Dexterous fingers, dexterous hands, and robots

Abstract

The present application relates to the field of robotics, and more particularly to a dexterous hand finger, a dexterous hand, and a robot, to solve the problem of the large size of the dexterous hand finger with three active degrees of freedom. The dexterous hand finger enables the first finger joint to have the function of sideways swinging and rotating toward the palm side or the back of the hand through a first linear drive assembly and a second linear drive assembly connected in parallel, and enables the finger joint assembly to have the function of rotating toward the palm side or the back of the hand through a third linear drive assembly. Since the third straight line can be parallel to the palm base plate, on a plane perpendicular to the second axis, the orthographic projection of the third straight line and the distance between the orthographic projection of the third straight line and the orthographic projection of the first straight line in the extension direction of the first axis gradually decrease along the direction of the third straight line toward the first finger joint, so that the circumferential size of the first finger joint away from the finger joint assembly is smaller, and the space occupied by the three linear drive assemblies in the palm is close to the shape of a human palm.

Description

Technical Field

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

[0002] In the field of robotics, dexterous hands have long attracted considerable attention as key components that mimic the functions of the human hand and enable precise manipulation. The flexibility and compactness of the fingers in dexterous hands are crucial for improving overall performance and expanding their application scenarios. To meet the requirements of complex tasks, the fingers of dexterous hands are designed with three active degrees of freedom.

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

[0004] In view of this, an embodiment of the present application provides a dexterous hand finger to solve the problem of the large size of the dexterous hand fingers 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, wherein the dexterous hand includes a palm substrate and at least one dexterous hand finger, wherein the dexterous hand finger includes a back-of-hand side and a palm side that are relatively arranged, and the dexterous hand finger includes: a side-swing connection piece 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 to the back-of-hand side; a first finger joint that is rotatably connected to the side-swing connection piece around a second axis, and the second axis is perpendicular to the first axis, and the first finger joint includes a first connection part and a second connection part, and the first connection part and the second connection part are located in the circumference of the first axis; a first connecting rod assembly, and the first connecting rod assembly's first connection part One end is movably connected to the first connecting part; the first linear drive component can be set on the palm base plate and movably connected to the second end of the first connecting rod component, for driving the second end of the first connecting rod component to move along the first straight line; the second connecting rod component, the first end of the second connecting rod component is movably connected to the second connecting part; the second linear drive component can be set on the palm base plate and movably connected to the second end of the second connecting rod component, for driving the second end of the second connecting rod component to move along the second straight line; the finger joint component is rotatably connected to the first finger joint around a third axis, and the third axis is parallel to the second axis; the first connecting member includes a third connecting part, a fourth connecting part, and a second connecting part connected to the first connecting member. The connecting part and the fifth connecting part, the third connecting part is located between the first connecting part and the second connecting part, and is rotatably connected to the first finger joint around the fourth axis, the fourth axis is parallel to the second axis, and the first connecting part and the second connecting part are arranged opposite to each other along the fourth axis; the first connecting rod, the first end of the first connecting rod is rotatably connected to the fourth connecting part around the fifth axis, the second end of the first connecting rod is rotatably connected to the finger joint assembly around the sixth axis, and the fifth axis and the sixth axis are both parallel to the second axis; the third connecting rod assembly, the first end of the third connecting rod assembly is movably connected to the fifth connecting part; the third linear drive assembly can be set on the palm base plate and connected to the third connecting rod assembly The second end is movably connected to drive the second end of the third connecting rod assembly to move along a third straight line; wherein the third straight line drive assembly is located on the side of the first straight line drive assembly and the second straight line drive assembly facing the back of the hand; the third straight line can be parallel to the palm base plate, and on a plane perpendicular to the second axis, the distance between the orthogonal projection of the third straight line and the orthogonal projection of the first straight line in the extension direction of the first axis gradually decreases along the third straight line toward the first knuckle, and on a plane perpendicular to the second axis, the distance between the orthogonal projection of the third straight line and the orthogonal projection of the second straight line in the extension direction of the first axis gradually decreases along the third straight line toward the first knuckle.

[0006] In certain implementations, 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 respectively move simultaneously along the first straight line and the second straight line toward the first finger joint or move simultaneously along 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 along the first straight line toward the first finger joint, and the second end of the second link assembly moves along the second straight line away from the first finger joint, or the second end of the first link assembly moves along the first straight line away from the first finger joint, and the second end of the second link assembly moves along the second straight line toward the first finger joint, so that the first finger joint 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 an extension direction of the second axis.

[0008] In some implementations, the side swing connection includes a sixth connection part, a seventh connection part, and an eighth connection part connected in sequence, the sixth connection part and the eighth connection part are arranged opposite to each other along the extension direction of the second axis, and the seventh connection part is located on the side of the sixth connection part facing the back of the hand; the first finger joint has a first accommodating space and a first side and a second side arranged opposite to each other along the extension direction of the second axis, the sixth connection part and the eighth connection part 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 connection part and the eighth connection part are located in the first accommodating space, and the edge of the first finger joint facing the seventh connection part has a notch, and the seventh connection part can pass through the notch and be rotatably connected to the palm base plate around the first axis.

[0009] In some implementations, the surface of the side swing connector facing the notch includes a curved surface, the shape of the orthographic projection of the curved surface on a plane perpendicular to the second axis includes an arc, and the center of the arc is the orthographic projection of the second axis on a plane perpendicular to the second axis.

[0010] In some implementations, the side swing connection also 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 fingers of the dexterous hand are extended, the fifth connecting portion is located on the side of the fourth axis facing the back of the hand; the first knuckle has a first accommodating space, and the side of the first knuckle facing the palm has an opening, which is connected to the first accommodating space, and the fifth connecting portion extends into the first accommodating space from the opening.

[0012] In some implementations, the first connecting rod includes a connected straight rod portion and a curved rod portion, the straight rod portion is close to the first end of the first connecting rod, the curved rod portion is close to the second end of the first connecting rod, and the curved rod portion protrudes toward the palm side. When the knuckle assembly rotates toward the palm side relative to the first knuckle, at least a portion of the curved rod portion is retracted into the first accommodating space by the opening.

[0013] In some implementations, the finger joint assembly includes: a second connecting rod, the first end of the second connecting rod is rotatably connected to the first finger joint around a third axis, and is rotatably connected to the second end of the first connecting rod around a sixth axis; a second finger joint is rotatably connected to the first finger joint around a seventh axis, and the seventh axis is parallel to the second axis; a third finger joint is rotatably connected to the second end of the second connecting rod around an eighth axis, and is rotatably connected to the second finger joint around a ninth axis, and the eighth axis and the ninth axis are both parallel to the second axis; wherein, on a plane perpendicular to the second axis, a line connecting the third axis and the eighth axis intersects a line connecting the seventh axis and the ninth axis.

[0014] In some implementations, the first phalanx includes: a first phalanx body, rotatably connected to the side swing connection member around the second axis, rotatably connected to the second connecting rod around the third axis, rotatably connected to the second phalanx around the seventh axis, and rotatably connected to the third connecting part around the fourth axis, the first phalanx body includes a first connecting part and a second connecting part; a second limiting part, provided on the outer surface of the first phalanx body and located on the side of the seventh axis facing the back of the hand; a third limiting part, provided on the outer surface of the first phalanx body and located on the side of the seventh axis facing the palm of the hand, the second limiting part and the third limiting part are used to allow the second phalanx to rotate around the fourth axis between the first position and the second position.

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

[0016] In some embodiments, the third finger joint includes: a support member, which is rotatably connected to the second end of the second connecting rod around an eighth axis and is rotatably connected to the second finger joint around a ninth axis; a third finger joint 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 finger joint body.

[0017] The cam is connected to the second end of the first link assembly, and the cam is connected to the first support base, and the cam is connected to the first support base, and the cam is connected to the first support base, and the cam is connected to the first support base, and the cam is connected to the first support base, and the cam is connected to the first support base, and the cam is connected to the second support base, and the cam is connected to the second support base, and the cam is connected to the second support base. The cam is connected to the driving member and can rotate around the rotation axis of the second screw rod under the drive of the second rotating driving member. The rotation axis of the second screw rod and the second straight line are parallel to the extension direction of the second screw rod. The second driving part is sleeved on the second screw rod and screwed to the second screw rod; and / or, the third linear drive assembly includes: a third driving part, movably connected to the second end of the third connecting rod assembly; a third support seat, which can be connected to the palm base plate; a third rotating driving member, which is arranged on the third support seat; the third screw rod, connected to the third rotating driving member and can rotate around the rotation axis of the third screw rod under the drive of the third rotating driving member. The rotation axis of the third screw rod and the third straight line are parallel to the extension direction of the third screw rod. The third driving part is sleeved on the third screw rod and screwed to the third screw rod.

[0018] In some implementations, when the first linear drive component includes a first support seat, the first linear drive component also includes: a first potential measuring member, which is arranged on the first support seat, the shape of the first potential measuring member includes a long strip, the extension direction of the first potential measuring member is parallel to the first straight line, the first driving part is sleeved on the first potential measuring member, and the first potential measuring member is used to obtain the position information of the first driving part; and / or, when the second linear drive component includes a second support seat, the second linear drive component also includes: a second potential measuring member, which is arranged on the second support seat, the shape of the second potential measuring member includes a long strip, the extension direction of the second potential measuring member is parallel to the second straight line, the second driving part is sleeved on the second potential measuring member, and the second potential measuring member is used to obtain the position information of the second driving part; and / or, when the third linear drive component includes a third support seat, the third linear drive component also includes: a third potential measuring member, which is arranged on the third support seat, the shape of the third potential measuring member includes a long strip, the extension direction of the third potential measuring member is parallel to the third straight line, the third driving part 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 part.

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

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

[0021] The dexterous hand fingers provided in this embodiment realize the rotation of the first finger joint around the first axis and the second axis through the parallel first linear drive assembly and the second linear drive assembly, so that the first finger joint can have the function of side swing and rotation toward the palm side or the back of the hand. The finger joint assembly is rotated around the third axis by the third linear drive assembly, so that the finger joint assembly has the function of rotation toward the palm side or the back of the hand, thereby providing the dexterous hand fingers with at least three active degrees of freedom. The structure of the linear drive assembly is relatively simple, and the structure for realizing the side swing and flexion and extension of the dexterous hand fingers does not require additional components such as gears and tendons. The structure is simple, rigid, stable and reliable, and is conducive to reducing the size of the dexterous hand fingers and the dexterous hand.

[0022] In addition, the third linear drive component is located on the side of the first linear drive component and the second linear drive component facing the back of the hand, and the third straight line can be parallel to the palm base plate. On the plane perpendicular to the second axis, the orthographic projection of the third straight line and the distance between the orthographic projection of the third straight line and the orthographic projection of the first straight line in the extension direction of the first axis gradually decrease along the third straight line toward the first knuckle, so that the end of the first linear drive component and the second linear drive component facing the knuckle component is closer to the back of the hand than the end of the first linear drive component and the second linear drive component away from the knuckle component, so that the circumferential size of the end of the first knuckle away from the knuckle component is smaller and closer to the shape of a human finger. At the same time, the space occupied by the first linear drive component, the second linear drive component and the third linear drive component in the palm is close to the shape of a human palm, which is conducive to fully utilizing the space in the palm part and improving the human-like degree of the palm of the dexterous hand. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0024] Figure 1 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present application.

[0025] Figure 2 Shown is a right side view of the finger and palm substrate of the dexterous hand provided by one embodiment of the present application.

[0026] Figure 3Shown is a rear view of the finger and palm substrate of the dexterous hand provided by one embodiment of the present application.

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

[0028] Figure 5 Shown is a front view of the fingers of a dexterous hand provided in one embodiment of the present application.

[0029] Figure 6 Shown is a right side view of the fingers of the dexterous hand provided in one embodiment of the present application.

[0030] Figure 7 The following is an example of an embodiment of the present application. Figure 5 Schematic cross-sectional view of the fingers of the middle dexterous hand along line AA.

[0031] Figure 8 Shown is a schematic structural diagram of the first finger joint and side swing connection provided in one embodiment of the present application.

[0032] Figure 9 Shown is a schematic structural diagram of a side swing connector provided in one embodiment of the present application.

[0033] Figure 10 The figure shows a schematic structural diagram of the dexterous hand fingers provided in one embodiment of the present application after removing the side swing connector and a first finger joint shell.

[0034] Figure 11 Shown is a schematic structural diagram of the third finger joint provided in one embodiment of the present application.

[0035] Figure 12 Shown is a schematic structural diagram of the third finger joint provided in another embodiment of the present application.

[0036] Figure 13 Shown is a schematic structural diagram of a first linear drive assembly provided in one embodiment of the present application.

[0037] Figure 14 Shown is a schematic structural diagram of a robot provided in one embodiment of the present application.

[0038] Reference numerals:

[0039] 1. Dexterous hand; 10. Dexterous hand fingers; 100. Back of hand; 101. Palm side; 11. Side swing connector; 110. Sixth connector; 111. Seventh connector; 112. Eighth connector; 113. Arc surface; 114. First limiting portion; 1140. First edge; 1411. Second edge; 115. Avoidance portion; 12. First knuckle; 120. First connecting portion; 121. Second connecting portion; 122. First accommodating space; 123. First side; 124. Second side; 125. Notch; 126. First knuckle housing; 127. First knuckle body; 1270. Opening; 128. Second limiting portion; 129. Third limiting portion; 1290. First knuckle Section housing; 1291, first housing; 1292, second housing; 13, first connecting rod assembly; 130, first end of first connecting rod assembly; 131, second end of first connecting rod assembly; 132, third connecting rod; 133, fourth connecting rod; 14, first linear drive assembly; 140, first drive unit; 141, first support seat; 142, first screw rod; 143, first guide rod; 144, first potential measuring member; 15, second connecting rod assembly; 150, first end of second connecting rod assembly; 151, second end of second connecting rod assembly; 16, second linear drive assembly; 160, second drive unit; 161, second support seat; 162, second screw rod; 163, second guide rod; 164. Second potential measuring member; 17. Knuckle assembly; 170. Second connecting rod; 1700. First end of second connecting rod; 1701. Second end of second connecting rod; 171. Second knuckle; 1710. Second knuckle body; 1711. Second knuckle housing; 172. Third knuckle; 1720. Support member; 1721. Third knuckle body; 18. First connecting member; 180. Third connecting portion; 181. Fourth connecting portion; 182. Fifth connecting portion; 19. First connecting rod; 190. First end of first connecting rod; 191. Second end of first connecting rod; 192. Straight rod portion; 193. Bent rod portion; 20. Third connecting rod assembly; 200. First end of third connecting rod assembly; 2 01. Second end of the third connecting rod assembly; 21. Third linear drive assembly; 210. Third drive unit; 211. Third support seat; 212. Third screw rod; 213. Third guide rod; 214. Third potential measuring device; 22. Tactile sensor; 30. Palm substrate; 300. Palm side; 301. Back of palm side; 40. Robot; 41. Robot body; L1. First axis; L2. Second axis; L3. Third axis; L4. Fourth axis; L5. Fifth axis; L6. Sixth axis; L7. Seventh axis; L9. Ninth axis; L10. Tenth axis; L11. Eleventh axis; SL1. First straight line; SL2. Second straight line; SL3. Third straight line. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] In the field of robotics, dexterous hands have long attracted considerable attention as key components that mimic the functions of the human hand and enable precise manipulation. The flexibility and compactness of the fingers in dexterous hands are crucial for improving overall performance and expanding their application scenarios. To meet the requirements of complex tasks, the fingers of dexterous hands are designed with three active degrees of freedom.

[0042] However, the driving structure for realizing the three active degrees of freedom of the dexterous hand fingers is complex and occupies a large space, resulting in the large size of the 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.

[0043] In response to 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 base plate and at least one dexterous hand finger. The dexterous hand finger includes a back of hand side and a palm side that are relatively arranged. The dexterous hand finger includes: a side swing connection piece that can be rotatably connected to the palm base plate around a first axis, and the first axis is parallel to the direction from the palm side to the back of the hand side; a first finger joint that is rotatably connected to the side swing connection piece around a second axis, and the second axis is perpendicular to the first axis. The first finger joint includes a first connection part and a second connection part, and the first connection part and the second connection part are located in the circumference of the first axis; a first connecting rod assembly, and the first connecting rod assembly The first end is movably connected to the first connecting part; the first linear drive component can be set on the palm base plate and movably connected to the second end of the first connecting rod component, for driving the second end of the first connecting rod component to move along the first straight line; the second connecting rod component, the first end of the second connecting rod component is movably connected to the second connecting part; the second linear drive component can be set on the palm base plate and movably connected to the second end of the second connecting rod component, for driving the second end of the second connecting rod component to move along the second straight line; the finger joint component is rotatably connected to the first finger joint around a third axis, and the third axis is parallel to the second axis; the first connecting member includes a third connecting part, a fourth connecting part, and a second connecting part connected to the first connecting member. The connecting part and the fifth connecting part, the third connecting part is located between the first connecting part and the second connecting part, and is rotatably connected to the first finger joint around the fourth axis, the fourth axis is parallel to the second axis, and the first connecting part and the second connecting part are arranged opposite to each other along the fourth axis; the first connecting rod, the first end of the first connecting rod is rotatably connected to the fourth connecting part around the fifth axis, the second end of the first connecting rod is rotatably connected to the finger joint assembly around the sixth axis, and the fifth axis and the sixth axis are both parallel to the second axis; the third connecting rod assembly, the first end of the third connecting rod assembly is movably connected to the fifth connecting part; the third linear drive assembly can be set on the palm base plate and connected to the third connecting rod assembly The second end is movably connected to drive the second end of the third connecting rod assembly to move along a third straight line; wherein the third straight line drive assembly is located on the side of the first straight line drive assembly and the second straight line drive assembly facing the back of the hand; the third straight line can be parallel to the palm base plate, and on a plane perpendicular to the second axis, the distance between the orthogonal projection of the third straight line and the orthogonal projection of the first straight line in the extension direction of the first axis gradually decreases along the third straight line toward the first knuckle, and on a plane perpendicular to the second axis, the distance between the orthogonal projection of the third straight line and the orthogonal projection of the second straight line in the extension direction of the first axis gradually decreases along the third straight line toward the first knuckle.

[0044] The dexterous hand fingers provided in this embodiment realize the rotation of the first finger joint around the first axis and the second axis through the parallel first linear drive assembly and the second linear drive assembly, so that the first finger joint can have the function of side swing and rotation toward the palm side or the back of the hand. The finger joint assembly is rotated around the third axis by the third linear drive assembly, so that the finger joint assembly has the function of rotation toward the palm side or the back of the hand, thereby providing the dexterous hand fingers with at least three active degrees of freedom. The structure of the linear drive assembly is relatively simple, and the structure for realizing the side swing and flexion and extension of the dexterous hand fingers does not require additional components such as gears and tendons. The structure is simple, rigid, stable and reliable, and is conducive to reducing the size of the dexterous hand fingers and the dexterous hand.

[0045] In addition, the third linear drive component is located on the side of the first linear drive component and the second linear drive component facing the back of the hand, and the third straight line can be parallel to the palm base plate. On the plane perpendicular to the second axis, the orthographic projection of the third straight line and the distance between the orthographic projection of the third straight line and the orthographic projection of the first straight line in the extension direction of the first axis gradually decrease along the third straight line toward the first knuckle, so that the end of the first linear drive component and the second linear drive component facing the knuckle component is closer to the back of the hand than the end of the first linear drive component and the second linear drive component away from the knuckle component, so that the circumferential size of the end of the first knuckle away from the knuckle component is smaller and closer to the shape of a human finger. At the same time, the space occupied by the first linear drive component, the second linear drive component and the third linear drive component in the palm is close to the shape of a human palm, which is conducive to fully utilizing the space in the palm part and improving the human-like degree of the palm of the dexterous hand.

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

[0047] Figure 1 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present application. Figure 2 Shown is a right side view of the finger and palm substrate of the dexterous hand provided by one embodiment of the present application. Figure 3 Shown is a rear view of the finger and palm substrate of the dexterous hand provided by one embodiment of the present application. Figure 4 The figure shows a schematic structural diagram of the dexterous hand finger provided by an embodiment of the present application after removing the first knuckle shell and the second knuckle shell. Figure 5 Shown is a front view of the fingers of a dexterous hand provided in one embodiment of the present application. Figure 6 Shown is a right side view of the fingers of the dexterous hand provided in one embodiment of the present application. Figure 7 The following is an example of an embodiment of the present application. Figure 5 Schematic cross-sectional view of the fingers of the middle dexterous hand along line AA. Figure 8 Shown is a schematic structural diagram of the first finger joint and side swing connection provided in one embodiment of the present application. Figure 9 Shown is a schematic structural diagram of a side swing connector provided in one embodiment of the present application. Figure 10 The figure shows a schematic structural diagram of the dexterous hand fingers provided in one embodiment of the present application after removing the side swing connector and a first finger joint shell.

[0048] like 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 base 30 and at least one dexterous hand finger 10. The dexterous hand finger 10 includes a back side 100 and a palm side 101 arranged opposite to each other.

[0049] The dexterous hand 1 can be a structure that imitates a human or animal hand. The dexterous hand 1 can include a palm and fingers. The dexterous hand fingers 10 can be used to form the fingers of the dexterous hand 1. The palm substrate 30 can be used to form the palm of the dexterous hand 1. For example, 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. For example, a dexterous hand 1 can include one, three, four or five dexterous hand fingers 10. The dexterous hand fingers 10 can be used to form the thumb, index finger, middle finger, ring finger or little finger of the dexterous hand 1.

[0050] The dexterous hand finger 10 includes: a side swing connection 11, a first finger joint 12, a first connecting rod assembly 13, a first linear drive assembly 14, a second connecting rod assembly 15, a second linear drive assembly 16, a finger joint assembly 17, a first connection 18, a first connecting rod 19, a third connecting rod assembly 20 and a third linear drive assembly 21.

[0051] like Figures 7 to 9 As shown, the side-swing connector 11 is rotatably connected to the palm base 30 about a first axis L1, which is parallel to the direction from the palm side 101 to the back side 100. For example, the first axis L1 can be perpendicular to the palm base 30. The first finger joint 12 is rotatably connected to the side-swing connector 11 about a second axis L2, which is perpendicular to the first axis L1. The first finger joint 12 includes a first connecting portion 120 and a second connecting portion 121, which are located circumferentially with the first axis L1.

[0052] Specifically, the knuckles can be structural units segmented along the length extension direction of the dexterous hand finger 10. The dexterous hand finger 10 can include a plurality of knuckles connected in sequence. The first knuckle 12 can be one of the plurality of knuckles included in the dexterous hand finger 10. Since the first connecting portion 120 and the second connecting portion 121 are located circumferentially of the first axis L1, the first connecting portion 120 or the second connecting portion 121 can be pushed around the first axis L1 to achieve the rotation of the first knuckle 12 relative to the palm base plate 30 around the first axis L1, thereby performing a side swing action. Exemplarily, the first connecting portion 120 and the second connecting portion 121 are symmetrically arranged about a plane passing through the first axis L1 and perpendicular to the second axis L2.

[0053] The first end 130 of the first connecting rod assembly is movably connected to the first connecting portion 120. The first linear drive assembly 14 can be disposed on the palm base plate 30 and movably connected to the second end 131 of the first connecting rod assembly, for driving the second end 131 of the first connecting rod assembly to move along the first straight line SL1. The first end 150 of the second connecting rod assembly is movably connected to the second connecting portion 121. The second linear drive assembly 16 can be disposed on the palm base plate 30 and movably connected to the second end 151 of the second connecting rod assembly, for driving the second end 151 of the second connecting rod assembly to move along the second straight line SL2.

[0054] For example, the movable connection mentioned in this application can be achieved by means of a universal joint, a spherical bearing or a fisheye bearing.

[0055] For example, the first linear drive component 14 can be controlled to drive the second end 131 of the first connecting rod component to move along the first straight line SL1 at a speed and a direction, and the second linear drive component 16 can be controlled to drive the second end 151 of the second connecting rod component to move along the second straight line SL2 at a speed and a direction, so that the first finger joint 12 can be rotated around the first axis L1 to achieve a side swing action, and the first finger joint 12 can be rotated around the second axis L2, so that the first finger joint 12 can be rotated relative to the palm base plate 30.

[0056] For example, the first connection portion 120 and the second connection portion 121 can be located in corresponding areas of the palm base plate 30, and the first linear drive assembly 14 can be located on the side of the first connection portion 120 and the second connection portion 121 facing the finger joint assembly 17. The second linear drive assembly 16 can be located on the side of the first connection portion 120 and the second connection portion 121 facing away from the finger joint assembly 17. 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 move simultaneously along the first straight line SL1 and the second straight line SL2 toward or away from the first finger joint 12, respectively, so that the first finger joint 12 rotates about the first axis L1. When the second end 131 of the first link assembly and the second end 151 of the second link assembly move at different speeds, the first finger joint 12 can further rotate about the second axis L2.

[0057] The knuckle assembly 17 is rotatably connected to the first knuckle 12 about a third axis L3, which is parallel to the second axis L2. The first connector 18 includes a third connecting portion 180, a fourth connecting portion 181, and a fifth connecting portion 182. 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 knuckle 12 about a fourth axis L4, which is parallel to the second axis L2. The first connecting portion 120 and the second connecting portion 121 are arranged opposite each other along the fourth axis L4.

[0058] The first end 190 of the first connecting rod is rotatably connected to the fourth connecting portion 181 about the fifth axis L5. The second end 191 of the first connecting rod is rotatably connected to the knuckle assembly 17 about the sixth axis L6. Both the fifth axis L5 and the sixth axis L6 are 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, for driving the second end 201 of the third connecting rod assembly to move along the third straight line SL3.

[0059] 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 is driven to rotate about the fourth axis L4. Simultaneously, 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 the active member. This allows the third linear drive assembly 21 to rotate the finger joint assembly 17 about the third axis L3, achieving independent rotation of the finger joint assembly 17 relative to the first finger joint 12, thus giving the dexterous hand finger 10 three active degrees of freedom.

[0060] like Figure 2 As shown, the third linear drive assembly 21 is located on the side of the first linear drive assembly 14 and the second linear drive assembly 16 that faces the dorsal side 100. The third straight line SL3 can be parallel to the palm base plate 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 direction of extension of the first axis L1 gradually decreases along the third straight line SL3 toward 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 direction of extension of the first axis L1 gradually decreases along the third straight line SL3 toward the first phalanx 12.

[0061] Since the first linear drive component 14, the second linear drive component 16 and the third linear drive component 21 are usually long strips and extend along the extension directions of the first straight line SL1, the second straight line SL2 and the third straight line SL3 respectively, on the plane perpendicular to the second axis L2, 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 extension direction of the first axis L1 gradually decrease along the direction of the third straight line SL3 toward the first knuckle 12, which is conducive to making the end of the first linear drive component 14 and the second linear drive component 16 facing the knuckle component 17 closer to the back of the hand 100 than the end of the first linear drive component 14 and the second linear drive component 16 away from the knuckle component 17.

[0062] In addition, the thickness of the side where the human palm is connected to the fingers is smaller than the thickness of the side connected to the wrist. The third linear drive component 21 close to the back of the hand 100 is arranged parallel to the palm substrate 30, and the first linear drive component 14 and the second linear drive component 16 are close to the palm side 101. The ends of the first linear drive component 14 and the second linear drive component 16 facing the knuckle component 17 are closer to the back of the hand 100 than the ends of the first linear drive component 14 and the second linear drive component 16 away from the knuckle component 17, so that the circumferential size of the end of the first knuckle 12 away from the knuckle component 17 is smaller and closer to the shape of a human finger. At the same time, the space occupied by the first linear drive component 14, the second linear drive component 16 and the third linear drive component 21 in the palm is close to the shape of a human palm, which is conducive to fully utilizing the space in the palm part and improving the human-like degree of the palm of the dexterous hand 1.

[0063] For example, the first linear drive assembly 14, the second linear drive assembly 16, and the third linear drive assembly 21 may all be in the shape of a long strip. The first linear drive assembly 14 may extend along the direction in which the first straight line SL1 extends, the second linear drive assembly 16 may extend along the direction in which the second straight line SL2 extends, and the third linear drive assembly 21 may extend along the direction in which the third straight line SL3 extends.

[0064] 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 in a straight line. Exemplarily, the first linear drive assembly 14 may include one or more combinations of the following structures: a lead screw linear module, a synchronous belt linear module, a linear motor module, a cylinder piston, and a telescopic rod. For example, the 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 those of the first linear drive assembly 14 and will not be further described here.

[0065] The dexterous finger 10 provided in this embodiment realizes the rotation of the first finger joint 12 around the first axis L1 and the second axis L2 through the parallel first linear drive component 14 and the second linear drive component 16, so that the first finger joint 12 can have the function of side swing and rotation toward the palm side 101 or the back of the hand 100. The third linear drive component 21 realizes the rotation of the finger joint component 17 around the third axis L3, so that the finger joint component 17 has the function of rotation toward the palm side 101 or the back of the hand 100, thereby providing the dexterous finger 10 with at least three active degrees of freedom. The structure of the linear drive component is relatively simple, and the structure for realizing the side swing and flexion and extension of the dexterous finger 10 does not require additional components such as gears and tendons. The structure is simple, rigid, stable and reliable, and is conducive to reducing the size of the dexterous finger 10 and the dexterous hand 1.

[0066] In addition, the third linear drive component 21 is located on the side of the first linear drive component 14 and the second linear drive component 16 facing the back of the hand 100, and the third straight line SL3 can be parallel to the palm base plate 30. On the plane perpendicular to the second axis L2, 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 extension direction of the first axis L1 gradually decrease along the direction of the third straight line SL3 toward the first knuckle 12, so that the end of the first linear drive component 14 and the second linear drive component 16 facing the knuckle component 17 is closer to the back of the hand 100 than the end of the first linear drive component 14 and the second linear drive component 16 away from the knuckle component 17, so that the circumferential size of the end of the first knuckle 12 away from the knuckle component 17 is smaller and closer to the shape of a human finger. At the same time, the space occupied by the first linear drive component 14, the second linear drive component 16 and the third linear drive component 21 in the palm is close to the shape of a human palm, which is conducive to fully utilizing the space in the palm part and improving the human-like degree of the palm of the dexterous hand 1.

[0067] In some embodiments, as Figures 2 to 7 As shown, under the drive of the first linear drive assembly 14 and the second linear drive assembly 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 finger joint 12 or move simultaneously away from the first finger joint 12, so that the first finger joint 12 rotates around the second axis L2.

[0068] For example, 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 toward 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. The first finger joint 12 will rotate around the second axis L2 to realize the rotation of the first finger joint 12 toward the palm side 101.

[0069] Driven by the first linear drive assembly 14 and the second linear drive assembly 16, the second end 131 of the first connecting rod assembly moves along the first straight line SL1 toward the first finger joint 12, and the second end 151 of the second connecting rod assembly moves along the second straight line SL2 away from the first finger joint 12, or the second end 131 of the first connecting rod assembly moves along the first straight line SL1 away from the first finger joint 12, and the second end 151 of the second connecting rod assembly moves along the second straight line SL2 toward the first finger joint 12, so that the first finger joint 12 rotates around the first axis L1.

[0070] For example, 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. 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.

[0071] Exemplarily, 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 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 finger joint 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, and the first finger joint 12 will rotate around the second axis L2 toward the palm side 101, and rotate clockwise around the first axis L1 to swing sideways.

[0072] 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 facing 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.

[0073] 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 along the first straight line SL1 and the second straight line SL2 relative to the first finger joint 12 through the first linear drive component 14 and the second linear drive component 16, so that the first finger joint 12 performs a side swing movement. It can also drive 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 opposite directions along the first straight line SL1 and the second straight line SL2 relative to the first finger joint 12, so that the first finger joint 12 rotates around the second axis L2. The control method for realizing the side swing and rotation of the first finger joint 12 around the second axis L2 is simple, which is conducive to improving the agility of the dexterous finger 10.

[0074] In some embodiments, as 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.

[0075] Since the first linear drive assembly 14 and the second linear drive assembly 16 are generally in the shape of elongated strips 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 the overall size of the two linear drive assemblies along the extension direction of the second axis L2 is relatively small, which helps to reduce the installation space required for the two linear drive assemblies as a whole, facilitates the arrangement of other components of the dexterous hand 1 on the palm base plate 30, and helps to reduce the size of the palm base plate 30 of the dexterous hand 1.

[0076] For example, 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.

[0077] In some embodiments, as Figure 8 and Figure 9 As shown, the side swing connector 11 includes a sixth connecting portion 110, a seventh connecting portion 111, and an eighth connecting portion 112, which are connected in sequence. The sixth connecting portion 110 and the eighth connecting portion 112 are arranged opposite each other 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 that faces the back of the hand 100.

[0078] The first phalanx 12 has a first receiving space 122 and a first side 123 and a second side 124 disposed opposite each other along the extension direction of the second axis L2. The sixth connecting portion 110 and the eighth connecting portion 112 are respectively connected to the inner walls of the first phalanx 12 located on the first side 123 and the second side 124, so as to be rotatable about the second axis L2. The sixth connecting portion 110 and the eighth connecting portion 112 are located in the first receiving space 122. The edge of the first phalanx 12 facing the seventh connecting portion 111 has a notch 125, through which the seventh connecting portion 111 can be rotatably connected to the palm base plate 30 about the first axis L1.

[0079] Specifically, if Figure 2As shown, the palm base plate 30 of the dexterous hand 1 may include a palm side 300 and a palm back side 301 disposed opposite each other. Because the seventh connecting portion 111 is located on the side of the sixth connecting portion 110 facing the palm back side 100, the dexterous hand fingers 10 can be rotatably connected to the palm back side 301 of the palm base plate 30 about the first axis L1 to achieve side-swing motion, rather than the palm side 300. This can prevent the side-swing connecting member 11 from colliding with components or objects on the palm side 300 when the dexterous hand 1 grasps an object, ensuring a smooth grasping process and facilitating the installation of other components on the palm side 300 of the dexterous hand 1.

[0080] At the same time, since the sixth connecting part 110 and the eighth connecting part 112 are rotatably connected to the inner walls of the first finger joint 12 located on the first side 123 and the second side 124 respectively, the sixth connecting part 110 and the eighth connecting part 112 can be accommodated in the first accommodating space 122 of the first finger joint 12, thereby increasing the integrity and aesthetics of the appearance of the dexterous hand finger 10, thereby improving the human-like degree of the dexterous hand finger 10 in appearance.

[0081] Furthermore, a notch 125 is provided on the edge of the first phalanx 12 facing the seventh connecting portion 111. This allows the seventh connecting portion 111 to be rotatably connected to the palm base plate 30 about the first axis L1 by passing through the notch 125. While achieving a rotatable connection between the seventh connecting portion 111 and the palm base plate 30, the exposed area of ​​the roll connector 11 is reduced, further enhancing the overall appearance and aesthetics of the dexterous finger 10. Furthermore, because the notch 125 is provided on the edge of the first phalanx 12 facing the seventh connecting portion 111, the roll connector 11 does not interfere with the first phalanx 12's rotation about the second axis L2, allowing the first phalanx 12 to rotate smoothly about the second axis L2.

[0082] Exemplarily, the seventh connection portion 111 is rotatably connected to the palm base plate 30 via a bearing. For example, the seventh connection portion 111 is connected to the inner ring of the bearing, and the palm base plate 30 is connected to the outer ring of the bearing.

[0083] For example, Figures 5 to 7 As shown, the first finger joint 12 includes two first finger joint housings 126 arranged opposite each other along the extension direction of the second axis L2. One first finger joint housing 126 is located on the first side 123, and the other first finger joint housing 126 is located on the second side 124. The two first finger joint housings 126 are fastened together to form a first receiving space 122. The sixth connecting portion 110 is rotatably connected to one of the first finger joint housings 126 about the second axis L2, and the eighth connecting portion 112 is rotatably connected to the other first finger joint housing 126 about the second axis L2.

[0084] In some embodiments, as Figures 7 to 9As shown, the surface of the side swing connection member 11 facing the notch 125 includes a curved surface 113, and the shape of the orthographic projection of the curved surface 113 on a plane perpendicular to the second axis L2 includes an arc, and the center of the arc is the orthographic projection of the second axis L2 on a plane perpendicular to the second axis L2.

[0085] When the first phalanx 12 rotates about the second axis L2 toward the palm side 101, the curved surface 113 becomes exposed and obscures the area between the notch 125 and the seventh connecting portion 111. This prevents the formation of a hollow area between the notch 125 and the seventh connecting portion 111, preventing the first phalanx 12 from being pinched by external objects (such as the user's hand) when rotating about the second axis L2 toward the back of the hand 100, thereby improving the user experience. Furthermore, the provision of the curved surface 113 prevents the structure within the first accommodating space 122 from being exposed, thereby enhancing the aesthetics and consistency of the appearance of the dexterous finger 10.

[0086] For example, Figure 9 As shown, the arc surface 113 is connected to the seventh connection portion 111 , and is connected to both the sixth connection portion 110 and the eighth connection portion 112 .

[0087] In some embodiments, as Figure 8 and Figure 9 As shown, the side swing connection member 11 also includes at least one first limiting portion 114, which protrudes from the notch 125, and the edge shape 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.

[0088] Because the first stopper 114 protrudes from the notch 125, the shape of the edge of the first stopper 114 facing the notch 125 matches the shape of the edge of the notch 125 facing the first stopper 114. This allows the first stopper 114 to limit the rotational limit of the first phalanx 12, thereby mechanically limiting the first phalanx 12 and improving the safety of the dexterous hand finger 10. Furthermore, during the assembly process of the dexterous hand finger 10, the first stopper 114 allows for quick identification of the installation position of the first phalanx 12, improving installation efficiency.

[0089] For example, Figure 8 and Figure 9As shown, the side-swing connector 11 includes two first stoppers 114, respectively disposed on the first side 123 and the second side of the seventh connecting portion 111. For example, one first stopper 114 can be disposed on the first side 123 of the seventh connecting portion 111 and the first side 123 of the sixth connecting portion 110, protruding from the notch 125. The first stopper 114 has a first edge 1140 on the side facing the knuckle assembly 17. The first edge 1140 lies on a plane parallel to both the first axis L1 and the second axis L2. The first stopper 114 has a second edge 1411 on the side facing the palm side 101. The second edge 1411 lies on a plane perpendicular to the first axis L1. The notch 125 has a third edge and a fourth edge connected to each other. The third edge has the same shape as the first edge 1140, and the fourth edge has the same shape as the second edge 1411. The edge shape of the first limiting portion 114 toward the notch 125 matches the edge shape of the notch 125 toward the first limiting portion 114. By providing the first edge 1140 and the second edge 1411, the first phalanx 12 is positioned bilaterally on the first side 123 and the back of the hand 100.

[0090] Exemplarily, the first edge 1140 is smoothly connected to the second edge 1411. The third edge is smoothly connected to the fourth edge. Exemplarily, the two first limiting portions 114 are symmetrically arranged about a plane passing through the first axis L1 and perpendicular to the second axis L2.

[0091] In some embodiments, as Figure 4 、 Figure 7 and Figure 10 As 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 100. The first phalanx 12 has a first accommodating space 122. The side of the first phalanx 12 facing the palm 101 has an opening 1270, which communicates with the first accommodating space 122. The fifth connecting portion 182 extends from the opening 1270 into the first accommodating space 122.

[0092] Because when the dexterous hand finger 10 is extended, the fifth connecting part 182 is located on the side of the fourth axis L4 facing the back of the hand 100, and the fifth connecting part 182 can extend into the first accommodating space 122 through the opening 1270, so that the third connecting rod assembly 20 rotatably connected to the fifth connecting part 182 can also be located in the first accommodating space 122, so that the third linear drive assembly 21 connected to the third connecting rod assembly 20 can be set closer to the back of the palm 301, making the structure of the dexterous hand finger 10 and the dexterous hand 1 more compact, which is conducive to reducing the size of the dexterous hand finger 10 and the palm of the dexterous hand 1.

[0093] For example, Figure 7 and Figure 9 As shown, the two first finger joint housings 126 are buckled together to form the first accommodating space 122 and the opening 1270. For example, the side of the side swing connector 11 facing the opening 1270 is provided with an escape portion 115. The escape portion 115 escapes the fifth connecting portion 182 and the third connecting rod assembly 20.

[0094] For example, Figure 7 and Figure 9 As shown, when the finger 10 of the dexterous hand is extended, the first end 190 of the first connecting rod and the fourth connecting portion 181 extend into the first accommodating space 122 through the opening 1270. For example, when the finger 10 of the dexterous hand is extended, at least a portion of the orthographic projection of the first connecting rod 19 on the back of the hand 100 is located within the orthographic projection of the opening 1270 on the back of the hand 100.

[0095] In some embodiments, as Figure 4 and Figure 7 As shown, the first connecting rod 19 includes a straight rod portion 192 and a curved rod portion 193. The straight rod portion 192 is located near the first end 190 of the first connecting rod, and the curved rod portion 193 is located near the second end 191 of the first connecting rod. The curved rod portion 193 protrudes toward the palm side 101. When the knuckle assembly 17 rotates relative to the first knuckle 12 toward the palm side 101, at least a portion of the curved rod portion 193 is received by the opening 1270 into the first receiving space 122.

[0096] Since the bent rod portion 193 protrudes toward the palm side 101, the bent rod portion 193 can avoid the components in the first accommodating space 122, thereby preventing the first connecting rod 19 from interfering with the components in the first accommodating space 122 when the knuckle assembly 17 rotates toward the palm side 101 relative to the first knuckle 12.

[0097] Furthermore, because the curved rod portion 193 is located near the second end 191 of the first connecting rod, when the knuckle assembly 17 rotates relative to the first knuckle 12 toward the palm side 101, at least a portion of the curved rod portion 193 is retracted into the first accommodating space 122 through the opening 1270, thereby providing more space on the palm side 101 of the dexterous hand finger 10 for grasping objects. Furthermore, because the portion near the first end 190 of the first connecting rod is a straight rod portion 192, when the knuckle assembly 17 rotates relative to the first knuckle 12 toward the palm side 101, the first connecting rod 19 does not protrude excessively toward the palm side 101, further increasing the space on the palm side 101 for grasping objects.

[0098] For example, Figure 4 As shown, the curved rod portion 193 has a wiring opening, which passes through the curved rod portion 193 along the palm side 101 toward the back side 100, so as to arrange the wiring of the fingers 10 of the dexterous hand.

[0099] In some embodiments, as Figures 4 to 7 As shown, the knuckle assembly 17 includes a second connecting rod 170, a second knuckle 171, and a third knuckle 172. The first end 1700 of the second connecting rod 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 connecting rod about a sixth axis L6. The second knuckle 171 is rotatably connected to the first knuckle 12 about a seventh axis L7, which is parallel to the second axis L2. The third knuckle 172 is rotatably connected to the second end 1701 of the second connecting rod about an eighth axis, and is rotatably connected to the second knuckle 171 about a ninth axis L9, which are both 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.

[0100] Specifically, if Figure 7 As shown, on a plane perpendicular to the second axis L2, the projections of the third axis L3, the seventh axis L7, the eighth axis L9, and the ninth axis L9 are points B, C, D, and E, respectively. The first joint 12, the second connecting rod 170, the second joint 171, and the third joint 172 form a four-bar linkage. In this four-bar linkage, the first joint 12 functions as the frame, the second joint 171 and the second connecting rod 170 function as the connecting rod, the third joint 172 functions as the connecting rod, and the second connecting rod 170 functions as the active member.

[0101] In some application scenarios, such as Figure 7 and Figure 10 As shown, the second end 191 of the first connecting rod drives the first end 1700 of the second connecting rod to rotate around the third axis L3 relative to the first finger joint 12 toward the palm side 101, and the second connecting rod 170 drives the coupled second finger joint 171 and the third finger joint 172 to rotate toward the palm side 101, thereby realizing the bending of the second finger joint 171 and the third finger joint 172 toward the palm side 101.

[0102] For example, the second connecting rod 170 can be a straight rod, a bent rod, or an arcuate rod. The specific shape and number of the second connecting rod 170 can be set according to actual needs and are not specifically limited in this embodiment. For example, the third knuckle 172 can serve as the fingertip of the dexterous hand finger 10.

[0103] The dexterous hand finger 10 provided in this embodiment also includes a second connecting rod 170, a second knuckle 171 and a third knuckle 172. The first knuckle 12, the second knuckle 171 and the third knuckle 172 are rotatably connected in sequence, so that the dexterous hand finger 10 has at least three knuckles to complete more complex tasks. In addition, the first knuckle 12, the second connecting rod 170, the second knuckle 171 and the third knuckle 172 form a four-bar linkage mechanism, which realizes the coupling of the movement of the second knuckle 171 and the third knuckle 172. Under the drive of the third linear drive component 21, the second knuckle 171 and the third knuckle 172 are bent toward the palm side 101 as a whole. The structure is simple, rigid, stable and reliable. In addition, the fingertips of human fingers usually move in coupling with the knuckles adjacent to the fingertips and are difficult to move independently, making the movements of the dexterous hand finger 10 more anthropomorphic.

[0104] In some embodiments, as Figure 4 and Figure 6 As shown, the first phalanx 12 includes a first phalanx body 127, a second stopper 128, and a third stopper 129. The first phalanx body 127 is rotatably connected to the rollover connector 11 about the second axis L2, rotatably connected to the second connecting rod 170 about the third axis L3, rotatably connected to the second phalanx 171 about the seventh axis L7, and rotatably connected to the third connecting portion 180 about the fourth axis L4. The first phalanx body 127 includes a first connecting portion 120 and a second connecting portion 121.

[0105] The second stopper 128 is disposed on the outer surface of the first phalanx body 127 and is located on the side of the seventh axis L7 facing the back of the hand 100. The third stopper 129 is disposed on the outer surface of the first phalanx body 127 and is located on the side of the seventh axis L7 facing the palm side 101. The second stopper 128 and the third stopper 129 are used to allow the second phalanx 171 to rotate about the fourth axis L4 between a first position and a second position.

[0106] Since the second limiting portion 128 and the third limiting portion 129 are both arranged on the outer surface of the first phalanx 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 rotation angle 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 rotation angle 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, thereby improving the safety of the dexterous hand fingers 10.

[0107] Illustratively, the first position may be the position where the second phalanx 171 is rotated to its maximum angle toward the back of the hand 100. The second position may be the position where the second phalanx 171 is rotated to its maximum angle toward the palm of the hand 101. Illustratively, the second stopper 128 and the third stopper 129 are both located at the end of the first phalanx body 127 facing the second phalanx 171. Illustratively, the second stopper 128 and the third stopper 129 may both be shaped like a boss.

[0108] Illustratively, the first knuckle body 127 includes two first knuckle housings 126 arranged opposite each other and interlocked along the extension direction of the second axis L2. Each of the two first knuckle housings 126 is rotatably connected to the roll link 11 about the second axis L2, rotatably connected to the second connecting rod 170 about the third axis L3, rotatably connected to the second knuckle 171 about the seventh axis L7, and rotatably connected to the third connecting portion 180 about the fourth axis L4. The two first knuckle housings 126 respectively include a first connecting portion 120 and a second connecting portion 121. Providing two first knuckle housings 126 to form the first knuckle body 127 facilitates assembly of the first knuckle 12.

[0109] In some embodiments, as Figure 1 and Figure 2 As shown, the first phalanx 12 further includes a first phalanx shell 1290. The first phalanx shell 1290 is sleeved on the first phalanx body 127. The hardness of the material of the first phalanx shell 1290 is less than the hardness of the material of the first phalanx body 127.

[0110] By arranging the first phalanx shell 1290 on the outside of the first phalanx body 127, and the hardness of the material of the first phalanx shell 1290 is less than the hardness of the material of the first phalanx body 127, the first phalanx shell 1290 can enhance the tactile sensation when the user touches the dexterous hand finger 10, thereby enhancing the user experience.

[0111] For example, the material of the first phalanx body 127 may include plastic, and the material of the first phalanx shell 1290 may include rubber or silicone.

[0112] For example, Figure 2As shown, the first phalanx shell 1290 may include a first shell 1291 and a second shell 1292 arranged opposite each other in a direction from the palm side 101 to the back side 100. The first shell 1291 is located on the palm side 101, and the second shell 1292 is located on the back side 100. The first shell 1291 and the second shell 1292 are snapped together to form the first phalanx shell 1290. Exemplarily, the first shell 1291 may include a rubber membrane layer and a skeleton wrapped in the rubber membrane layer. The hardness of the skeleton material is greater than the hardness of the rubber, so as to support the rubber membrane layer and facilitate the dexterous hand fingers 10 to apply force to grasp objects. Exemplarily, the first shell 1291 may be snap-fitted to the first phalanx body 127. Exemplarily, the material of the second shell 1292 may include thermoplastic polyurethane rubber. Exemplarily, the second shell 1292 may be bonded to the first phalanx body 127.

[0113] In some embodiments, as Figure 1 and Figure 2 As shown, the second knuckle 171 includes a second knuckle body 1710 and a second knuckle housing 1711. The second knuckle body 1710 is rotatably connected to the first knuckle 12 about the seventh axis L7, and is rotatably connected to the third knuckle 172 about the ninth axis L9. The second knuckle housing 1711 is sleeved onto the second knuckle body 1710. The hardness of the material of the second knuckle housing 1711 is less than that of the material of the second knuckle body 1710.

[0114] The material of the second phalanx body 1710 is similar to that of the first phalanx body 127. The material, structure and technical effects of the second phalanx shell 1711 are similar to those of the first phalanx shell 1290 and are not described in detail here.

[0115] For example, the first phalanx 12 includes a first phalanx housing 1290, and the second phalanx 171 includes a 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. Because the materials of the first phalanx housing 1290 and the second phalanx housing 1711 are made of relatively low hardness, objects (such as a user's hand) that are pinched by the gap between the edges of the first phalanx housing 1290 and the second phalanx housing 1711 are less likely to be damaged or less painful, thereby improving the safety of the dexterous finger 10 and enhancing the user experience.

[0116] Figure 11 Shown is a schematic structural diagram of the third finger joint provided in one embodiment of the present application. Figure 12 Shown is a schematic structural diagram of the third finger joint provided in another embodiment of the present application.

[0117] In some embodiments, as Figure 11 and Figure 12 As shown, the third knuckle 172 includes a support member 1720 and a third knuckle body 1721. The support member 1720 is rotatably connected to the second end 1701 of the second connecting rod about the eighth axis, and is rotatably connected to the second knuckle 171 about the ninth axis L9. The third knuckle body 1721 is connected to the support member 1720 and encases at least a portion of the support member 1720. The material of the support member 1720 is stronger than the material of the third knuckle body 1721.

[0118] Because third knuckle body 1721 is connected to support member 1720 and wraps around at least a portion of support member 1720, the material strength of support member 1720 is greater than that of third knuckle body 1721. This allows support member 1720 to support third knuckle body 1721, thereby increasing the load capacity of third knuckle 172. Furthermore, because support member 1720 is rotatably connected to second end 1701 of the second connecting rod about the eighth axis, and rotatably connected to second knuckle 171 about the ninth axis L9, support member 1720 can bear more of the load of third knuckle 172, further increasing the load capacity of third knuckle 172.

[0119] For example, the material of support member 1720 may include metal. The material of third knuckle body 1721 may include non-metal or metal. For example, support member 1720 may be made of steel. The material of third knuckle body 1721 may be made of plastic, rubber, or aluminum. For example, the density of the material of third knuckle body 1721 is lower than the density of the material of support member 1720. This configuration helps reduce the weight of third knuckle 172.

[0120] In some embodiments, as Figure 7 As shown, the dexterous hand finger 10 also includes a tactile sensor 22. The tactile sensor 22 is used to sense external objects contacted by the dexterous hand finger 10 and can also be used to sense in real time the strength of the dexterous hand 1 when grasping an object. For example, the tactile sensor 22 can be located at the fingertip of the dexterous hand finger 10. For example, the third knuckle 172 can be the fingertip of the dexterous hand finger 10. The tactile sensor 22 can be located at the third knuckle 172.

[0121] For example, Figure 7 As shown, the touch sensor 22 can be wrapped by the third knuckle body 1721. The detection surface of the touch sensor 22 can be tilted relative to the extension direction of the third knuckle 172 and face the fingertips of the third knuckle 172.

[0122] Figure 13 Shown is a schematic structural diagram of a first linear drive assembly provided in one embodiment of the present application.

[0123] In some embodiments, as Figure 4 and Figure 13 As shown, the first linear drive assembly 14 includes a first drive unit 140, a first support base 141, a first rotary drive member, and a first screw rod 142. The first drive unit 140 is movably connected to the second end 131 of the first connecting rod assembly. The first support base 141 is capable of connecting to the palm base 30. The first rotary drive member is disposed on the first support base 141.

[0124] The first screw rod 142 is connected to the first rotary drive member and is driven by the first rotary drive member to rotate about the rotation axis of the first screw rod 142. The rotation axis of the first screw rod 142 and the first straight line SL1 are parallel to the extension direction of the first screw rod 142. The first driving unit 140 is sleeved on the first screw rod 142 and is threadedly engaged with the first screw rod 142.

[0125] Specifically, the first rotary driving member drives the first screw rod 142 to rotate, so that the first screw rod 142 can move along the first straight line SL1.

[0126] For example, Figure 13 As 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 seat 141, and the extension direction of the first guide rods 143 is parallel to the first straight line SL1. The first drive unit 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 unit 140 through the first guide rods 143, it is possible to effectively avoid the shaking, offset or tilting of the first drive unit 140 during movement, thereby improving the accuracy of the movement of the first drive unit 140. In addition, the first guide rods 143 can share the shear force of the first drive unit 140 on the first screw rod 142, so that the end of the first screw rod 142 away from the first rotary drive member does not need to be fixed. For example, it is not necessary to provide a bearing at the end of the first screw rod 142 to fix the first screw rod 142. This reduces the length of the first linear drive assembly 14 along the extension direction of the first straight line SL1 and reduces the space occupied by the first linear drive assembly 14 in the palm base plate 30, which is conducive to reducing the size of the dexterous hand 1.

[0127] The dexterous hand finger 10 provided in this embodiment has a simple structure of the first linear drive component 14, which can achieve continuous changes in the lateral swing angle and rotation angle of the first finger joint, with high angle control accuracy, thereby improving the control accuracy of the dexterous hand finger 10.

[0128] In some embodiments, as Figure 4As shown, the second linear drive assembly 16 includes a second drive unit 160, a second support base 161, a second rotary drive member, and a second screw rod 162. The second drive unit 160 is movably connected to the second end 151 of the second connecting rod assembly. The second support base 161 can be connected to the palm base 30. The second rotary drive member is disposed on the second support base 161.

[0129] The second screw rod 162 is connected to the second rotary drive member and is driven by the second rotary drive member to rotate about the rotation axis of the second screw rod 162. The rotation axis of the second screw rod 162 and the second straight line SL2 are both parallel to the extension direction of the second screw rod 162. The second drive unit 160 is sleeved on the second screw rod 162 and is threadedly connected to the second screw rod 162.

[0130] 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 described in detail here. For example, the second linear drive assembly 16 may further include one or more second guide rods 163. The second guide rod 163 is provided on the second support seat 161, and the extension direction of the second guide rod 163 is parallel to the second straight line SL2. The second drive unit 160 is sleeved on the second guide rod 163 and is slidably connected to the second guide rod 163. The structure, principle and benefits of the second guide rod 163 are similar to those of the first guide rod 143 and will not be described in detail here.

[0131] In some embodiments, as Figure 7 and Figure 13 As shown, the third linear drive assembly 21 includes a third drive unit 210, a third support base 211, a third rotary drive member, and a third screw rod 212. The third drive unit 210 is movably connected to the second end 201 of the third connecting rod assembly. The third support base 211 is capable of connecting to the palm base 30. The third rotary drive member is mounted on the third support base 211.

[0132] The third screw rod 212 is connected to the third rotary drive member and is driven by the third rotary drive member to rotate about the rotation axis of the third screw rod 212. The rotation axis of the third screw rod 212 and the third straight line SL3 are both parallel to the extension direction of the third screw rod 212. The third driving unit 210 is sleeved on the third screw rod 212 and is threadedly engaged with the third screw rod 212.

[0133] 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 described in detail here. For example, the third linear drive assembly 21 may further include one or more third guide rods 213. The third guide rod 213 is disposed on the third support seat 211, and the extension direction of the third guide rod 213 is parallel to the second straight line SL2. The third drive unit 210 is sleeved on the third guide rod 213 and is slidably connected to the third guide rod 213. The structure, principle, and benefits of the third guide rod 213 are similar to those of the first guide rod 143 and will not be described in detail here.

[0134] In some embodiments, as Figure 13 As shown, when the first linear drive assembly 14 includes a first support base 141, the first linear drive assembly 14 also includes a first potential measuring element 144. The first potential measuring element 144 is disposed on the first support base 141. The first potential measuring element 144 is in the shape of an elongated strip, extending parallel to the first straight line SL1. The first drive unit 140 is mounted on the first potential measuring element 144, which is used to obtain position information of the first drive unit 140.

[0135] Acquiring position information of the first drive unit 140 through the first potential measuring element 144 is simple in structure and low in cost. Furthermore, the extension direction of the first potential measuring element 144 is parallel to the extension direction of the first lead screw 142 and can be disposed circumferentially of the first lead screw 142. This allows acquisition of position information of the first drive unit 140 without increasing the length of the first linear drive assembly 14 along the extension direction of the first straight line SL1, thereby facilitating a reduction in the size of the dexterous hand 1.

[0136] For example, the first potential measuring component 144 may include a potentiometer.

[0137] In some embodiments, as Figure 4 As shown, when the second linear drive assembly 16 includes a second support base 161, the second linear drive assembly 16 also includes a second potential measuring element 164. The second potential measuring element 164 is disposed on the second support base 161. The second potential measuring element 164 is in the shape of an elongated strip, extending parallel to the second straight line SL2. The second drive unit 160 is mounted on the second potential measuring element 164, which is used to obtain position information of the second drive unit 160.

[0138] The structure, principle and benefits of the second potential measuring element 164 are similar to those of the first potential measuring element 144 and are not described in detail here.

[0139] 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 knuckle 172 away from the second knuckle 171 can be set with reference to the length of three knuckles of a human hand. For example, 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. For example, 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. For example, the distance between the ninth axis L9 and the end of the third knuckle 172 away from the second knuckle 171 can be 22 mm to 27 mm. For example, the distance between the ninth axis L9 and the end of the third knuckle 172 away from the second knuckle 171 can be 25 mm.

[0140] In some embodiments, the distance between the ninth axis L9 and the seventh axis L7, or the distance between the eighth axis and the third axis L3, is 5 to 6 times the distance between the third axis L3 and the seventh axis L7. The distance between the ninth axis L9 and the seventh axis L7, or the distance between the eighth axis and the third axis L3, is 5 to 6 times the distance between the ninth axis L9 and the eighth axis. This arrangement makes the coupled motion of the second and third knuckles 171 and 172 more similar to the motion of a human fingertip and the knuckles connected to the fingertip.

[0141] In some embodiments, as Figure 4 As shown, when the third linear drive assembly 21 includes a third support base 211, the third linear drive assembly 21 also includes a third potential measuring element 214. The third potential measuring element 214 is disposed on the third support base 211. The third potential measuring element 214 is in the shape of an elongated strip, extending parallel to the third straight line SL3. The third drive unit 210 is mounted on the third potential measuring element 214, which is used to obtain position information of the third drive unit 210.

[0142] The structure, principle and benefits of the third potential measuring element 214 are similar to those of the first potential measuring element 144 and are not described in detail here.

[0143] In some embodiments, as Figure 4As shown, the first connecting rod assembly 13 includes a third connecting rod 132 and a fourth connecting rod 133. One end of the third connecting rod 132 is movably connected to the first connecting portion 120, and the other end of the third connecting rod 132 is rotatably connected to one end of the fourth connecting rod 133 around the tenth axis L10. The other end of the fourth connecting rod 133 is rotatably connected to the first linear drive assembly 14 around the eleventh axis L11. The tenth axis L10 is perpendicular to the eleventh axis L11. The movable connection between the first connecting rod assembly 13 and the first linear drive assembly 14 is achieved through two connecting rods instead of through spherical bearings, which facilitates processing, reduces the complexity of the dexterous hand finger 10, and reduces costs. For example, the eleventh axis L11 is parallel to the second axis L2.

[0144] The structures, working principles and technical effects of the second connecting rod assembly 15 and the third connecting rod assembly 20 are similar to those of the first connecting rod assembly 13 and are not described in detail here.

[0145] The embodiment of the present application further provides a dexterous hand 1. The dexterous hand 1 comprises: at least one dexterous hand finger 10 mentioned in the above embodiment.

[0146] Since the dexterous hand 1 includes the dexterous hand fingers 10, the dexterous hand 1 has all the technical features and technical effects of the dexterous hand fingers 10, which will not be repeated here.

[0147] Figure 14 FIG2 is a schematic diagram of the structure of a robot provided in an embodiment of the present application. The embodiment of the present application further provides a robot 40. The robot 40 includes at least one dexterous hand 1 mentioned in the above embodiment.

[0148] Illustratively, the robot 40 may include a robot body 41 and at least one of the dexterous hands 1 described in the above embodiments. The dexterous hand 1 is connected to the robot body 41. The robot body 41 may be a humanoid robot or an industrial robot arm, and this application does not specifically limit this. Illustratively, the robot 40 may include one or two dexterous hands 1.

[0149] Since the robot 40 includes the dexterous hand 1 , the robot 40 has all the technical features and technical effects of the dexterous hand 1 , which will not be described in detail here.

[0150] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0151] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0152] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0153] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A dexterous finger, characterized in that: 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 connection member capable of being rotatably connected to the palm base plate around a first axis, wherein the first axis is parallel to the direction from the palm side to the back side of the hand; a first finger joint, rotatably connected to the side swing connection member about a second axis, the second axis being perpendicular to the first axis, the first finger joint comprising a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion being located circumferentially of the first axis; a first connecting rod assembly, wherein a first end of the first connecting rod assembly is movably connected to the first connecting portion; a first linear drive assembly, which can be disposed on the palm base plate and movably connected to the second end of the first connecting rod assembly, and is used to drive the second end of the first connecting rod assembly to move along a first straight line; a second connecting rod assembly, wherein a first end of the second connecting rod assembly is movably connected to the second connecting portion; a second linear drive assembly, which can be disposed on the palm base plate and movably connected to the second end of the second connecting rod assembly, and is used to drive the second end of the second connecting rod assembly to move along a second straight line; a finger joint assembly rotatably connected to the first finger joint about a third axis, wherein the third axis is parallel to the second axis; a first connecting member comprising a third connecting portion, a fourth connecting portion, and a fifth connecting portion connected to each other, wherein 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 about a fourth axis, the fourth axis being parallel to the second axis, and the first connecting portion and the second connecting portion being arranged opposite to each other along the fourth axis; a first connecting rod, wherein a first end of the first connecting rod is rotatably connected to the fourth connecting portion about a fifth axis, a second end of the first connecting rod is rotatably connected to the finger joint assembly about a sixth axis, and the fifth axis and the sixth axis are both parallel to the second axis; a third connecting rod assembly, wherein a first end of the third connecting rod assembly is movably connected to the fifth connecting portion; a third linear drive assembly, which can be disposed on the palm base plate and movably connected to the second end of the third connecting rod assembly, and is used to drive the second end of the third connecting rod assembly to move along a third straight line; Wherein, the third linear drive assembly is located on a side of the first linear drive assembly and the second linear drive assembly facing the back of the hand; The third straight line can be parallel to the palm base plate, and on a plane perpendicular to the second axis, a distance between an orthographic projection of the third straight line and an orthographic projection of the first straight line in the extending direction of the first axis gradually decreases along the third straight line toward the first knuckle, and on a plane perpendicular to the second axis, a distance between an orthographic projection of the third straight line and an orthographic projection of the second straight line in the extending direction of the first axis gradually decreases along the third straight line toward the first knuckle; The side-swing connection member includes a seventh connection portion, and an edge of the first knuckle facing the seventh connection portion has a notch, and the seventh connection portion can pass through the notch and be rotatably connected to the palm base plate around the first axis. The surface of the side swing connection member facing the notch includes a curved surface, and the shape of the direct projection of the curved surface on a plane perpendicular to the second axis includes an arc, and the center of the arc is the direct projection of the second axis on a plane perpendicular to the second axis.

2. The dexterous hand finger according to claim 1, characterized in that: Under the drive of 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 respectively move simultaneously along the first straight line and the second straight line toward the first finger joint or 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 along the first straight line toward the first finger joint, and the second end of the second link assembly moves along the second straight line away from the first finger joint, or the second end of the first link assembly moves along the first straight line away from the first finger joint, and the second end of the second link assembly moves along the second straight line toward the first finger joint, 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 spaced apart along an extending direction of the second axis.

4. The dexterous hand finger according to claim 1, characterized in that: The side swing connection member further includes a sixth connection portion and an eighth connection portion, wherein the sixth connection portion, the seventh connection portion, and the eighth connection portion are sequentially connected, the sixth connection portion and the eighth connection portion are arranged opposite to each other along the extension direction of the second axis, and the seventh connection portion is located on a side of the sixth connection portion facing the back of the hand; The first finger joint has a first accommodating 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 part and the eighth connecting part 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 part and the eighth connecting part are located in the first accommodating space.

5. The dexterous hand finger according to claim 4, characterized in that: The side swing connection also includes at least one first limiting portion, which 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.

6. The dexterous hand finger according to claim 1, characterized in that: When the fingers of the dexterous hand are extended, the fifth connecting portion is located on a side of the fourth axis facing the back of the hand; The first knuckle has a first accommodating space. The first knuckle has an opening on a side facing the palm, the opening is connected to the first accommodating space, and the fifth connecting portion extends into the first accommodating space from the opening.

7. The dexterous hand finger according to claim 6, characterized in that: The first connecting rod includes a straight rod portion and a curved rod portion connected to each other, the straight rod portion is close to the first end of the first connecting rod, the curved rod portion is close to the second end of the first connecting rod, and the curved rod portion protrudes toward the palm side. When the knuckle assembly rotates toward the palm side relative to the first knuckle, at least part of the curved rod portion is received into the first accommodating space by the opening.

8. The dexterous hand finger according to any one of claims 1 to 7, characterized in that: The knuckle assembly comprises: a second connecting rod, a first end of the second connecting rod being rotatably connected to the first knuckle about the third axis and being rotatably connected to the second end of the first connecting rod about the sixth axis; a second finger joint rotatably connected to the first finger joint about a seventh axis, wherein the seventh axis is parallel to the second axis; a third finger joint rotatably connected to the second end of the second connecting rod about an eighth axis and rotatably connected to the second finger joint about a ninth axis, wherein the eighth axis and the ninth axis are both parallel to the second axis; In which, on a plane perpendicular to the second axis, a line connecting the third axis and the eighth axis intersects a line connecting the seventh axis and the ninth axis.

9. The dexterous hand finger according to claim 8, characterized in that: The first knuckle comprises: a first finger joint body, rotatably connected to the side swing connection member about the second axis, rotatably connected to the second connecting rod about the third axis, rotatably connected to the second finger joint about the seventh axis, and rotatably connected to the third connection portion about the fourth axis, the first finger joint body including the first connection portion and the second connection portion; a second limiting portion, provided on the outer surface of the first phalanx body and located on a side of the seventh axis facing the back of the hand; The third limiting portion is arranged on the outer surface of the first phalanx body and is located on the side of the seventh axis facing the palm side. The second limiting portion and the third limiting portion are used to allow the second phalanx to rotate around the fourth axis between the first position and the second position.

10. The dexterous hand finger according to claim 8, characterized in that: The first knuckle further comprises: a first phalanx shell, sleeved on the first phalanx body, wherein the hardness of the material of the first phalanx shell is less than the hardness of the material of the first phalanx body; and / or, The second phalanx comprises: a second finger joint body, rotatably connected to the first finger joint about the seventh axis, and rotatably connected to the third finger joint about the ninth axis; The second phalanx shell is sleeved on the second phalanx body, and the hardness of the material of the second phalanx shell is less than the hardness of the material of the second phalanx body.

11. The dexterous hand finger according to claim 8, characterized in that: The third phalanx comprises: a support member rotatably connected to the second end of the second connecting rod about the eighth axis and rotatably connected to the second finger joint about the ninth axis; The third finger joint body 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 finger joint body.

12. The dexterous hand finger according to any one of claims 1 to 7, characterized in that: The first linear drive assembly comprises: a first driving portion, movably connected to the second end of the first connecting rod assembly; A first support base, capable of being connected to the palm base plate; a first rotary driving member, disposed on the first supporting seat; a first screw rod connected to the first rotary drive member and capable of rotating about a rotation axis of the first screw rod under the drive of the first rotary drive member, wherein the rotation axis of the first screw rod and the first straight line are parallel to an extension direction of the first screw rod, and the first driving portion is sleeved on the first screw rod and threadedly connected to the first screw rod; and / or, The second linear drive assembly includes: a second driving portion, movably connected to the second end of the second connecting rod assembly; A second support base, capable of being connected to the palm base plate; a second rotary driving member, disposed on the second supporting seat; a second screw rod connected to the second rotary drive member and capable of rotating about a rotation axis of the second screw rod under the drive of the second rotary drive member, wherein the rotation axis of the second screw rod and the second straight line are both parallel to an extension direction of the second screw rod, and the second driving portion is sleeved on the second screw rod and threadedly connected to the second screw rod; and / or, The third linear drive assembly comprises: a third driving portion, movably connected to the second end of the third connecting rod assembly; a third support base, capable of being connected to the palm base plate; a third rotary driving member, disposed on the third supporting seat; The third screw rod is connected to the third rotating drive member and can rotate around the rotation axis of the third screw rod under the drive of the third rotating drive member. The rotation axis of the third screw rod and the third straight line are parallel to the extension direction of the third screw rod. The third driving part is sleeved on the third screw rod and threadedly connected to the third screw rod.

13. The dexterous hand finger according to claim 12, characterized in that: In the case where the first linear drive assembly includes the first support seat, the first linear drive assembly further includes: a first potential measuring member disposed on the first support seat, the first potential measuring member being in the shape of an elongated strip, the first potential measuring member extending in a direction parallel to the first straight line, the first driving portion being sleeved on the first potential measuring member, and the first potential measuring member being used to obtain position information of the first driving portion; and / or, In the case where the second linear drive assembly includes the second support seat, the second linear drive assembly further includes: a second potential measuring member disposed on the second support seat, the second potential measuring member having a shape of an elongated strip, an extension direction of the second potential measuring member being parallel to the second straight line, the second driving portion being sleeved on the second potential measuring member, and the second potential measuring member being used to obtain position information of the second driving portion; and / or, In the case where the third linear drive assembly includes the third support seat, the third linear drive assembly further includes: A third potential measuring member is provided on the third support seat. The shape of the third potential measuring member includes a long strip. The extension direction of the third potential measuring member is parallel to the third straight line. The third driving part is sleeved on the third potential measuring member. The third potential measuring member is used to obtain the position information of the third driving part.

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

15. A robot, characterized in that: include: At least one dexterous hand as claimed in claim 14.

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