 are spaced apart along the extending direction of the second axis L2.

[0074] Since the first linear drive assembly 14 and the second linear drive assembly 16 are generally strip-shaped and extend along the extension direction of the first straight line SL1 and the extension direction of the second straight line SL2 respectively. The first straight line SL1 is parallel to the second straight line SL2, and the first straight line SL1 and the second straight line SL2 are spaced apart along the extension direction of the second axis L2, so that the first linear drive assembly 14 and the second linear drive assembly 16 are arranged in parallel, and the first linear drive assembly 14 and the second linear drive assembly 16 are spaced apart along the extension direction of the second axis L2, so that along the extension direction of the second axis L2, the overall size of the two linear drive assemblies is small, which is beneficial to reducing the installation space required by the two linear drive assemblies as a whole, facilitating the arrangement of other components of the dexterous hand 1 on the palm substrate 30, and is beneficial to reducing the size of the palm substrate 30 of the dexterous hand 1.

[0075] Exemplarily, the first linear drive assembly 14 extends along the extension direction of the first straight line SL1, and the second linear drive assembly 16 extends along the extension direction of the second straight line SL2. The first linear drive assembly 14 and the second linear drive assembly 16 are spaced apart along the extension direction of the second axis L2.

[0076] In some embodiments, as Figure 8 and Figure 9 shown, the side swing connecting piece 11 includes a sixth connecting portion 110, a seventh connecting portion 111 and an eighth connecting portion 112 connected in sequence. The sixth connecting portion 110 and the eighth connecting portion 112 are oppositely arranged along the extension direction of the second axis L2. The seventh connecting portion 111 is located on the side of the sixth connecting portion 110 facing the back of the hand side 100.

[0077] The first finger joint 12 has a first accommodating space 122 and a first side 123 and a second side 124 oppositely arranged along the extension direction of the second axis L2. The sixth connecting portion 110 and the eighth connecting portion 112 are respectively rotatably connected to the inner walls of the first finger joint 12 located on the first side 123 and the second side 124 around the second axis L2. The sixth connecting portion 110 and the eighth connecting portion 112 are located in the first accommodating space 122. The edge of the first finger joint 12 on the side facing the seventh connecting portion 111 has a notch 125, and the seventh connecting portion 111 can pass through the notch 125 and be rotatably connected to the palm substrate 30 around the first axis L1.

[0078] Specifically, as Figure 2As shown, the palm substrate 30 of the dexterous hand 1 may include a palm side 300 and a back of the hand side 301 that are disposed opposite to each other. Since the seventh connecting portion 111 is located on the side of the sixth connecting portion 110 facing the back of the hand side 100, the dexterous hand finger 10 can be rotatably connected to the back of the hand side 301 of the palm substrate 30 around the first axis L1 to achieve a side swing motion, rather than the palm side 300, which can prevent the side swing connecting member 11 from colliding with the components or objects on the palm side 300 when the dexterous hand 1 grasps an object, ensuring the smoothness of the grasping process and facilitating the arrangement of other components on the palm side 300 of the dexterous hand 1.

[0079] At the same time, since the sixth connecting portion 110 and the eighth connecting portion 112 are respectively rotatably connected to the inner walls of the first phalanx 12 located on the first side 123 and the second side 124, the sixth connecting portion 110 and the eighth connecting portion 112 can be received in the first accommodation space 122 of the first phalanx 12, increasing the integrity and aesthetics of the appearance of the dexterous hand finger 10, thereby enhancing the humanoid degree of the dexterous hand finger 10 in terms of appearance.

[0080] In addition, an edge of the first phalanx 12 on the side facing the seventh connecting portion 111 has a notch 125, enabling the seventh connecting portion 111 to be rotatably connected to the palm substrate 30 around the first axis L1 by passing through the notch 125. While achieving the rotatable connection between the seventh connecting portion 111 and the palm substrate 30, the exposed area of the side swing connecting member 11 is reduced, which is beneficial to further increasing the integrity and aesthetics of the appearance of the dexterous hand finger 10. Moreover, since the notch 125 is provided at the edge of the first phalanx 12 on the side facing the seventh connecting portion 111, the first phalanx 12 can rotate around the second axis L2 without being interfered by the side swing connecting member 11, facilitating the smooth rotation of the first phalanx 12 around the second axis L2.

[0081] Exemplarily, the seventh connecting portion 111 is rotatably connected to the palm substrate 30 through a bearing. For example, the seventh connecting portion 111 is connected to the inner ring of the bearing, and the palm substrate 30 is connected to the outer ring of the bearing.

[0082] Exemplarily, as Figures 5 to 7 shown, the first phalanx 12 includes two first phalanx housings 126 that are disposed opposite to each other along the extension direction of the second axis L2. One first phalanx housing 126 is located on the first side 123, and the other first phalanx housing 126 is located on the second side 124. The two first phalanx housings 126 are snap-fitted to form the first accommodation space 122. The sixth connecting portion 110 is rotatably connected to one first phalanx housing 126 around the second axis L2, and the eighth connecting portion 112 is rotatably connected to the other first phalanx housing 126 around the second axis L2.

[0083] In some embodiments, as Figures 7 to 9As shown, the surface of the side swing connecting member 11 facing the notch 125 includes an arc surface 113. The shape of the orthographic projection of the arc surface 113 on the plane perpendicular to the second axis L2 includes an arc shape, and the center of the arc is the orthographic projection of the second axis L2 on the plane perpendicular to the second axis L2.

[0084] When the first phalanx 12 rotates around the second axis L2 towards the palm side 101, the arc surface 113 will be exposed and block the area between the notch 125 and the seventh connecting portion 111, which can prevent the formation of a hollow area between the notch 125 and the seventh connecting portion 111, and prevent the first phalanx 12 from clamping an external object (such as the user's hand) when rotating around the second axis L2 towards the back of the hand 100, thereby improving the user experience. Moreover, the provision of the arc surface 113 is beneficial to avoiding the exposure of the structure in the first accommodation space 122, and improves the aesthetic appearance and coherence of the finger 10 of the dexterous hand.

[0085] Exemplarily, as Figure 9 shown, the arc surface 113 is connected to the seventh connecting portion 111, and is also connected to both the sixth connecting portion 110 and the eighth connecting portion 112.

[0086] In some embodiments, as Figure 8 and Figure 9 shown, the side swing connecting member 11 further includes at least one first limiting portion 114. The first limiting portion 114 protrudes from the notch 125, and the shape of the edge of the first limiting portion 114 facing the notch 125 is adapted to the shape of the edge of the notch 125 facing the first limiting portion 114.

[0087] Since the first limiting portion 114 protrudes from the notch 125 and the shape of the edge of the first limiting portion 114 facing the notch 125 is adapted to the shape of the edge of the notch 125 facing the first limiting portion 114, the first limiting portion 114 can limit the extreme position of the rotation of the first phalanx 12 to mechanically limit the first phalanx 12, thereby improving the safety of the operation of the finger 10 of the dexterous hand. Moreover, during the assembly process of the finger 10 of the dexterous hand, the installation position of the first phalanx 12 can be quickly found through the first limiting portion 114, improving the installation efficiency.

[0088] Exemplarily, as Figure 8 and Figure 9As shown, the side swing connecting member 11 includes two first limiting portions 114, and the two first limiting portions 114 are respectively arranged on the first side 123 and the second side of the seventh connecting portion 111. Exemplarily, one first limiting portion 114 can be arranged on the first side 123 of the seventh connecting portion 111 and the first side 123 of the sixth connecting portion 110, and protrude from the notch 125. One side of the first limiting portion 114 facing the knuckle assembly 17 has a first edge 1140, and the first edge 1140 is located in a plane parallel to both the first axis L1 and the second axis L2. One side of the first limiting portion 114 facing the palm side 101 has a second edge 1411, and the second edge 1411 is located in a plane perpendicular to the first axis L1. The notch 125 has a connected third edge and a fourth edge. The shape of the third edge is the same as the shape of the first edge 1140, and the shape of the fourth edge is the same as the shape of the second edge 1411. So that the edge shape of the first limiting portion 114 facing the notch 125 is adapted to the edge shape of the notch 125 facing the first limiting portion 114. By setting the first edge 1140 and the second edge 1411, bilateral positioning of the first phalanx 12 on the first side 123 and the back of the hand side 100 is realized.

[0089] Exemplarily, the first edge 1140 and the second edge 1411 are smoothly connected. The third edge and the fourth edge are smoothly connected. Exemplarily, the two first limiting portions 114 are symmetrically arranged with respect to a plane passing through the first axis L1 and perpendicular to the second axis L2.

[0090] In some embodiments, as Figure 4 、 Figure 7 and Figure 10 shown, when the dexterous hand finger 10 is extended, the fifth connecting portion 182 is located on the side of the fourth axis L4 facing the back of the hand side 100. The first phalanx 12 has a first accommodating space 122, and one side of the first phalanx 12 facing the palm side 101 has an opening 1270, and the opening 1270 communicates with the first accommodating space 122. The fifth connecting portion 182 extends into the first accommodating space 122 through the opening 1270.

[0091] Since when the dexterous hand finger 10 is extended, the fifth connecting portion 182 is located on the side of the fourth axis L4 facing the back of the hand side 100, and the fifth connecting portion 182 can extend into the first accommodating space 122 through the opening 1270, the third link assembly 20 rotatably connected to the fifth connecting portion 182 can also be located in the first accommodating space 122, so that the third linear drive assembly 21 connected to the third link assembly 20 can be arranged closer to the back of the palm side 301, making the structure of the dexterous hand finger 10 and the dexterous hand 1 more compact, which is beneficial to reducing the size of the dexterous hand finger 10 and the palm of the dexterous hand 1.

[0092] Exemplarily, as Figure 7 andFigure 9 As shown, two first phalanx housings 126 are snapped together to form a first accommodation space 122 and an opening 1270. Exemplarily, an avoidance portion 115 is provided on one side of the side swing connecting member 11 facing the opening 1270. The avoidance portion 115 avoids the fifth connecting portion 182 and the third link assembly 20.

[0093] Exemplarily, as Figure 7 and Figure 9 shown, when the dexterous hand finger 10 is extended, the first end 190 of the first link and the fourth connecting portion 181 extend into the first accommodation space 122 from the opening 1270. Exemplarily, when the dexterous hand finger 10 is extended, at least part of the orthographic projection of the first link 19 on the back side 100 of the hand is located within the orthographic projection of the opening 1270 on the back side 100 of the hand.

[0094] In some embodiments, as Figure 4 and Figure 7 shown, the first link 19 includes a connected straight rod portion 192 and a bent rod portion 193. The straight rod portion 192 is close to the first end 190 of the first link, and the bent rod portion 193 is close to the second end 191 of the first link. The bent rod portion 193 protrudes towards the palm side 101. When the phalanx assembly 17 rotates towards the palm side 101 relative to the first phalanx 12, at least part of the bent rod portion 193 is received into the first accommodation space 122 from the opening 1270.

[0095] Since the bent rod portion 193 protrudes towards the palm side 101, the bent rod portion 193 can avoid the components in the first accommodation space 122, and prevent the first link 19 from interfering with the components in the first accommodation space 122 when the phalanx assembly 17 rotates towards the palm side 101 relative to the first phalanx 12.

[0096] In addition, since the bent rod portion 193 is close to the second end 191 of the first link, when the phalanx assembly 17 rotates towards the palm side 101 relative to the first phalanx 12, at least part of the bent rod portion 193 is received into the first accommodation space 122 from the opening 1270, so that there is more space on the palm side 101 of the dexterous hand finger 10 to grip an object. And, since the part close to the first end 190 of the first link is the straight rod portion 192, when the phalanx assembly 17 rotates towards the palm side 101 relative to the first phalanx 12, the first link 19 will not protrude too much towards the palm side 101, which is beneficial to further increase the space on the palm side 101 for gripping an object.

[0097] Exemplarily, as Figure 4 shown, the bent rod portion 193 has a wire routing opening, and the wire routing opening penetrates through the bent rod portion 193 along the direction from the palm side 101 to the back side 100 of the hand. So as to arrange the wires of the dexterous hand finger 10.

[0098] In some embodiments, such as Figures 4 to 7 shown, the knuckle assembly 17 includes: a second link 170, a second knuckle 171, and a third knuckle 172. The first end 1700 of the second link is rotatably connected to the first knuckle 12 about a third axis L3 and is rotatably connected to the second end 191 of the first link about a sixth axis L6. The second knuckle 171 is rotatably connected to the first knuckle 12 about a seventh axis L7, and the seventh axis L7 is parallel to the second axis L2. The third knuckle 172 is rotatably connected to the second end 1701 of the second link about an eighth axis and is rotatably connected to the second knuckle 171 about a ninth axis L9, and both the eighth axis and the ninth axis L9 are parallel to the second axis L2. In a plane perpendicular to the second axis L2, the line connecting the third axis L3 and the eighth axis intersects the line connecting the seventh axis L7 and the ninth axis L9.

[0099] Specifically, as Figure 7 shown, in a plane perpendicular to the second axis L2, the projection points of the third axis L3, the seventh axis L7, the eighth axis, and the ninth axis L9 are point B, point C, point D, and point E, respectively. The first knuckle 12, the second link 170, the second knuckle 171, and the third knuckle 172 form a four-bar linkage. In the four-bar linkage, the first knuckle 12 is equivalent to the frame, the second knuckle 171 and the second link 170 are equivalent to the crank, the third knuckle 172 is equivalent to the connecting rod, and the second link 170 is the driving member.

[0100] In some application scenarios, such as Figure 7 and Figure 10 shown, the second end 191 of the first link drives the first end 1700 of the second link to rotate relative to the first knuckle 12 about the third axis L3 towards the palm side 101, and the second link 170 drives the coupled second knuckle 171 and third knuckle 172 to rotate towards the palm side 101, achieving the bending of the second knuckle 171 and the third knuckle 172 towards the palm side 101.

[0101] Exemplarily, the second link 170 can be a straight rod, a bent rod, or an arc-shaped rod. The specific shape and quantity of the second link 170 can be set according to actual requirements, and no specific limitation is made in this embodiment. Exemplarily, the third knuckle 172 can be used as the fingertip of the dexterous hand finger 10.

[0102] The finger 10 of the dexterous hand provided in this embodiment further includes a second link 170, a second phalanx 171 and a third phalanx 172. The first phalanx 12, the second phalanx 171 and the third phalanx 172 are sequentially rotatably connected, so that the finger 10 of the dexterous hand has at least three phalanges to complete more complex tasks. In addition, the first phalanx 12, the second link 170, the second phalanx 171 and the third phalanx 172 form a four-bar linkage mechanism, realizing the coupling of the movements of the second phalanx 171 and the third phalanx 172, and realizing the overall bending of the second phalanx 171 and the third phalanx 172 toward the palm side 101 under the drive of the third linear drive assembly 21. The structure is simple, has high rigidity, and is stable and reliable. Moreover, the fingertips of human fingers usually move in a coupled manner with the phalanges adjacent to the fingertips and are difficult to move independently, making the movements of the finger 10 of the dexterous hand more anthropomorphic.

[0103] In some embodiments, as Figure 4 and Figure 6 shown, the first phalanx 12 includes: a first phalanx main body 127, a second limiting portion 128 and a third limiting portion 129. The first phalanx main body 127 is rotatably connected to the side swing connecting member 11 around the second axis L2, rotatably connected to the second link 170 around the third axis L3, rotatably connected to the second phalanx 171 around the seventh axis L7, and rotatably connected to the third connecting portion 180 around the fourth axis L4. The first phalanx main body 127 includes a first connecting portion 120 and a second connecting portion 121.

[0104] The second limiting portion 128 is disposed on the outer surface of the first phalanx main body 127 and is located on the side of the seventh axis L7 facing the back of the hand 100. The third limiting portion 129 is disposed on the outer surface of the first phalanx main body 127 and is located on the side of the seventh axis L7 facing the palm side 101. The second limiting portion 128 and the third limiting portion 129 are used to allow the second phalanx 171 to rotate between a first position and a second position around the fourth axis L4.

[0105] Since both the second limiting portion 128 and the third limiting portion 129 are disposed on the outer surface of the first phalanx main body 127, and the second limiting portion 128 is located on the side of the seventh axis L7 facing the back of the hand 100, and the third limiting portion 129 is located on the side of the seventh axis L7 facing the palm side 101, the second limiting portion 128 can be used to limit the maximum angle of rotation of the second phalanx 171 toward the back of the hand 100, and the third limiting portion 129 can be used to limit the maximum angle of rotation of the second phalanx 171 toward the palm side 101, so that the first phalanx 12 can mechanically limit the rotation of the second phalanx 171, improving the safety of the finger 10 of the dexterous hand.

[0106] Exemplarily, the first position may be the position when the second phalanx 171 rotates towards the dorsal side 100 of the hand to the maximum angle. The second position may be the position when the second phalanx 171 rotates towards the palmar side 101 of the hand to the maximum angle. Exemplarily, both the second limiting portion 128 and the third limiting portion 129 are located at one end of the first phalanx body 127 facing the second phalanx 171. Exemplarily, the shapes of the second limiting portion 128 and the third limiting portion 129 may both include a boss shape.

[0107] Exemplarily, the first phalanx body 127 includes two first phalanx shells 126 that are oppositely arranged and buckled along the extending direction of the second axis L2. Both of the two first phalanx shells 126 are rotatably connected to the side swing connecting member 11 around the second axis L2, rotatably connected to the second link 170 around the third axis L3, rotatably connected to the second phalanx 171 around the seventh axis L7, and rotatably connected to the third connecting portion 180 around the fourth axis L4. The two first phalanx shells 126 respectively include a first connecting portion 120 and a second connecting portion 121. By providing the two first phalanx shells 126 to form the first phalanx body 127, it is convenient for the assembly of the first phalanx 12.

[0108] In some embodiments, as Figure 1 and Figure 2 shown, the first phalanx 12 further includes: a first phalanx outer shell 1290. The first phalanx outer shell 1290 is sleeved on the first phalanx body 127. The hardness of the material of the first phalanx outer shell 1290 is less than the hardness of the material of the first phalanx body 127.

[0109] By sleeving the first phalanx outer shell 1290 outside the first phalanx body 127, and the hardness of the material of the first phalanx outer shell 1290 is less than the hardness of the material of the first phalanx body 127, the first phalanx outer shell 1290 can improve the touch feeling when the user touches the finger 10 of the dexterous hand, thereby improving the user experience.

[0110] Exemplarily, the material of the first phalanx body 127 may include plastic. The material of the first phalanx outer shell 1290 may include rubber or silica gel, etc.

[0111] Exemplarily, as Figure 2As shown, the first phalanx housing 1290 may include a first housing 1291 and a second housing 1292 that are oppositely arranged along the direction from the palm side 101 towards the back of the hand side 100. The first housing 1291 is located on the palm side 101, and the second housing 1292 is located on the back of the hand side 100. The first housing 1291 and the second housing 1292 are snapped together to form the first phalanx housing 1290. Exemplarily, the first housing 1291 may include a rubber film layer and a skeleton wrapped within the rubber film layer. The hardness of the material of the skeleton is greater than that of the rubber to support the rubber film layer and facilitate the dexterous hand finger 10 to apply force to grasp an object. Exemplarily, the first housing 1291 may be snap-connected to the first phalanx body 127. Exemplarily, the material of the second housing 1292 may include thermoplastic polyurethane rubber. Exemplarily, the second housing 1292 may be adhesively bonded to the first phalanx body 127.

[0112] In some embodiments, as Figure 1 and Figure 2 shown, the second phalanx 171 includes: a second phalanx body 1710 and a second phalanx housing 1711. The second phalanx body 1710 is rotatably connected to the first phalanx 12 about the seventh axis L7 and is rotatably connected to the third phalanx 172 about the ninth axis L9. The second phalanx housing 1711 is sleeved on the second phalanx body 1710. The hardness of the material of the second phalanx housing 1711 is less than the hardness of the material of the second phalanx body 1710.

[0113] The material of the second phalanx body 1710 is similar to the material of the first phalanx body 127. The material, structure, and technical effects of the second phalanx housing 1711 are similar to those of the first phalanx housing 1290 and will not be elaborated here.

[0114] Exemplarily, the first phalanx 12 includes the first phalanx housing 1290, and the second phalanx 171 includes the second phalanx housing 1711. When the second phalanx 171 rotates relative to the first phalanx 12, the gap between the edge of the first phalanx housing 1290 facing the second phalanx housing 1711 and the edge of the second phalanx housing 1711 facing the first phalanx housing 1290 decreases. Since the hardness of the materials of the first phalanx housing 1290 and the second phalanx housing 1711 is small, when an object (such as a user's hand) is clamped by the gap between the edge of the first phalanx housing 1290 and the edge of the second phalanx housing 1711, it is not easily damaged or causes less pain, improving the safety of the dexterous hand finger 10 and enhancing the user experience.

[0115] Figure 11 The following shows a schematic structural diagram of the third phalanx provided by an embodiment of the present application. Figure 12 The following shows a schematic structural diagram of the third phalanx provided by another embodiment of the present application.

[0116] In some embodiments, such as Figure 11 and Figure 12 shown, the third phalanx 172 includes: a support member 1720 and a third phalanx body 1721. The support member 1720 is rotatably connected to the second end 1701 of the second link about an eighth axis and is rotatably connected to the second phalanx 171 about a ninth axis L9. The third phalanx body 1721 is connected to the support member 1720 and wraps at least a portion of the support member 1720. The strength of the material of the support member 1720 is greater than the strength of the material of the third phalanx body 1721.

[0117] Since the third phalanx body 1721 is connected to the support member 1720 and wraps at least a portion of the support member 1720, and the strength of the material of the support member 1720 is greater than the strength of the material of the third phalanx body 1721, the support member 1720 can support the third phalanx body 1721, increasing the load capacity of the third phalanx 172. Moreover, by rotatably connecting the support member 1720 to the second end 1701 of the second link about the eighth axis and rotatably connecting it to the second phalanx 171 about the ninth axis L9, the support member 1720 can bear more loads of the third phalanx 172, further increasing the load capacity of the third phalanx 172.

[0118] Exemplarily, the material of the support member 1720 may include metal. The material of the third phalanx body 1721 may include non-metal or may also include metal. For example, the material of the support member 1720 may be steel. The material of the third phalanx body 1721 may be plastic, rubber or aluminum. Exemplarily, the density of the material of the third phalanx body 1721 is less than the density of the material of the support member 1720. Such a setting is beneficial to reducing the weight of the third phalanx 172.

[0119] In some embodiments, such as Figure 7 shown, the dexterous hand finger 10 further includes a tactile sensor 22. The tactile sensor 22 is used to sense an external object contacted by the dexterous hand finger 10 and can also be used to sense the magnitude of the force when the dexterous hand 1 grasps an object in real time. Exemplarily, the tactile sensor 22 may be disposed at the fingertip of the dexterous hand finger 10. For example, the third phalanx 172 may be the fingertip of the dexterous hand finger 10. The tactile sensor 22 may be disposed on the third phalanx 172.

[0120] Exemplarily, as Figure 7 shown, the tactile sensor 22 may be wrapped by the third phalanx body 1721. The detection surface of the tactile sensor 22 may be inclined with respect to the extending direction of the third phalanx 172 and face the finger pad of the third phalanx 172.

[0121] Figure 13 The figure shows a schematic structural diagram of a first linear drive assembly provided by an embodiment of the present application.

[0122] In some embodiments, such as Figure 4 and Figure 13 shown, the first linear drive assembly 14 includes: a first drive portion 140, a first support base 141, a first rotary drive member, and a first lead screw 142. The first drive portion 140 is movably connected to the second end 131 of the first link assembly. The first support base 141 can be connected to the palm substrate 30. The first rotary drive member is disposed on the first support base 141.

[0123] The first lead screw 142 is connected to the first rotary drive member and can rotate about the rotation axis of the first lead screw 142 under the drive of the first rotary drive member. The rotation axis of the first lead screw 142 and the first straight line SL1 are both parallel to the extension direction of the first lead screw 142. The first drive portion 140 is sleeved on the first lead screw 142 and is threadedly connected to the first lead screw 142.

[0124] Specifically, the first rotary drive member drives the first lead screw 142 to rotate, so that the first lead screw 142 can move along the first straight line SL1.

[0125] Exemplarily, as Figure 13 shown, the first linear drive assembly 14 may further include one or more first guide rods 143. The first guide rods 143 are disposed on the first support base 141, and the extension direction of the first guide rods 143 is parallel to the first straight line SL1. The first drive portion 140 is sleeved on the first guide rods 143 and is slidably connected to the first guide rods 143. By guiding the movement of the first drive portion 140 through the first guide rods 143, the phenomena of shaking, offset, or inclination that may occur during the movement of the first drive portion 140 can be effectively avoided, and the accuracy of the movement of the first drive portion 140 is improved. Moreover, the first guide rods 143 can share the shear force of the first drive portion 140 on the first lead screw 142, so that the end of the first lead screw 142 away from the first rotary drive member does not need to be fixed. For example, a bearing does not need to be provided at the end of the first lead screw 142 to fix the first lead screw 142, reducing the length of the first linear drive assembly 14 along the extension direction of the first straight line SL1, reducing the space occupied by the first linear drive assembly 14 in the palm substrate 30, and being beneficial to reducing the size of the dexterous hand 1.

[0126] For the dexterous hand finger 10 provided in this embodiment, the structure of the first linear drive assembly 14 is simple, and it can realize continuous changes in the side swing angle and the rotation angle of the first phalanx, with high angle control accuracy, improving the control accuracy of the dexterous hand finger 10.

[0127] In some embodiments, such as Figure 4As shown, the second linear drive assembly 16 includes: a second drive portion 160, a second support base 161, a second rotary drive member, and a second lead screw 162. The second drive portion 160 is movably connected to the second end 151 of the second link assembly. The second support base 161 can be connected to the palm substrate 30. The second rotary drive member is disposed on the second support base 161.

[0128] The second lead screw 162 is connected to the second rotary drive member and can rotate about the rotation axis of the second lead screw 162 under the drive of the second rotary drive member. The rotation axis of the second lead screw 162 and the second straight line SL2 are both parallel to the extension direction of the second lead screw 162. The second drive portion 160 is sleeved on the second lead screw 162 and is threadedly connected to the second lead screw 162.

[0129] The structure, principle, and benefits of the second linear drive assembly 16 are similar to those of the first linear drive assembly 14 and will not be elaborated here. Exemplarily, the second linear drive assembly 16 may further include one or more second guide rods 163. The second guide rods 163 are disposed on the second support base 161, and the extension direction of the second guide rods 163 is parallel to the second straight line SL2. The second drive portion 160 is sleeved on the second guide rods 163 and is slidably connected to the second guide rods 163. The structure, principle, and benefits of the second guide rods 163 are similar to those of the first guide rods 143 and will not be elaborated here.

[0130] In some embodiments, as Figure 7 and Figure 13 shown, the third linear drive assembly 21 includes: a third drive portion 210, a third support base 211, a third rotary drive member, and a third lead screw 212. The third drive portion 210 is movably connected to the second end 201 of the third link assembly. The third support base 211 can be connected to the palm substrate 30. The third rotary drive member is disposed on the third support base 211.

[0131] The third lead screw 212 is connected to the third rotary drive member and can rotate about the rotation axis of the third lead screw 212 under the drive of the third rotary drive member. The rotation axis of the third lead screw 212 and the third straight line SL3 are both parallel to the extension direction of the third lead screw 212. The third drive portion 210 is sleeved on the third lead screw 212 and is threadedly connected to the third lead screw 212.

[0132] The structure, principle, and benefits of the third linear drive assembly 21 are similar to those of the first linear drive assembly 14, and will not be elaborated here. Exemplarily, the third linear drive assembly 21 may further include one or more third guide rods 213. The third guide rods 213 are disposed on the third support base 211, and the extending direction of the third guide rods 213 is parallel to the second straight line SL2. The third drive part 210 is sleeved on the third guide rods 213 and is slidably connected to the third guide rods 213. The structure, principle, and benefits of the third guide rods 213 are similar to those of the first guide rods 143, and will not be elaborated here.

[0133] In some embodiments, as Figure 13 shown, when the first linear drive assembly 14 includes the first support base 141, the first linear drive assembly 14 further includes: a first potential measuring member 144. The first potential measuring member 144 is disposed on the first support base 141. The shape of the first potential measuring member 144 includes a long strip, and the extending direction of the first potential measuring member 144 is parallel to the first straight line SL1. The first drive part 140 is sleeved on the first potential measuring member 144, and the first potential measuring member 144 is used to obtain the position information of the first drive part 140.

[0134] The acquisition of the position information of the first drive part 140 is achieved through the first potential measuring member 144, with a simple structure and low cost. Moreover, the extending direction of the first potential measuring member 144 is parallel to the extending direction of the first lead screw 142, and the first potential measuring member 144 can be disposed on the circumference of the first lead screw 142, so as to obtain the position information of the first drive part 140 while not increasing the length of the first linear drive assembly 14 along the extending direction of the first straight line SL1, which is beneficial to reducing the size of the dexterous hand 1.

[0135] Exemplarily, the first potential measuring member 144 may include a potentiometer.

[0136] In some embodiments, as Figure 4 shown, when the second linear drive assembly 16 includes the second support base 161, the second linear drive assembly 16 further includes: a second potential measuring member 164. The second potential measuring member 164 is disposed on the second support base 161. The shape of the second potential measuring member 164 includes a long strip, and the extending direction of the second potential measuring member 164 is parallel to the second straight line SL2. The second drive part 160 is sleeved on the second potential measuring member 164, and the second potential measuring member 164 is used to obtain the position information of the second drive part 160.

[0137] The structure, principle, and benefits of the second potential measuring member 164 are similar to those of the first potential measuring member 144, and will not be elaborated here.

[0138] In some embodiments, along the extension direction of the dexterous hand finger 10, the distance between the second axis L2 and the third axis L3, the distance between the third axis L3 and the ninth axis L9, and the distance from the ninth axis L9 to the end of the third phalanx 172 away from the second phalanx 171 can be set with reference to the lengths of the three phalanges of the human hand. Exemplarily, the distance between the second axis L2 and the third axis L3 can be 35 mm to 45 mm. For example, the distance between the second axis L2 and the third axis L3 can be 40 mm. Exemplarily, the distance between the third axis L3 and the ninth axis L9 can be 22 mm to 27 mm. For example, the distance between the third axis L3 and the ninth axis L9 can be 25.7 mm. Exemplarily, the distance from the ninth axis L9 to the end of the third phalanx 172 away from the second phalanx 171 can be 22 mm to 27 mm. For example, the distance from the ninth axis L9 to the end of the third phalanx 172 away from the second phalanx 171 can be 25 mm.

[0139] In some embodiments, the distance from the ninth axis L9 to the seventh axis L7 or the distance from the eighth axis to the third axis L3 is 5 to 6 times the distance from the third axis L3 to the seventh axis L7. The distance from the ninth axis L9 to the seventh axis L7 or the distance from the eighth axis to the third axis L3 is 5 to 6 times the distance from the ninth axis L9 to the eighth axis. Such a setting makes the coupled movement of the second phalanx 171 and the third phalanx 172 more similar to the movement of the human fingertip and the phalanx connected to the fingertip.

[0140] In some embodiments, as Figure 4 shown, in the case where the third linear drive assembly 21 includes a third support base 211, the third linear drive assembly 21 further includes: a third potential measuring member 214. The third potential measuring member 214 is disposed on the third support base 211. The shape of the third potential measuring member 214 includes a long strip shape, and the extension direction of the third potential measuring member 214 is parallel to the third straight line SL3. The third driving part 210 is sleeved on the third potential measuring member 214, and the third potential measuring member 214 is used to obtain the position information of the third driving part 210.

[0141] The structure, principle, and benefits of the third potential measuring member 214 are similar to those of the first potential measuring member 144, and will not be elaborated here.

[0142] In some embodiments, as Figure 4As shown, the first link assembly 13 includes a third link 132 and a fourth link 133. One end of the third link 132 is movably connected to the first connection portion 120, and the other end of the third link 132 is rotatably connected to one end of the fourth link 133 about the tenth axis L10. The other end of the fourth link 133 is rotatably connected to the first linear drive assembly 14 about the eleventh axis L11. The tenth axis L10 is perpendicular to the eleventh axis L11. The movable connection between the first link assembly 13 and the first linear drive assembly 14 is achieved through two links instead of a spherical bearing, which is convenient for machining, reduces the complexity of the finger 10 of the dexterous hand, and reduces the cost. Exemplarily, the eleventh axis L11 is parallel to the second axis L2.

[0143] The structures, working principles and technical effects of the second link assembly 15 and the third link assembly 20 are similar to those of the first link assembly 13, and will not be elaborated here.

[0144] An embodiment of the present application further provides a dexterous hand 1. The dexterous hand 1 includes at least one finger 10 of the dexterous hand mentioned in the above embodiment.

[0145] Since the dexterous hand 1 includes the finger 10 of the dexterous hand, the dexterous hand 1 has all the technical features and technical effects of the finger 10 of the dexterous hand, which will not be elaborated here.

[0146] Figure 14 The figure shows a schematic structural diagram of a robot provided by an embodiment of the present application. An embodiment of the present application further provides a robot 40. The robot 40 includes at least one dexterous hand 1 mentioned in the above embodiment.

[0147] Exemplarily, the robot 40 may include a robot body 41 and at least one dexterous hand 1 mentioned in the above embodiment. The dexterous hand 1 is arranged to be connected to the robot body 41. The robot body 41 may be the structure of the body part of a humanoid robot or the arm structure of an industrial robot, and the present application does not make specific limitations. Exemplarily, the robot 40 may include one or two dexterous hands 1.

[0148] Since the robot 40 includes the dexterous hand 1, the robot 40 has all the technical features and technical effects of the dexterous hand 1, which will not be elaborated here.

[0149] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that the connection, arrangement, and configuration must be carried out in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any way. Words such as "comprising", "including", "provided with", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The words "or" and "and" used herein refer to the phrase "and / or", and can be used interchangeably with it, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with it.

[0150] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0151] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0152] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A dexterous hand finger, characterized in that, Applied to a dexterous hand, the dexterous hand includes a palm substrate and at least one dexterous hand finger. The dexterous hand finger includes a back side and a palm side arranged oppositely, and the dexterous hand finger includes: A side-swing connecting piece, which can be rotatably connected to the palm substrate around a first axis, and the first axis is parallel to the direction from the palm side towards the back side; A first finger joint, which is rotatably connected to the side-swing connecting piece around a second axis, and the second axis is perpendicular to the first axis. The first finger joint includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion are located in the circumferential direction of the first axis; A first link assembly, the first end of the first link assembly is movably connected to the first connecting portion; A first linear driving assembly, which can be arranged on the palm substrate and is movably connected to the second end of the first link assembly, and is used for driving the second end of the first link assembly to move along a first straight line; A second link assembly, the first end of the second link assembly is movably connected to the second connecting portion; A second linear driving assembly, which can be arranged on the palm substrate and is movably connected to the second end of the second link assembly, and is used for driving the second end of the second link assembly to move along a second straight line; A finger joint assembly, which is rotatably connected to the first finger joint around a third axis, and the third axis is parallel to the second axis; A first connecting piece, which includes a third connecting portion, a fourth connecting portion and a fifth connecting portion connected together. The third connecting portion is located between the first connecting portion and the second connecting portion and is rotatably connected to the first finger joint around a fourth axis, and the fourth axis is parallel to the second axis. The first connecting portion and the second connecting portion are arranged oppositely along the fourth axis; A first link, the first end of the first link is rotatably connected to the fourth connecting portion around a fifth axis, and the second end of the first link is rotatably connected to the finger joint assembly around a sixth axis, and both the fifth axis and the sixth axis are parallel to the second axis; A third link assembly, the first end of the third link assembly is movably connected to the fifth connecting portion; A third linear driving assembly, which can be arranged on the palm substrate and is movably connected to the second end of the third link assembly, and is used for driving the second end of the third link assembly to move along a third straight line; Wherein, the third linear driving assembly is located on the side towards the back side of the first linear driving assembly and the second linear driving assembly; The third straight line can be parallel to the palm substrate. In a plane perpendicular to the second axis, the distance between the positive projection of the third straight line and the positive projection of the first straight line in the extending direction of the first axis gradually decreases along the direction of the third straight line towards the first finger joint. In a plane perpendicular to the second axis, the distance between the positive projection of the third straight line and the positive projection of the second straight line in the extending direction of the first axis gradually decreases along the direction of the third straight line towards the first finger joint.

2. The dexterous hand finger according to claim 1, wherein Driven by the first linear drive assembly and the second linear drive assembly, the second end of the first link assembly and the second end of the second link assembly move simultaneously in the direction of the first finger joint along the first straight line and the second straight line respectively, or move simultaneously in the direction away from the first finger joint, so that the first finger joint rotates around the second axis; Driven by the first linear drive assembly and the second linear drive assembly, the second end of the first link assembly moves in the direction of the first finger joint along the first straight line, and the second end of the second link assembly moves in the direction away from the first finger joint along the second straight line, or the second end of the first link assembly moves in the direction away from the first finger joint along the first straight line, and the second end of the second link assembly moves in the direction of the first finger joint along the second straight line, so that the first finger joint rotates around the first axis.

3. The dexterous hand finger according to claim 2, characterized in that, The first straight line is parallel to the second straight line, and the first straight line and the second straight line are arranged at intervals along the extension direction of the second axis.

4. The dexterous hand finger according to claim 1, characterized in that, The side swing connecting piece includes a sixth connecting portion, a seventh connecting portion and an eighth connecting portion connected in sequence. The sixth connecting portion and the eighth connecting portion are arranged opposite to each other along the extension direction of the second axis, and the seventh connecting portion is located on the side of the sixth connecting portion facing the back of the hand; The first finger joint has a first accommodation space and a first side and a second side arranged opposite to each other along the extension direction of the second axis. The sixth connecting portion and the eighth connecting portion are respectively rotatably connected to the inner walls of the first finger joint located on the first side and the second side around the second axis. The sixth connecting portion and the eighth connecting portion are located in the first accommodation space. An edge of the first finger joint facing the seventh connecting portion has a notch, and the seventh connecting portion can pass through the notch and be rotatably connected to the palm substrate around the first axis.

5. The dexterous hand finger according to claim 4, wherein The surface of the side swing connecting piece facing the notch includes an arc surface. The shape of the orthographic projection of the arc surface in a plane perpendicular to the second axis includes an arc, and the center of the arc is the orthographic projection of the second axis in a plane perpendicular to the second axis.

6. The dexterous hand finger according to claim 5, characterized in that, The side swing connecting piece further includes at least one first limiting portion protruding from the notch. The shape of the edge of the first limiting portion facing the notch is adapted to the shape of the edge of the notch facing the first limiting portion.

7. The dexterous hand finger according to claim 1, characterized in that, When the finger of the dexterous hand is extended, the fifth connecting portion is located on the side of the fourth axis facing the back of the hand; The first finger joint has a first accommodation space. The first finger joint has an opening on the side facing the palm side. The opening is communicated with the first accommodation space, and the fifth connecting portion extends into the first accommodation space from the opening.

8. The dexterous hand finger according to claim 7, characterized in that The first link includes a straight rod portion and a bent rod portion connected to each other. The straight rod portion is close to the first end of the first link, and the bent rod portion is close to the second end of the first link. The bent rod portion protrudes toward the palm side. When the phalanx assembly rotates toward the palm side relative to the first phalanx, at least a part of the bent rod portion is received into the first accommodation space through the opening.

9. The dexterous hand finger according to any one of claims 1 to 8, characterized in that The phalanx assembly includes: A second link, the first end of the second link is rotatably connected to the first phalanx around the third axis and is rotatably connected to the second end of the first link around the sixth axis; A second phalanx, rotatably connected to the first phalanx around the seventh axis, and the seventh axis is parallel to the second axis; A third phalanx, rotatably connected to the second end of the second link around the eighth axis and rotatably connected to the second phalanx around the ninth axis, and both the eighth axis and the ninth axis are parallel to the second axis; Wherein, in a plane perpendicular to the second axis, the connection line between the third axis and the eighth axis intersects the connection line between the seventh axis and the ninth axis.

10. The dexterous hand finger according to claim 9, characterized in that, The first phalanx includes: A first phalanx body, rotatably connected to the side swing connecting member around the second axis, rotatably connected to the second link around the third axis, rotatably connected to the second phalanx around the seventh axis, and rotatably connected to the third connecting portion around the fourth axis. The first phalanx body includes the first connecting portion and the second connecting portion; A second limiting portion, arranged on the outer surface of the first phalanx body and located on the back-of-hand side of the seventh axis; A third limiting portion, arranged on the outer surface of the first phalanx body and located on the palm side of the seventh axis. The second limiting portion and the third limiting portion are used to allow the second phalanx to rotate between a first position and a second position around the fourth axis.

11. The dexterous hand finger according to claim 9, wherein The first phalanx further includes: A first phalanx housing, sleeved on the first phalanx body, and the hardness of the material of the first phalanx housing is less than the hardness of the material of the first phalanx body; And / or The second phalanx includes: A second phalanx body, rotatably connected to the first phalanx around the seventh axis and rotatably connected to the third phalanx around the ninth axis; A second phalanx housing, sleeved on the second phalanx body, and the hardness of the material of the second phalanx housing is less than the hardness of the material of the second phalanx body.

12. The dexterous hand finger according to claim 9, characterized in that, The third phalanx includes: A support member, rotatably connected to the second end of the second link around the eighth axis and rotatably connected to the second phalanx around the ninth axis; A third phalanx body, connected to the support member and wrapping at least a part of the support member, and the strength of the material of the support member is greater than the strength of the material of the third phalanx body.

13. The dexterous hand finger according to any one of claims 1 to 8, wherein The first linear drive assembly includes: A first drive portion, movably connected to the second end of the first link assembly; The first support base, which can be connected to the palm substrate; The first rotary driving member, which is arranged on the first support base; The first lead screw, which is connected to the first rotary driving member and can rotate around the rotation axis of the first lead screw under the drive of the first rotary driving member. The rotation axis of the first lead screw and the first straight line are both parallel to the extension direction of the first lead screw. The first driving part is sleeved on the first lead screw and is screwed to the first lead screw; and / or The second linear driving assembly includes: The second driving part, which is movably connected to the second end of the second link assembly; The second support base, which can be connected to the palm substrate; The second rotary driving member, which is arranged on the second support base; The second lead screw, which is connected to the second rotary driving member and can rotate around the rotation axis of the second lead screw under the drive of the second rotary driving member. The rotation axis of the second lead screw and the second straight line are both parallel to the extension direction of the second lead screw. The second driving part is sleeved on the second lead screw and is screwed to the second lead screw; and / or The third linear driving assembly includes: The third driving part, which is movably connected to the second end of the third link assembly; The third support base, which can be connected to the palm substrate; The third rotary driving member, which is arranged on the third support base; The third lead screw, which is connected to the third rotary driving member and can rotate around the rotation axis of the third lead screw under the drive of the third rotary driving member. The rotation axis of the third lead screw and the third straight line are both parallel to the extension direction of the third lead screw. The third driving part is sleeved on the third lead screw and is screwed to the third lead screw.

14. The dexterous hand finger according to claim 13, wherein when the first linear driving assembly includes the first support base, the first linear driving assembly further includes: The first potential measuring member, which is arranged on the first support base. The shape of the first potential measuring member includes a long strip shape. The extension direction of the first potential measuring member is parallel to the first straight line. The first driving part is sleeved on the first potential measuring member. The first potential measuring member is used to obtain the position information of the first driving part; and / or when the second linear driving assembly includes the second support base, the second linear driving assembly further includes: The second potential measuring member, which is arranged on the second support base. The shape of the second potential measuring member includes a long strip shape. The extension direction of the second potential measuring member is parallel to the second straight line. The second driving part is sleeved on the second potential measuring member. The second potential measuring member is used to obtain the position information of the second driving part; and / or when the third linear driving assembly includes the third support base, the third linear driving assembly further includes: The third potential measuring member is disposed on the third support base. The shape of the third potential measuring member includes a long strip shape, and the extending direction of the third potential measuring member is parallel to the third straight line. The third driving portion is sleeved on the third potential measuring member, and the third potential measuring member is used to obtain the position information of the third driving portion.

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

16. A robot, characterized in that, Comprising: At least one dexterous hand according to claim 15.

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