Dexterous fingers, dexterous hands, and robots

Abstract

The present disclosure relates to the field of robotics, and in particular to a dexterous hand finger, a dexterous hand, and a robot, which solves the problem in the related art that the dexterous hand fingers cannot have a high degree of freedom, a small size, and a low cost. The dexterous hand finger includes a mounting assembly, a side-swing base, a first finger joint, an inter-finger joint assembly, a first tendon rope, a second tendon rope, and a third tendon rope. The dexterous hand finger uses the first tendon rope and the second tendon rope to pull the first finger joint to bend or side-swing the first finger joint, and uses the third tendon rope to pull the inter-finger joint assembly to bend the inter-finger joint, thereby realizing the three degrees of freedom of the dexterous hand finger, so that the dexterous hand finger has a high degree of freedom. In addition, the three degrees of freedom of the dexterous hand fingers are all driven by tendons, making the dexterous hand fingers simple and compact in structure, small in size, and low in cost.

Description

Technical Field

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

[0002] With the continuous advancement of humanoid robot-related technologies, industrial automation technology is gradually shifting from industrial robots that perform single, repetitive tasks to humanoid robots that perform complex, varied tasks. During this transformation, the robot's end effector has shifted from a specialized tool to a general-purpose tool similar to a human hand. A dexterous hand is a humanoid-like end effector used to perform diverse tasks such as grasping, manipulation, and perception. In order for a dexterous hand to perform the same functions as a human hand, its design requirements are more stringent. Not only must it have a high degree of freedom, but it must also be small in size. In addition, the manufacturing and maintenance costs of the dexterous hand must be minimized.

[0003] However, the dexterous hands in related arts cannot achieve high degree of freedom, small size and low cost at the same time. Summary of the Invention

[0004] In view of this, the embodiments of the present disclosure provide a dexterous hand finger, a dexterous hand and a robot, which solve the problem that the dexterous hand fingers in the related art cannot have a high degree of freedom, a small size and a low cost.

[0005] In a first aspect, an embodiment of the present disclosure provides a dexterous hand finger, which can be installed on a palm substrate and has a back side and a palm side arranged opposite to each other, and the dexterous hand finger includes: a mounting assembly, which can be installed on the palm substrate, and the mounting assembly has a first guide hole and a second guide hole arranged opposite to each other in a first direction; a side swing base, which is rotatably connected to the mounting assembly around a first axis, and the first axis is located between the first guide hole and the second guide hole; a first finger joint, which is rotatably connected to the side swing base around a second axis, and the second axis is perpendicular to the first axis, wherein, in a direction parallel to the extension direction of the second axis, a side of the first finger joint close to the palm side has a first side edge and a second side edge relative to each other, and the first side edge is close to the A first guide hole, and the second side is close to the second guide hole; an interfinger knuckle assembly, rotatably connected to the first knuckle around a third axis, and the third axis is parallel to the second axis; a first tendon rope, the first end of the first tendon rope can be connected to the first drive assembly, and the second end of the first tendon rope passes through the first guide hole and is connected to the first side; a second tendon rope, the first end of the second tendon rope can be connected to the second drive assembly, and the second end of the second tendon rope passes through the second guide hole and is connected to the second side; a third tendon rope, the first end of the third tendon rope can be connected to the third drive assembly, and the second end of the third tendon rope passes through the first axis, passes through the second axis, bypasses the side of the third axis close to the palm side, and is connected to the interfinger knuckle assembly.

[0006] In some embodiments, the first guide hole and the second guide hole both extend in a second direction, the second direction is perpendicular to the first axis and the first direction; and / or, the first side of the first finger joint has a third guide hole extending in a third direction, and the second side of the first finger joint has a fourth guide hole extending in the third direction, the third direction is perpendicular to the first axis and the second axis, wherein the second end of the first tendon rope passes through the first guide hole and the third guide hole and is connected to the first side, and the second end of the second tendon rope passes through the second guide hole and the fourth guide hole and is connected to the second side.

[0007] In some embodiments, the dexterous hand fingers further include: a fourth tendon rope, the first end of the fourth tendon rope can be connected to the fourth drive assembly, the second end of the fourth tendon rope is connected to the first connection part of the interfinger knuckle assembly, and the first connection part is located on the back of the hand near the third axis; and / or, the dexterous hand fingers further include: a first elastic member, the first end of the first elastic member is connected to the second connection part of the side swing base, the second end of the first elastic member is connected to the third connection part of the first knuckle, the second connection part is located on the second axis near the back of the hand, and the third connection part is located on the third axis near the back of the hand; a second elastic member, the first end of the second elastic member is connected to the fourth connection part of the first knuckle, the second end of the second elastic member is connected to the fifth connection part of the interfinger knuckle assembly, the fourth connection part is located on the third axis near the back of the hand, and the fifth connection part is located on the third axis near the back of the hand.

[0008] In some embodiments, the mounting assembly has a fifth guide hole; the dexterous hand fingers further include: multiple tendon rope sleeve assemblies, the first ends of at least three of the tendon rope sleeve assemblies are respectively connected to the mounting assembly and respectively aligned with the first guide hole, the second guide hole and the fifth guide hole; wherein, the first end of the first tendon rope passes through the first guide hole, passes through the tendon rope sleeve assembly aligned with the first guide hole, and is connected to the first drive assembly; the first end of the second tendon rope passes through the second guide hole, passes through the tendon rope sleeve assembly aligned with the second guide hole, and is connected to the second drive assembly; the first end of the third tendon rope passes through the fifth guide hole, passes through the tendon rope sleeve assembly aligned with the fifth guide hole, and is connected to the third drive assembly; wherein, in the case where the dexterous hand fingers include a fourth tendon rope, the side swing base has a sixth guide hole, the first end of at least one tendon rope sleeve assembly is connected to the side swing base and aligned with the sixth guide hole, and the first end of the fourth tendon rope passes through the sixth guide hole, passes through the tendon rope sleeve assembly aligned with the sixth guide hole, and is connected to the fourth drive assembly.

[0009] In some embodiments, the tendon rope sleeve assembly includes: a sleeve for passing the first tendon rope, the second tendon rope or the third tendon rope, wherein, when the dexterous hand finger includes the fourth tendon rope, the sleeve is also for passing the fourth tendon rope; a connector connected to one end of the sleeve, and at least three of the connectors included in the tendon rope sleeve assembly are detachably connected to the mounting assembly, wherein, when the dexterous hand finger includes the fourth tendon rope, at least one of the connectors included in the tendon rope sleeve assembly is detachably connected to the side swing base.

[0010] In some embodiments, the sleeve includes: an inner sleeve, for the first tendon cord, the second tendon cord or the third tendon cord to pass through. When the fingers of the dexterous hand include the fourth tendon cord, the inner sleeve is also for the fourth tendon cord to pass through; an outer sleeve, wrapped around the outside of the inner sleeve, the outer sleeve is elastic, the hardness of the outer sleeve is greater than the hardness of the inner sleeve, and the friction coefficient of the inner sleeve is less than the friction coefficient of the outer sleeve.

[0011] In some embodiments, the side-swing base has a first axial hole extending along the second axis, the first finger joint has a second axial hole extending along the second axis and a third axial hole extending along the third axis, and the interfinger joint assembly has a fourth axial hole extending along the third axis; the dexterous hand fingers also include: a first core shaft, which is passed through the first axial hole and the second axial hole, and is connected to the second axial hole, and rotates with the first finger joint; a second core shaft, which is passed through the third axial hole and the fourth axial hole, and is connected to the fourth axial hole, and rotates with the interfinger joint assembly; a first magnetic member, which is arranged at the end of the first core shaft and is coaxial with the first core shaft; a second magnetic member, which is arranged at the end of the second core shaft and is coaxial with the second core shaft; an integrated sensor, which is connected to the first finger joint, and the integrated sensor includes a first sensing part and a second sensing part, the first sensing part is coaxial with the first magnetic member, and is configured to detect the absolute position of the first magnetic member, and the second sensing part is coaxial with the second magnetic member, and is configured to detect the absolute position of the second magnetic member.

[0012] In some embodiments, the inter-finger knuckle assembly includes: a second knuckle, rotatably connected to the first knuckle around the third axis; a third knuckle, rotatably connected to the second knuckle around a fourth axis, the fourth axis being parallel to the third axis; a rocker, the first end of the rocker being connected to the second knuckle, the second end of the rocker being connected to the third knuckle, wherein, on a section perpendicular to the fourth axis, a line connecting the first end of the rocker and the second end of the rocker intersects a line connecting the third axis and the fourth axis.

[0013] In a second aspect, an embodiment of the present disclosure provides a dexterous hand, comprising: a palm substrate; and the dexterous hand fingers described in the first aspect, wherein the mounting components of the dexterous hand fingers are mounted on the palm substrate.

[0014] In a third aspect, an embodiment of the present disclosure provides a robot comprising: the dexterous hand described in the second aspect.

[0015] The dexterous hand fingers provided by the disclosed embodiments utilize a first tendon and a second tendon to pull the first knuckle, causing it to bend or swing sideways. Furthermore, a third tendon is used to pull the interphalangeal joint assembly, causing it to bend. This achieves three degrees of freedom for the dexterous hand fingers, providing them with a high degree of freedom. Furthermore, since all three degrees of freedom are driven by the tendons, the dexterous hand fingers are simple, compact, and relatively small in size, resulting in a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other purposes, features, and advantages of the present disclosure will become more apparent through a more detailed description of the embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and are not intended to limit the present disclosure. In the drawings, the same reference numerals generally represent the same components.

[0017] Figure 1 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in one embodiment of the present disclosure.

[0018] Figure 2 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in another embodiment of the present disclosure.

[0019] Figure 3 Shown is a top view of the fingers of a dexterous hand provided by an embodiment of the present disclosure.

[0020] Figure 4 Shown Figure 3 A cross-sectional view of the dexterous hand fingers along the AA direction is shown.

[0021] Figure 5 Shown Figure 4 A partial enlarged view of the dexterous hand fingers in area B is shown.

[0022] Figure 6 Shown Figure 4 A partial enlarged view of the dexterous hand fingers in area C is shown.

[0023] Figure 7 Shown is a front view of the fingers of a dexterous hand provided by an embodiment of the present disclosure.

[0024] Figure 8 Shown Figure 7 A cross-sectional view of the dexterous hand fingers in the DD direction is shown.

[0025] Figure 9 Shown Figure 8 A partial enlarged view of the dexterous hand fingers in area E is shown.

[0026] Figure 10Shown is a schematic structural diagram of the fingers of a dexterous hand provided in another embodiment of the present disclosure.

[0027] Figure 11 Shown Figure 10 A partial enlarged view of the dexterous hand fingers in area F is shown.

[0028] Figure 12 Shown Figure 10 A partial enlarged view of the dexterous hand fingers in area G is shown.

[0029] Figure 13 Shown Figure 10 A partial enlarged view of the dexterous hand fingers in area H is shown.

[0030] Figure 14 Shown is a top view of the fingers of a dexterous hand provided by another embodiment of the present disclosure.

[0031] Figure 15 Shown Figure 14 A cross-sectional view of the dexterous hand fingers in direction II is shown.

[0032] Figure 16 Shown Figure 15 A partial enlarged view of the J area of ​​the dexterous hand fingers is shown.

[0033] Figure 17 Shown Figure 15 A partial enlarged view of the dexterous hand fingers in the K area is shown.

[0034] Figure 18 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in another embodiment of the present disclosure.

[0035] Figure 19 Shown is a front view of the fingers of a dexterous hand provided by another embodiment of the present disclosure.

[0036] Figure 20 Shown Figure 19 A cross-sectional view of the dexterous hand fingers in the RR direction is shown.

[0037] Figure 21 Shown Figure 20 A partial enlarged view of the dexterous hand fingers in the S area is shown.

[0038] Figure 22 Shown Figure 20 A partial enlarged view of the dexterous hand fingers in the T area is shown.

[0039] Figure 23 Shown is a schematic structural diagram of a dexterous hand provided in one embodiment of the present disclosure.

[0040] Figure 24Shown is a schematic structural diagram of a robot provided in one embodiment of the present disclosure.

[0041] Reference numerals:

[0042] 11. Robot; 1. Dexterous hand; 10. Dexterous hand fingers; 101. Dorsal side of hand; 102. Palm side of hand; 100. Mounting assembly; 1001. First guide hole; 1002. Second guide hole; 1003. Fifth guide hole; 1004. Fifth axial hole; 200. Side swing base; 210. Second connecting portion; 2001. First axial hole; 2002. Sixth axial hole; 2003. Sixth guide hole; 300. First knuckle; 301. First side edge; 3001. Third guide hole; 302. Second side edge; 3002. Fourth guide hole; 3 003, second axial hole; 3004, third axial hole; 3005, first receiving slot; 3006, second receiving slot; 310, third connecting portion; 320, fourth connecting portion; 400, interphalangeal joint assembly; 4010, first connecting portion; 4020, fifth connecting portion; 4001, fourth axial hole; 410, second phalange; 4101, arc-shaped avoidance slot; 4102, third receiving slot; 420, third phalange; 430, rocker; 500, first tendon cord; 600, second tendon cord; 700, third tendon cord; 800, fourth tendon cord; 900 , first elastic member; 1000, second elastic member; 1100, tendon sleeve assembly; 1110, sleeve; 1111, inner sleeve; 1112, outer sleeve; 1120, connector; 1200, first core shaft; 1300, second core shaft; 1400, first magnetic member; 1500, second magnetic member; 1600, integrated sensor; 1610, first sensing unit; 1620, second sensing unit; 1700, third core shaft; 1701, seventh guide hole; 1800, first stop member; 1900, second stop member; 2000, First guide shaft; 2100, second guide shaft; 2200, third guide shaft; 2300, fourth guide shaft; 2400, third limit member; 2500, guide wheel; 2600, third magnetic member; 2700, sensor; 2800, fourth core shaft; 2900, fourth limit member; L1, first axis; L2, second axis; L3, third axis; L4, fourth axis; L5, fifth axis; L6, sixth axis; X1, first direction; X2, second direction; X3, third direction; 20, palm base plate; 30, dexterous hand thumb. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0044] Figure 1 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in one embodiment of the present disclosure. Figure 2 Shown is a schematic structural diagram of the fingers of a dexterous hand provided in another embodiment of the present disclosure. Figure 3 Shown is a top view of the fingers of a dexterous hand provided by an embodiment of the present disclosure. Figure 4 Shown Figure 3 A cross-sectional view of the dexterous hand fingers along the AA direction is shown. Figure 5 Shown Figure 4 A partial enlarged view of the dexterous hand fingers in area B is shown. Figure 6 Shown Figure 4 A partial enlarged view of the dexterous hand fingers in area C is shown. Figure 23 The figure shows a schematic diagram of the structure of the dexterous hand provided by an embodiment of the present disclosure. Figures 1 to 6 as well as Figure 23 As shown, a dexterous finger 10 can be mounted on a palm base 20. The dexterous finger 10 has a dorsal side 101 and a palm side 102 disposed opposite to each other. The dexterous finger 10 includes a mounting assembly 100, a side swing base 200, a first knuckle 300, an interphalangeal knuckle assembly 400, a first tendon 500, a second tendon 600, and a third tendon 700.

[0045] The mounting assembly 100 can be mounted on the palm base 20 and has a first guide hole 1001 and a second guide hole 1002 disposed opposite each other in a first direction X1. The side swing base 200 is rotatably connected to the mounting assembly 100 about a first axis L1, which is located between the first guide hole 1001 and the second guide hole 1002. The first finger joint 300 is rotatably connected to the side swing base 200 about a second axis L2. The second axis L2 is perpendicular to the first axis L1. In a direction parallel to the extension direction of the second axis L2, the surface of the first finger joint 300 near the palm side 102 has a first side edge 301 and a second side edge 302, with the first side edge 301 being near the first guide hole 1001 and the second side edge 302 being near the second guide hole 1002.

[0046] The interphalangeal joint assembly 400 is rotatably connected to the first phalanx 300 about a third axis L3. The third axis L3 is parallel to the second axis L2. The first end of the first tendon 500 is connectable to the first drive assembly. The second end of the first tendon 500 passes through the first guide hole 1001 and is connected to the first side 301. The first end of the second tendon 600 is connectable to the second drive assembly. The second end of the second tendon 600 passes through the second guide hole 1002 and is connected to the second side 302. The first end of the third tendon 700 is connectable to the third drive assembly. The second end of the third tendon 700 passes through the first axis L1, the second axis L2, and around the side of the third axis L3 near the palm side 102 to connect to the interphalangeal joint assembly 400.

[0047] The dexterous hand finger 10 uses the first and second tendon cords 500 and 600 to pull the first knuckle 300, causing it to bend or swing sideways. The third tendon cord 700 also pulls the interphalangeal joint assembly 400, causing it to bend. This achieves three degrees of freedom for the dexterous hand finger 10, giving it a high degree of freedom. Furthermore, since all three degrees of freedom of the dexterous hand finger 10 are driven by the tendon cords, the dexterous hand finger 10 has a simple and compact structure, a small size, and a low cost.

[0048] Exemplarily, the first drive component drives the first tendon 500 to pull the first side 301 of the first knuckle 300, and the second drive component simultaneously drives the second tendon 600 to pull the second side 302 of the first knuckle 300, and the pulling force of the first tendon 500 on the first side 301 is the same as the pulling force of the second tendon 600 on the second side 302, so that the first knuckle 300 bends.

[0049] Exemplarily, the first drive assembly drives the first tendon 500 to pull the first side 301 of the first knuckle 300, while the second drive assembly simultaneously drives the second tendon 600 to pull the second side 302 of the first knuckle 300. The pulling force of the first tendon 500 on the first side 301 is different from the pulling force of the second tendon 600 on the second side 302, so as to cause the first knuckle 300 to swing sideways. Exemplarily, the first drive assembly drives the first tendon 500 to pull the first side 301 of the first knuckle 300, while the second drive assembly does not drive the second tendon 600, so as to cause the first knuckle 300 to swing sideways. Exemplarily, the second drive assembly drives the second tendon 600 to pull the second side 302 of the first knuckle 300, while the first drive assembly does not drive the first tendon 500, so as to cause the first knuckle 300 to swing sideways.

[0050] Specifically, the rotatable connection mentioned in the present disclosure can be realized by a hole-shaft connection, which will not be described in detail later. Figure 1 and Figure 5As shown, the mounting assembly 100 has a fifth axial hole 1004 extending along the first axis L1, the side-sway base 200 has a sixth axial hole 2002 extending along the first axis L1, and the dexterous hand finger 10 further includes a third core shaft 1700. The third core shaft 1700 is disposed through the fifth axial hole 1004 and the sixth axial hole 2002, and is connected to the sixth axial hole 2002, rotating with the side-sway base 200. Exemplarily, the third core shaft 1700 has a seventh guide hole 1701, through which the second end of the third tendon 700 passes to prevent coupling between the third tendon 700 and the first phalanx 300.

[0051] In some embodiments, as Figure 1 and Figure 2 As shown, the first guide hole 1001 and the second guide hole 1002 both extend along the second direction X2. The second direction X2 is perpendicular to the first axis L1 and perpendicular to the first direction X1.

[0052] By limiting the guiding directions of the first guide hole 1001 and the second guide hole 1002, the first tendon 500 is maintained in an extended state passing through the first guide hole 1001, and the second tendon 600 is maintained in an extended state passing through the second guide hole 1002, thereby reducing the bending state of the first tendon 500 and the second tendon 600, ensuring that the first tendon 500 and the second tendon 600 can smoothly pull the first side 301 and the second side 302 respectively, thereby ensuring the driving efficiency and dexterity of the first tendon 500 and the second tendon 600.

[0053] Specifically, according to the design principle, the first tendon 500 and the second tendon 600 need to extend in the second direction X2 when passing through the installation component 100. By limiting the guide direction of the first guide hole 1001 and the second guide hole 1002 to the second direction X2, the first tendon 500 and the second tendon 600 can extend in the original design direction, reducing the bending of the first tendon 500 and the second tendon 600 due to lack of constraints and other reasons.

[0054] In some embodiments, as Figure 1 、 Figure 2 、 Figures 7 to 9 As shown, the first side 301 of the first phalanx 300 has a third guide hole 3001 extending along the third direction X3, and the second side 302 of the first phalanx 300 has a fourth guide hole 3002 extending along the third direction X3. The third direction X3 is perpendicular to the first axis L1 and the second axis L2. The second end of the first tendon 500 passes through the first guide hole 1001 and the third guide hole 3001, then connects to the first side 301. The second end of the second tendon 600 passes through the second guide hole 1002 and the fourth guide hole 3002, then connects to the second side 302.

[0055] By limiting the guiding directions of the third guide hole 3001 and the fourth guide hole 3002, the first tendon rope 500 is maintained in an extended state passing through the third guide hole 3001, and the second tendon rope 600 is maintained in an extended state passing through the fourth guide hole 3002, thereby further reducing the bending state of the first tendon rope 500 and the second tendon rope 600, further ensuring that the first tendon rope 500 and the second tendon rope 600 can smoothly pull the first side 301 and the second side 302, respectively, thereby further ensuring the driving efficiency and dexterity of the first tendon rope 500 and the second tendon rope 600.

[0056] Specifically, according to the design principle, the first tendon rope 500 and the second tendon rope 600 need to extend in the third direction X3 when passing through the first finger joint 300. By limiting the guide direction of the third guide hole 3001 and the fourth guide hole 3002 to the third direction X3, the first tendon rope 500 and the second tendon rope 600 can extend in the original design direction, reducing the bending of the first tendon rope 500 and the second tendon rope 600 due to lack of constraints and other reasons.

[0057] For example, the second end of the first tendon 500 is tied with a knot, and the knotted portion engages with the end of the third guide hole 3001, thereby connecting the second end of the first tendon 500 to the first side 301. For example, the second end of the second tendon 600 is tied with a knot, and the knotted portion engages with the end of the fourth guide hole 3002, thereby connecting the second end of the second tendon 600 to the second side 302.

[0058] For example, Figure 9 As shown, a first receiving groove 3005 is formed on the side of the first side 301 near the interphalangeal joint assembly 400. The first receiving groove 3005 communicates with the third guide hole 3001 in the third direction X3, and the radial dimension of the first receiving groove 3005 is greater than the radial dimension of the third guide hole 3001. The dexterous finger 10 also includes a first retaining member 1800. The first retaining member 1800 is located in the first receiving groove 3005 and is connected to the second end of the first tendon tether 500. The first retaining member 1800 engages with the end of the third guide hole 3001 to connect the second end of the first tendon tether 500 to the first side 301. For example, the first retaining member 1800 can be separate from the first tendon tether 500 or integrally formed.

[0059] For example, Figure 9As shown, a second receiving groove 3006 is formed on the side of the second side 302 proximal to the interphalangeal joint assembly 400. The second receiving groove 3006 communicates with the fourth guide hole 3002 in the third direction X3, and the radial dimension of the second receiving groove 3006 is greater than the radial dimension of the fourth guide hole 3002. The dexterous finger 10 also includes a second retaining member 1900. The second retaining member 1900 is located in the second receiving groove 3006 and is connected to the second end of the second tendon tether 600. The second retaining member 1900 engages with the end of the fourth guide hole 3002 to connect the second end of the second tendon tether 600 to the second side 302. For example, the second retaining member 1900 can be separate from the second tendon tether 600 or integrally formed.

[0060] In some embodiments, as Figure 1 、 Figures 4 to 6 as well as Figures 10 to 13 As shown, the dexterous finger 10 further includes a fourth tendon tether 800. The first end of the fourth tendon tether 800 is connectable to the fourth actuation assembly, and the second end of the fourth tendon tether 800 is connected to the first connection portion 4010 of the interphalangeal joint assembly 400. The first connection portion 4010 is located near the back of the hand 101 and along the third axis L3. The fourth actuation assembly drives the fourth tendon tether 800 to pull the interphalangeal joint assembly 400 back into position, thereby extending the interphalangeal joint assembly 400.

[0061] In addition, when the first tendon cord 500 and the second tendon cord 600 pull the first finger joint 300 to swing sideways, the fourth tendon cord 800 can simultaneously pull the interphalangeal joint assembly 400 to reset, so that the dexterous hand finger 10 can swing sideways in an extended state.

[0062] like Figures 4 to 6 as well as Figures 10 to 13 As shown, the dexterous finger 10 further includes a first guide shaft 2000, a second guide shaft 2100, a third guide shaft 2200, and a fourth guide shaft 2300 extending along a first direction X1. The first guide shaft 2000 is connected to the lateral swing base 200, the second guide shaft 2100 and the third guide shaft 2200 are respectively connected to the first phalanx 300, and the fourth guide shaft 2300 is connected to the first connecting portion 4010. The second end of the fourth tendon 800 passes around the side of the first guide shaft 2000 near the palm side 102, around the side of the second guide shaft 2100 near the back side 101, around the side of the third guide shaft 2200 near the palm side 102, around the side of the fourth guide shaft 2300 near the palm side 102, and finally connects to the first connecting portion 4010. The extension direction of the fourth tendon 800 is guided by the first guide shaft 2000, the second guide shaft 2100, the third guide shaft 2200 and the fourth guide shaft 2300 respectively to prevent the fourth tendon 800 from being separated from the first knuckle 300 and the interphalangeal knuckle assembly 400 of the dexterous hand finger 10, or from being entangled with other structures of the dexterous hand finger 10.

[0063] For example, Figure 13 As shown, the first connection part 4010 can be the fourth guide shaft 2300 , and the second end of the fourth tendon 800 is connected to the first connection part 4010 by winding the second end of the fourth tendon 800 around the fourth guide shaft 2300 .

[0064] Illustratively, a gap exists between the fourth guide shaft 2300 and the first connecting portion 4010. The dexterous finger 10 further includes a third stopper 2400, which is located within the gap between the fourth guide shaft 2300 and the first connecting portion 4010. The third stopper 2400 is connected to the second end of the fourth tendon tether 800, and its two side walls abut against the fourth guide shaft 2300 and the first connecting portion 4010, respectively. In other words, the third stopper 2400 is engaged in the gap between the fourth guide shaft 2300 and the first connecting portion 4010, thereby connecting the second end of the fourth tendon tether 800 to the first connecting portion 4010. Illustratively, the third stopper 2400 can be separate from the fourth tendon tether 800 or integrally formed.

[0065] For example, Figures 14 to 16 As shown, the dexterous finger 10 also includes at least two guide wheels 2500, which are rotatably connected to the first phalanx 300. The first guide wheel 2500 is located near the lateral swing base 200, and the second guide wheel 2500 is located between the first guide wheel 2500 and the interphalangeal joint assembly 400. The second end of the third tendon tether 700 passes through the first axis L1 and the second axis L2, passes around the side of the first guide wheel 2500 near the back of the hand 101, passes around the side of the second guide wheel 2500 near the palm side 102, passes around the side of the third axis L3 near the palm side 102, and connects to the interphalangeal joint assembly 400. The guide wheels 2500 guide the second end of the third tendon tether 700, reducing friction between the third tendon tether 700 and the first phalanx 300.

[0066] In some embodiments, as Figures 14 to 16As shown, the dexterous finger 10 further includes a first elastic member 900 and a second elastic member 1000. The first end of the first elastic member 900 is connected to the second connection portion 210 of the side swing base 200, and the second end of the first elastic member 900 is connected to the third connection portion 310 of the first phalanx 300. The second connection portion 210 is located near the back of the hand 101 along the second axis L2, and the third connection portion 310 is located near the back of the hand 101 along the third axis L3. The first end of the second elastic member 1000 is connected to the fourth connection portion 320 of the first phalanx 300, and the second end of the second elastic member 1000 is connected to the fifth connection portion 4020 of the interphalangeal joint assembly 400. The fourth connection portion 320 is located near the back of the hand 101 along the third axis L3, and the fifth connection portion 4020 is located near the back of the hand 101 along the third axis L3.

[0067] The elastic restoring force of the first elastic member 900 is used to pull the first knuckle 300 back to its original position, so that the first knuckle 300 is extended. The elastic restoring force of the second elastic member 1000 is used to pull the interdigital knuckle assembly 400 back to its original position, so that the interdigital knuckle assembly 400 is extended.

[0068] In addition, when the first tendon rope 500 and the second tendon rope 600 pull the first knuckle 300 to swing sideways, the first elastic member 900 provides tension for the first knuckle 300, and the second elastic member 1000 provides tension for the interphalangeal knuckle assembly 400, so that the dexterous hand finger 10 can swing sideways in an extended state.

[0069] For example, the first elastic member 900 may be a spring, a rubber member, or the like having elasticity. For example, the second elastic member 1000 may be a spring, a rubber member, or the like having elasticity.

[0070] For example, Figure 16 As shown, the first end of the first elastic member 900 is connected to the first guide shaft 2000. For example, the first end of the first elastic member 900 is sleeved on the first guide shaft 2000 to achieve the connection between the first end of the first elastic member 900 and the second connecting portion 210. Exemplarily, the second end of the first elastic member 900 is connected to the second guide shaft 2100. For example, the second end of the first elastic member 900 is sleeved on the second guide shaft 2100 to achieve the connection between the second end of the first elastic member 900 and the third connecting portion 310. Exemplarily, the first end of the second elastic member 1000 is connected to the third guide shaft 2200. For example, the first end of the second elastic member 1000 is sleeved on the third guide shaft 2200 to achieve the connection between the first end of the second elastic member 1000 and the fourth connecting portion 320. Exemplarily, the second end of the second elastic member 1000 is connected to the fourth guide shaft 2300 . For example, the second end of the second elastic member 1000 is sleeved on the fourth guide shaft 2300 to connect the second end of the second elastic member 1000 to the fifth connecting portion 4020 .

[0071] In some embodiments, as Figure 1 、 Figure 5 、 Figure 15 and Figure 17 As shown, the mounting assembly 100 has a fifth guide hole 1003. The dexterous finger 10 also includes multiple tendon sleeve assemblies 1100. The first ends of at least three tendon sleeve assemblies 1100 are connected to the mounting assembly 100 and aligned with the first guide hole 1001, the second guide hole 1002, and the fifth guide hole 1003, respectively. The first end of the first tendon 500 passes through the first guide hole 1001, through the tendon sleeve assembly 1100 aligned with the first guide hole 1001, and then connects to the first drive assembly. The first end of the second tendon 600 passes through the second guide hole 1002, through the tendon sleeve assembly 1100 aligned with the second guide hole 1002, and then connects to the second drive assembly. The first end of the third tendon 700 passes through the fifth guide hole 1003, through the tendon sleeve assembly 1100 aligned with the fifth guide hole 1003, and then connects to the third drive assembly.

[0072] like Figure 1 、 Figure 5 and Figure 11 As shown, when the dexterous hand finger 10 includes the fourth tendon 800, the side swing base 200 has a sixth guide hole 2003, and the first end of at least one tendon sleeve assembly 1100 is connected to the side swing base 200 and aligned with the sixth guide hole 2003. The first end of the fourth tendon 800 passes through the sixth guide hole 2003, through the tendon sleeve assembly 1100 aligned with the sixth guide hole 3003, and then connects to the fourth drive assembly.

[0073] Multiple tendon rope sleeve assemblies 1100 are used to guide the first tendon rope 500, the second tendon rope 600, the third tendon rope 700 and the fourth tendon rope 800 respectively to prevent the first tendon rope 500, the second tendon rope 600, the third tendon rope 700 and the fourth tendon rope 800 from getting entangled in the path connected to the corresponding drive assembly.

[0074] In some embodiments, as Figure 1 、 Figure 5 、 Figure 15 and Figure 17As shown, the tendon sleeve assembly 1100 includes a sleeve 1110 and a connector 1120. The sleeve 1110 allows the first tendon 500, the second tendon 600, or the third tendon 700 to pass through. If the dexterous hand finger 10 includes the fourth tendon 800, the sleeve 1110 also allows the fourth tendon 800 to pass through. The connector 1120 is connected to one end of the sleeve 1110. The connectors 1120 included in at least three tendon sleeve assemblies 1100 are detachably connected to the mounting assembly 100. If the dexterous hand finger 10 includes the fourth tendon 800, the connector 1120 included in at least one tendon sleeve assembly 1100 is detachably connected to the side swing base 200.

[0075] The above arrangement enables a modular design of multiple tendon sleeve assemblies 1100 , so that the tendon sleeve assemblies 1100 can be disassembled and assembled as a whole while disassembling and assembling the dexterous hand fingers 10 , thereby further improving the modularity of the dexterous hand fingers 10 .

[0076] Specifically, at least three tendon cord sleeve assemblies 1100 connected to the mounting assembly 100 can be disassembled and assembled simultaneously with the disassembly of the mounting assembly 100. If the dexterous hand finger 10 includes the fourth tendon cord 800, the connector 1120 included in at least one tendon cord sleeve assembly 1100 is detachably connected to the side swing base 200. Thus, at least one tendon cord sleeve assembly 1100 connected to the side swing base 200 can be disassembled and assembled simultaneously with the disassembly of the side swing base 200.

[0077] In addition, the connectors 1120 included in at least three tendon sleeve assemblies 1100 are detachably connected to the mounting assembly 100, facilitating maintenance and replacement of the tendon sleeve assemblies 1100 connected to the mounting assembly 100. The connector 1120 included in at least one tendon sleeve assembly 1100 is detachably connected to the side swing base 200, facilitating replacement and maintenance of the tendon sleeve assembly 1100 connected to the side swing base 200.

[0078] Exemplarily, the above-mentioned detachable connection can be achieved by detachable connection forms such as bolts and nuts, screws, snaps, and magnets.

[0079] In some embodiments, as Figure 1 、 Figure 5 、 Figure 15 and Figure 17As shown, sleeve 1110 includes an inner sleeve 1111 and an outer sleeve 1112. Inner sleeve 1111 allows the first tendon 500, second tendon 600, or third tendon 700 to pass through. If the dexterous finger 10 includes a fourth tendon 800, inner sleeve 1111 also allows the fourth tendon 800 to pass through. Outer sleeve 1112 wraps around inner sleeve 1111 and is elastic. Its hardness is greater than that of inner sleeve 1111, and its coefficient of friction is lower than that of outer sleeve 1112.

[0080] Inner sleeve 1111 has a low coefficient of friction, reducing friction on the tendons (e.g., first tendon 500, second tendon 600, third tendon 700, or fourth tendon 800). Outer sleeve 1112 is elastic, facilitating shaping of sleeve 1110. It also has a certain degree of hardness, reducing deformation of sleeve 1110 when subjected to external forces, thereby protecting the tendons within inner sleeve 1111 and reducing compression on the tendons.

[0081] Exemplarily, the material of the inner sleeve 1111 may be Teflon, and the material of the outer sleeve 1112 may be metal, such as stainless steel, aluminum, etc.

[0082] In some embodiments, as Figures 4 to 6 as well as Figures 18 to 22 As shown, the side-sway base 200 has a first axial hole 2001 extending along the second axis L2, the first finger joint 300 has a second axial hole 3003 extending along the second axis L2 and a third axial hole 3004 extending along the third axis L3, and the interphalangeal joint assembly 400 has a fourth axial hole 4001 extending along the third axis L3. The dexterous finger 10 also includes a first spindle 1200, a second spindle 1300, a first magnetic member 1400, a second magnetic member 1500, and an integrated sensor 1600.

[0083] The first core shaft 1200 is inserted through the first axial hole 2001 and the second axial hole 3003, and is connected to the second axial hole 3003, rotating with the first knuckle 300. The second core shaft 1300 is inserted through the third axial hole 3004 and the fourth axial hole 4001, and is connected to the fourth axial hole 4001, rotating with the interdigital knuckle assembly 400. The first magnetic member 1400 is disposed at the end of the first core shaft 1200 and is coaxial with the first core shaft 1200. The second magnetic member 1500 is disposed at the end of the second core shaft 1300 and is coaxial with the second core shaft 1300.

[0084] Integrated sensor 1600 is connected to first knuckle 300 and includes a first sensing portion 1610 and a second sensing portion 1620. First sensing portion 1610 is coaxially disposed with first magnetic member 1400 and is configured to detect the absolute position of first magnetic member 1400. Second sensing portion 1620 is coaxially disposed with second magnetic member 1500 and is configured to detect the absolute position of second magnetic member 1500.

[0085] The first sensing unit 1610 detects the absolute position of the first magnetic member 1400 to detect the rotation angle of the first knuckle 300 . The second sensing unit 1620 detects the absolute position of the second magnetic member 1500 to detect the rotation angle of the interphalangeal knuckle assembly 400 .

[0086] In addition, the integrated sensor 1600 is used to integrate the first sensing portion 1610 and the second sensing portion 1620 together, so that one output end of the integrated sensor 1600 can be connected to the control system to simplify the arrangement of the connection line of the output end of the integrated sensor 1600.

[0087] For example, the integrated sensor 1600 may be a Hall sensor. The integrated sensor 1600 uses the Hall principle to detect the absolute positions of the first magnetic member 1400 and the second magnetic member 1500 , and has accurate detection and is easy to install.

[0088] For example, Figure 3 and Figure 5 As shown, the dexterous finger 10 further includes a third magnetic member 2600 and a sensor 2700. The third magnetic member 2600 is disposed at the end of the third core shaft 1700 and is coaxially arranged with the third core shaft 1700. The sensor 2700 is connected to the mounting assembly 100 and is coaxially arranged with the third core shaft 1700. It is configured to detect the absolute position of the third magnetic member 2600 to detect the roll angle of the roll base 200.

[0089] For example, the sensor 2700 may be a Hall sensor. The sensor 2700 uses the Hall principle to detect the absolute position of the third magnetic member 2600 , and has accurate detection and is easy to install.

[0090] In some embodiments, as Figure 2 、 Figure 4 、 Figure 6 、 Figure 15 、 Figure 16 and Figure 18As shown, the interdigital knuckle assembly 400 includes a second knuckle 410, a third knuckle 420, and a rocker 430. The second knuckle 410 is rotatably connected to the first knuckle 300 about a third axis L3. The third knuckle 420 is rotatably connected to the second knuckle 410 about a fourth axis L4, which is parallel to the third axis L3. The first end of the rocker 430 is connected to the second knuckle 410, and the second end of the rocker 430 is connected to the third knuckle 420. In a cross section perpendicular to the fourth axis L4, the line connecting the first end of the rocker 430 and the second end of the rocker 430 intersects the line connecting the third axis L3 and the fourth axis L4.

[0091] For example, Figure 16 As shown, the first end of the rocker 430 is rotatably connected to the second finger joint 410 about the fifth axis L5, and the second end of the rocker 430 is rotatably connected to the third finger joint 420 about the sixth axis L6. The fifth axis L5 and the sixth axis L6 are respectively parallel to the third axis L3.

[0092] For example, Figure 16 As shown, on the cross section perpendicular to the fourth axis L4, the orthographic projections of the third axis L3, the fourth axis L4, the fifth axis L5 and the sixth axis L6 are point M, point N, point P and point Q respectively. The line between point M and point N represents rod MN. The line between point N and point Q represents rod NQ. The line between point Q and point P represents rod QP. The line between point P and point M represents rod PM. Rod MN, rod NQ, rod QP and rod PM form a four-bar linkage. Rod PM is the frame of the four-bar linkage, rod MN is the crank of the four-bar linkage, rod NQ is the connecting rod of the four-bar linkage, and rod QP is the rocker 430 of the four-bar linkage. The crank is the active rod, which moves under the drive of the third tendon 700. The crank drives the connecting rod and the rocker to move in turn, thereby realizing the bending of the third knuckle 420.

[0093] For example, Figures 14 to 16 As shown, the dexterous finger 10 also includes a fourth core shaft 2800, which extends along the sixth axis L6 and is rotatably connected to the second end of the rocker 430. The second finger joint 410 has an arc-shaped avoidance groove 4101, and the fourth core shaft 2800 passes through the arc-shaped avoidance groove 4101 and is connected to the third finger joint 420.

[0094] Specifically, if Figure 2 and Figure 6As shown, the second end of the third tendon 700 is connected to the second phalanx 410. For example, a third receiving slot 4102 is provided on the side of the second phalanx 410 near the palm side 102. The second end of the third tendon 700 is tied into a knot, and the knot engages with the end of the third receiving slot 4102 to connect the second end of the third tendon 700 to the second phalanx 410. Alternatively, the dexterous hand finger 10 further includes a fourth retaining member 2900, which is located within the third receiving slot 4102 and connected to the second end of the third tendon 700. The fourth retaining member 2900 engages with the end of the third receiving slot 4102 to connect the second end of the third tendon 700 to the second phalanx 410. For example, the fourth retaining member 2900 can be provided separately from the third tendon 700 or integrally formed.

[0095] Figure 23 The figure shows a schematic diagram of the structure of the dexterous hand provided by an embodiment of the present disclosure. Figure 1 and Figure 23 As shown, the dexterous hand 1 comprises the dexterous hand fingers 10 and the palm base plate 20 mentioned in the above embodiment. The mounting assembly 100 of the dexterous hand fingers 10 is mounted on the palm base plate 20.

[0096] For example, the finger 10 of the dexterous hand can be the index finger, the middle finger, the ring finger or the little finger of the dexterous hand. Figure 23 As shown, the dexterous hand 1 includes four dexterous fingers 10, which are respectively the dexterous index finger, the dexterous middle finger, the dexterous ring finger or the dexterous pinky finger. For example, the dexterous hand 1 also includes a dexterous thumb 30, which is mounted on the palm base 20.

[0097] 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.

[0098] Figure 24 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present disclosure. Figure 24 As shown, the robot 11 includes the dexterous hand 1 mentioned in the above embodiment. Exemplarily, the robot 11 can be a humanoid robot, a collaborative robot, a handling robot, etc.

[0099] Since the robot 11 includes the dexterous hand 1 , the robot 11 has all the technical features and technical effects of the dexterous hand 1 , which will not be described in detail here.

[0100] In the various embodiments of the present disclosure, if the connection form is not clearly defined, the connection form may be a detachable connection form using bolts and nuts, screws, snaps, magnets, etc. In some connections, if there is no special requirement for a non-detachable connection form, a non-detachable connection may be achieved through welding, bonding, etc.

[0101] References in the specification to "one embodiment," "an embodiment," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0102] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes the meaning of “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0103] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one component or feature relative to other components or features as depicted in the figures. Spatially relative terms are intended to encompass different orientations of a component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0104] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0105] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A dexterous finger, characterized in that: The dexterous hand fingers can be mounted on a palm substrate, and have a back side and a palm side disposed opposite to each other. The dexterous hand fingers include: A mounting assembly capable of being mounted on the palm substrate, the mounting assembly having a first guide hole and a second guide hole arranged opposite to each other in a first direction; a side swing base, rotatably connected to the mounting assembly about a first axis, wherein the first axis is located between the first guide hole and the second guide hole; a first finger joint rotatably connected to the side-swing base about a second axis, the second axis being perpendicular to the first axis, wherein a surface of the first finger joint close to the palm side has a first side edge and a second side edge facing each other in a direction parallel to an extension direction of the second axis, the first side edge being close to the first guide hole, and the second side edge being close to the second guide hole; an interphalangeal knuckle assembly rotatably connected to the first knuckle about a third axis, the third axis being parallel to the second axis; a first tendon cord, wherein a first end of the first tendon cord is connectable to the first drive assembly, and a second end of the first tendon cord passes through the first guide hole and is connected to the first side; a second tendon cord, wherein a first end of the second tendon cord is connectable to the second drive assembly, and a second end of the second tendon cord passes through the second guide hole and is connected to the second side edge; A third tendon rope, the first end of which can be connected to a third drive assembly, the second end of which passes through the first axis, passes through the second axis, bypasses the side of the third axis close to the palm side, and is connected to the interphalangeal knuckle assembly.

2. The dexterous hand finger according to claim 1, characterized in that: The first guide hole and the second guide hole both extend along a second direction, the second direction being perpendicular to the first axis and the first direction; and / or, The first side of the first finger joint has a third guide hole extending along a third direction, and the second side of the first finger joint has a fourth guide hole extending along the third direction, and the third direction is perpendicular to the first axis and the second axis, wherein the second end of the first tendon rope passes through the first guide hole and the third guide hole and is connected to the first side, and the second end of the second tendon rope passes through the second guide hole and the fourth guide hole and is connected to the second side.

3. The dexterous hand finger according to claim 1, characterized in that: The dexterous hand fingers also include: a fourth tendon cord, a first end of the fourth tendon cord being connectable to the fourth drive assembly, a second end of the fourth tendon cord being connected to the first connecting portion of the interphalangeal knuckle assembly, the first connecting portion being located on the back of the hand near the third axis; and / or, The dexterous hand fingers also include: a first elastic member, wherein a first end of the first elastic member is connected to the second connecting portion of the side swing base, a second end of the first elastic member is connected to the third connecting portion of the first knuckle, the second connecting portion is located on the second axis close to the back of the hand, and the third connecting portion is located on the third axis close to the back of the hand; A second elastic member, the first end of the second elastic member is connected to the fourth connecting portion of the first knuckle, the second end of the second elastic member is connected to the fifth connecting portion of the interphalangeal knuckle assembly, the fourth connecting portion is located on the third axis close to the back of the hand, and the fifth connecting portion is located on the third axis close to the back of the hand.

4. The dexterous hand finger according to any one of claims 1 to 3, characterized in that: The mounting assembly has a fifth guide hole; The dexterous hand fingers also include: a plurality of tendon cord sleeve assemblies, wherein the first ends of at least three of the tendon cord sleeve assemblies are respectively connected to the mounting assembly and are respectively aligned with the first guide hole, the second guide hole, and the fifth guide hole; Wherein, the first end of the first tendon cord passes through the first guide hole, passes through the tendon cord sleeve assembly aligned with the first guide hole, and is then connected to the first drive assembly; the first end of the second tendon cord passes through the second guide hole, passes through the tendon cord sleeve assembly aligned with the second guide hole, and is then connected to the second drive assembly; the first end of the third tendon cord passes through the fifth guide hole, passes through the tendon cord sleeve assembly aligned with the fifth guide hole, and is then connected to the third drive assembly; In which, when the fingers of the dexterous hand include a fourth tendon, the side-swing base has a sixth guide hole, the first end of at least one tendon sleeve assembly is connected to the side-swing base and aligned with the sixth guide hole, and the first end of the fourth tendon passes through the sixth guide hole, passes through the tendon sleeve assembly aligned with the sixth guide hole, and is connected to the fourth drive assembly.

5. The dexterous hand finger according to claim 4, characterized in that: The tendon sleeve assembly comprises: a sleeve for passing the first tendon cord, the second tendon cord or the third tendon cord, wherein, when the dexterous hand finger includes the fourth tendon cord, the sleeve is also for passing the fourth tendon cord; A connector is connected to one end of the sleeve, and at least three of the tendon sleeve assemblies include the connectors that are detachably connected to the mounting assembly. When the dexterous hand fingers include the fourth tendon, at least one of the tendon sleeve assemblies includes the connector that is detachably connected to the side swing base.

6. The dexterous hand finger according to claim 5, characterized in that: The sleeve comprises: an inner sleeve for passing the first tendon cord, the second tendon cord, or the third tendon cord; and when the dexterous hand finger includes the fourth tendon cord, the inner sleeve is also for passing the fourth tendon cord; The outer sleeve is wrapped around the outer side of the inner sleeve. The outer sleeve is elastic, the hardness of the outer sleeve is greater than the hardness of the inner sleeve, and the friction coefficient of the inner sleeve is less than the friction coefficient of the outer sleeve.

7. The dexterous hand finger according to any one of claims 1 to 3, characterized in that: The side swing base has a first axial hole extending along the second axis, the first finger joint has a second axial hole extending along the second axis and a third axial hole extending along the third axis, and the inter-finger finger joint assembly has a fourth axial hole extending along the third axis; The dexterous hand fingers also include: A first core shaft is passed through the first shaft hole and the second shaft hole, and is connected to the second shaft hole, and rotates with the first finger joint; a second core shaft, passing through the third shaft hole and the fourth shaft hole, and connected to the fourth shaft hole, and rotating with the interphalangeal knuckle assembly; a first magnetic member, disposed at an end of the first core shaft and coaxially disposed with the first core shaft; a second magnetic member, disposed at an end of the second core shaft and coaxially disposed with the second core shaft; An integrated sensor is connected to the first finger joint, and the integrated sensor includes a first sensing part and a second sensing part. The first sensing part is coaxially arranged with the first magnetic part and is configured to detect the absolute position of the first magnetic part. The second sensing part is coaxially arranged with the second magnetic part and is configured to detect the absolute position of the second magnetic part.

8. The dexterous hand finger according to any one of claims 1 to 3, characterized in that: The inter-finger knuckle assembly comprises: a second finger joint, rotatably connected to the first finger joint about the third axis; a third finger joint, rotatably connected to the second finger joint about a fourth axis, wherein the fourth axis is parallel to the third axis; A rocker, wherein the first end of the rocker is connected to the second knuckle, and the second end of the rocker is connected to the third knuckle, wherein, on a cross section perpendicular to the fourth axis, a line connecting the first end of the rocker and the second end of the rocker intersects a line connecting the third axis and the fourth axis.

9. A dexterous hand, characterized in that: include: palm baseplate; The dexterous hand finger according to any one of claims 1 to 8, wherein the mounting assembly of the dexterous hand finger is mounted on the palm substrate.

10. A robot, characterized in that: include: The dexterous hand according to claim 9.

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