Finger structure and dexterous hand

Abstract

The invention discloses a finger structure and a dexterous hand, and relates to the technical field of dexterous hands, the finger structure comprises a first driving device and a linkage finger, the first driving device comprises a first driving part and a transmission mechanism which are arranged on a palm part, and the transmission mechanism comprises a first transmission part and a second transmission part which are matched with each other; the first transmission part is arranged on an output rotating shaft of the first driving part, and the second transmission part is driven by the first transmission part to rotate around a first axis; the linkage finger comprises a phalanx part and a linkage piece, the phalanx part at least comprises a first phalanx part and a second phalanx part, the first phalanx part is fixedly arranged on the second transmission piece, and the second phalanx part is rotationally connected to the end, away from the first driving device, of the first phalanx part and can be driven by the linkage piece to rotate around a second axis; the first axis and the second axis are arranged in parallel. According to the technical scheme, the overturning range of the finger structure can be enlarged when the finger structure is overturned relative to the palm.

Description

Technical Field

[0001] The present invention relates to the technical field of dexterous hands, and particularly to a finger structure and a dexterous hand. Background Art

[0002] When the fingers in the existing dexterous hands are bent, structures such as lead screws and movable rods are mostly used as driving structures to push and pull the finger joints, thereby realizing the bending of the finger joints. However, in this process, due to the limited length of the lead screw, the driving stroke of the lead screw is short, and the fingers cannot be flipped to the maximum extent when flipping relative to the palm, affecting the grasping range of the dexterous hand. Summary of the Invention

[0003] The main object of the present invention is to propose a finger structure, aiming to increase the flipping range of the finger structure when flipping relative to the palm.

[0004] To achieve the above object, the finger structure proposed by the present invention is applied to a dexterous hand. The dexterous hand includes a palm part and the finger structure. The finger structure is installed on the palm part. The finger structure includes:

[0005] A first driving device, including a first driving member provided on the palm part and a transmission mechanism. The transmission mechanism includes a first transmission member and a second transmission member that cooperate with each other. The first transmission member is provided on the output rotating shaft of the first driving member, and the second transmission member rotates around a first axis under the drive of the first transmission member;

[0006] A linkage finger, including a phalanx part and a linkage member. The phalanx part includes at least a first phalanx part and a second phalanx part. The first phalanx part is fixedly provided on the second transmission member. The second phalanx part is rotatably connected to one end of the first phalanx part away from the first driving device and can rotate around a second axis under the drive of the linkage member. The first axis and the second axis are arranged in parallel.

[0007] In an embodiment, the linkage member includes a first connecting rod. The first connecting rod has a first hinged end and a second hinged end. The first hinged end is rotatably provided on the palm part, and the second hinged end is rotatably provided on the second phalanx part and is located on the side close to the first axis of the second axis in the unfolded state of the finger structure.

[0008] In an embodiment, the first hinged end is located on the pulp side of the first axis, and / or, the first connecting rod is provided with a first avoidance concave surface on the side close to the first axis.

[0009] In one embodiment, the phalanx portion further includes a third phalanx portion, and the linkage member further includes a second link having a third hinge end and a fourth hinge end. The third hinge end is rotatably disposed on the first phalanx portion, and the fourth hinge end is rotatably disposed on the third phalanx portion. The third phalanx portion is rotatably connected to an end of the second phalanx portion away from the first phalanx portion and is driven by the second link to be capable of rotating about a third axis.

[0010] In one embodiment, in the deployed state of the finger structure, the third hinge end is located on a side of the second axis closer to the first axis, and / or the fourth hinge end is located on a side of the third axis closer to the first axis, and / or the second link is provided with a second avoidance concave surface on a side surface closer to the second axis.

[0011] In one embodiment, the first transmission member is configured as a worm coaxial with the output rotating shaft, and the second transmission member is configured as a worm wheel meshing with the worm. The axis of the worm wheel is collinear with the first axis.

[0012] In one embodiment, the finger structure further includes a pressure sensor. The pressure sensor is disposed at the end of the phalanx portion and on the pulp side of the phalanx portion.

[0013] The present invention also provides a dexterous hand, including:

[0014] A palm portion;

[0015] A finger structure, the finger structure being mounted on the palm portion.

[0016] In one embodiment, the dexterous hand includes a thumb, an index finger, a middle finger, a ring finger, and a little finger. At least one of the index finger, the middle finger, the ring finger, and the little finger is configured as the finger structure;

[0017] The thumb includes a second driving device and a thumb body drivingly connected to the second driving device. The thumb body includes a metacarpal segment, a first thumb bone segment, and a second thumb bone segment connected in sequence. The metacarpal segment is rotatably disposed on the palm portion about a fourth axis, and the first thumb bone segment is rotatably disposed on the metacarpal segment about a fifth axis.

[0018] In one embodiment, the second driving device includes a third driving member and a fourth driving member. The third driving member is disposed on the palm portion and drivingly connected to the metacarpal segment, and the fourth driving member is disposed on the first thumb bone segment and drivingly connected to the first thumb bone segment.

[0019] The technical solution of the present invention is to drive the linked fingers to rotate relative to the palm by providing a first drive device, wherein the output shaft of the first drive member rotates, thereby causing the second transmission member to rotate about the first axis, thereby driving the first phalanx to rotate about the first axis. In other words, the first drive member rotates to cause the finger structure to flip relative to the palm, wherein the output shaft of the first drive member rotates about its own axis, so that the first drive member has a sufficient drive stroke, thereby increasing the flipping range of the finger structure relative to the palm, and avoiding the situation where the flipping range of the finger structure is small due to insufficient drive stroke. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0021] Figure 1 A schematic structural diagram of an embodiment of a finger structure provided by the present invention;

[0022] Figure 2 for Figure 1 A side view bar diagram of the embodiment shown in FIG. 1 in the unfolded state;

[0023] Figure 3 for Figure 1 The side view bar diagram of the embodiment shown in FIG. 1 in the gripping state;

[0024] Figure 4 for Figure 1 A schematic structural diagram of the first driving device in the illustrated embodiment;

[0025] Figure 5 for Figure 1 Another structural schematic diagram of the embodiment shown;

[0026] Figure 6 A schematic structural diagram of an embodiment of the dexterous hand provided by the present invention;

[0027] Figure 7 for Figure 6 A partial exploded view of the thumb body in the illustrated embodiment.

[0028] Description of Figure Numbers:

[0029] 100, first drive device; 11, first drive member; 12, transmission mechanism; 121, first transmission member; 122, second transmission member; 123, worm; 124, turbine;

[0030] 200. Linkage finger; 21. Phalanx part; 211. First phalanx part; 212. Second phalanx part; 213. Third phalanx part; 22. Linkage member; 221. First connecting rod; 222. First hinge end; 223. Second hinge end; 224. First avoidance concave surface; 225. Second connecting rod; 226. Third hinge end; 227. Fourth hinge end; 228. Second avoidance concave surface;

[0031] 300. Pressure sensor;

[0032] 400. Dexterous hand; 41. Palm part; 411. Palm housing; 412. Avoidance notch; 42. Finger structure;

[0033] 500. Second driving device; 51. Third driving member; 52. Fourth driving member;

[0034] 600. Thumb body; 61. Metacarpal segment; 62. First thumb phalanx segment; 63. Second thumb phalanx segment.

[0035] The realization, functional features and advantages of the objectives of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed implementation manners

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0037] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0038] In addition, if the embodiments of the present invention involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0039] The present invention provides a finger structure.

[0040] Please refer to Figures 1 to 7 , in an embodiment of the present invention, the finger structure 42 is applied to the dexterous hand 400. The dexterous hand 400 includes a palm part 41 and the finger structure 42. The finger structure 42 is installed on the palm part 41. The finger structure 42 includes:

[0041] The first driving device 100 includes a first driving member 11 provided on the palm part 41 and a transmission mechanism 12. The transmission mechanism 12 includes a first transmission member 121 and a second transmission member 122 that cooperate with each other. The first transmission member 121 is provided on the output rotating shaft of the first driving member 11. The second transmission member 122 rotates around a first axis under the drive of the first transmission member 121.

[0042] The linkage finger 200 includes a phalanx part 21 and a linkage member 22. The phalanx part 21 includes at least a first phalanx part 211 and a second phalanx part 212. The first phalanx part 211 is fixedly provided on the second transmission member 122. The second phalanx part 212 is rotatably connected to one end of the first phalanx part 211 away from the first driving device and can rotate around a second axis under the drive of the linkage member 22. The first axis and the second axis are arranged in parallel.

[0043] The technical solution of the present invention drives the linkage finger 200 to rotate relative to the palm part 41 by setting the first driving device 100. Among them, the output rotating shaft of the first driving member 11 rotates, and then the second transmission member 122 rotates around the first axis, so as to drive the first phalanx part 211 to rotate around the first axis. That is, the first driving member 11 drives the finger structure 42 to flip relative to the palm part 41 in a rotating manner. The output rotating shaft of the first driving member 11 rotates around its own axis, so that the first driving member 11 has a sufficient driving stroke, thereby being able to increase the flipping range of the finger structure 42 relative to the palm part 41, so as to avoid the situation that the flipping range of the finger structure 42 is small due to insufficient driving stroke.

[0044] Please refer to Figures 1 to 3 , in an embodiment, the linkage member 22 includes a first connecting rod 221. The first connecting rod 221 has a first hinge end 222 and a second hinge end 223. The first hinge end 222 is rotatably arranged on the palm part 41, and the second hinge end 223 is rotatably arranged on the second phalanx part 212 and is located on the side close to the first axis of the second axis in the unfolded state of the finger structure 42. That is, the linkage member 22 is configured as a crank-slider mechanism. When the first phalanx part 211 and the second phalanx part 212 rotate in place, that is, when the finger structure 42 is in a holding state, the first phalanx part 211 and the second phalanx part 212 can surround a holding space. The first driving member 11 can apply a moment to the first phalanx part 211 in the holding state, so that the first phalanx part 211 and the second phalanx part 212 can firmly hold the item in the holding space. In other embodiments, it may also be that the linkage member 22 includes a tendon transmission mechanism. The tendon transmission mechanism includes a tendon. One end of the tendon is connected to the end of the phalanx part 21 away from the palm part 41, and the first driving member 11 is connected to the other end of the tendon and is configured to pull the tendon, so that the tendon pulls the lower-level phalanx part 21 to rotate around the second axis or an axis parallel to the second axis relative to the upper-level phalanx part 21.

[0045] When the finger structure 42 changes from the unfolded state to the gripping state, the first driving device 100 drives the first phalanx portion 211 to flip toward the palm side. The first phalanx portion 211 has a tendency to drive the second phalanx portion 212 to move around the first axis through the connection with the second phalanx portion 212. At this time, since the first connecting rod 221 is not subjected to external force and does not move relative to the palm portion 41, when the second phalanx portion 212 moves, the second hinge end 223 of the first connecting rod 221 will push the second phalanx portion 212, thereby causing the second phalanx portion 212 to flip toward the palm side around the second axis, that is, while the second phalanx portion 212 follows the first phalanx portion 211 to rotate around the first axis, it itself rotates around the second axis. When the finger structure 42 changes from a gripping state to an unfolded state, the first driving device 100 drives the first phalanx part 211 to flip toward the dorsal side of the palm, and the first phalanx part 211 drives the second phalanx part 212 so that the second phalanx part 212 has a tendency to move around the first axis. Therefore, when the second phalanx part 212 moves, the second hinged end 223 of the first connecting rod 221 will pull the second phalanx part 212 to rotate around the second axis, so that the second phalanx part 212 flips toward the dorsal side of the palm. At this time, the first connecting rod 221 will also be driven by the second phalanx part 212 and flipped toward the dorsal side of the palm through the first hinged end 222.

[0046] In one embodiment, the first hinge end 222 is located on the finger web side of the first axis. Since the end of the second phalanx 212 connected to the second hinge end 223 moves toward the dorsal palm side during the transition of the finger structure 42 from the unfolded state to the gripping state, the second hinge end 223 is driven to move toward the dorsal palm side. Therefore, positioning the first hinge end 222 on the finger web side of the first axis allows the first connecting rod 221 to be positioned closer to the finger web side when the finger structure 42 is in the gripping state. Positioning the first hinge end 222 on the finger web side also allows for more balanced force distribution of the connecting rod during finger movement. During transmission, the direction of force applied and the distribution of reaction forces are more conducive to maintaining the balance of the finger structure 42. For example, when a finger is subjected to an external force (such as the reaction force of an object when grasping an object), the rational connection position of the connecting rod allows the entire finger structure 42 to better resist the bending moment and shear force generated by the external force, reducing jitter and instability during finger movement and ensuring smooth finger movement.

[0047] This layout is conducive to the rational utilization of the internal space of the finger structure 42. Setting the first hinge end 222 on the finger belly side can avoid spatial conflicts between the connecting rod and other finger components (such as other phalanges, sensors, etc.). For example, when the dexterous hand 400 needs to integrate multiple sensors (such as tactile sensors, force sensors, etc.) to sense the external environment, the first hinge end 222 located on the finger belly side can create more space for components such as sensors, making the internal structure of the finger more compact, while not affecting the normal function of each component, and improving the space utilization rate of the entire finger structure 42. Further, the first connecting rod 221 is provided with a first avoidance concave surface 224 on the side close to the first axis to avoid the second rotating member. In other embodiments, the first hinge end 222 may also be located on the palmar-dorsal side of the first axis.

[0048] In one embodiment, the phalanx part 21 further includes a third phalanx part 213, and the linkage 22 further includes a second connecting rod 225 having a third hinge end 226 and a fourth hinge end 227. The third hinge end 226 is rotatably provided on the first phalanx part 211, and the fourth hinge end 227 is rotatably provided on the third phalanx part 213; the third phalanx part 213 is rotatably connected to one end of the second phalanx part 212 away from the first phalanx part 211 and can be driven by the second connecting rod 225 to rotate around the third axis. Adding the third phalanx part 213 and the second connecting rod 225 makes the finger structure 42 closer to the anatomical structure of a real human finger. When grasping an object with a complex or irregular shape, the third phalanx part 213 can provide more bending degrees of freedom, and the connection method of the second connecting rod 225 makes the movement of the third phalanx part 213 more stable. The third hinge end 226 and the fourth hinge end 227 are respectively connected to the first phalanx part 211 and the third phalanx part 213, and this linkage mechanism can effectively control the movement trajectory of the third phalanx part 213. During the finger movement process, especially when affected by external forces, the linkage mechanism can provide better support and guidance, reduce the jitter of the third phalanx part 213, and ensure the stability of the entire finger structure 42. In other embodiments, the third phalanx part 213 may not be provided.

[0049] When the finger structure 42 changes from the expanded state to the gripping state, the first phalanx part 211 flips toward the palm side around the first axis, and the second phalanx part 212 flips toward the palm side around the second axis. During this process, the third phalanx part 213 is driven by the second phalanx part 212 to rotate around the second axis, and the third hinge end 226 of the second connecting rod 225 is driven by the first phalanx part 211 to rotate around the first axis. Since the centers of the second connecting rod 225 and the third phalanx part 213 are inconsistent during the rotation process, the second connecting rod 225 has a thrust on the third phalanx part 213 through the fourth hinge end 227 to push the third phalanx part 213 to flip around the third axis toward the palm side. At this time, the third phalanx part 213 can drive the second connecting rod 225 to rotate around the third hinge end 226 toward the palm side. When the fingers change from a gripping state to an unfolded state, the first phalanx 211 and the second phalanx 212 both flip toward the dorsal side of the palm. During this process, the centers of the second connecting rod 225 and the third phalanx 213 are inconsistent during the rotation. Therefore, the second connecting rod 225 exerts a pulling force on the third phalanx 213 through the fourth hinge end 227 to pull the third phalanx 213 to flip toward the dorsal side around the third axis. At this time, the third phalanx 213 can drive the second connecting rod 225 to rotate toward the dorsal side around the third hinge end 226.

[0050] It should be noted that the phalanges 21 also constitute part of the crank-connecting rod mechanism. Specifically, in an embodiment in which only the first phalanges 211 and the second phalanges 212 are provided, the crank-connecting rod mechanism includes the first phalanges 211, the second phalanges 212, the first connecting rod 221, and the second connecting rod 225. In an embodiment in which the first phalanges 211, the second phalanges 212, and the third phalanges 213 are provided, the crank-connecting rod mechanism includes the first phalanges 211, the second phalanges 212, the third phalanges 213, the first connecting rod 221, and the second connecting rod 225.

[0051] In one embodiment, in the deployed state of the finger structure 42, the third hinge end 226 is located on the side of the second axis closer to the first axis. Since, during the process of the finger structure 42 changing from the deployed state to the grasping state, the end of the third phalanx 213 connected to the fourth hinge end 227 moves towards the palm-back side, it will drive the third hinge end 226 to move towards the palm-back side. Therefore, by arranging the third hinge end 226 on the finger belly side of the second axis, when the finger structure 42 is in the grasping state, the first link 221 can be arranged closer to the finger belly side. Since the third hinge end 226 is close to the second axis, when the finger structure 42 switches from the deployed state to the grasping state, the movement of the first phalanx 211 can act on the third phalanx 213 more directly through the second link 225, reducing energy loss and delay during the movement process, enabling the third phalanx 213 to respond quickly and accurately to the movement of the first phalanx 211, and improving the agility and accuracy of the movement of the entire finger structure 42. Since, during the process of the finger structure 42 changing from the deployed state to the grasping state, the end of the second phalanx 212 connected to the second hinge end 223 moves towards the palm-back side, it will drive the second hinge end 223 to move towards the palm-back side. Therefore, by arranging the first hinge end 222 on the finger belly side of the first axis, when the finger structure 42 is in the grasping state, the first link 221 can be arranged closer to the finger belly side. Under force, the third hinge end 226 is located on the side of the second axis closer to the first axis, enabling the second link 225 to more effectively transmit the force acting on the third phalanx 213 to the first phalanx 211 and the palm part 41. This helps to optimize the mechanical properties of the entire finger structure 42, disperse stress concentration points, reduce the situation of excessive local stress, and improve the strength and durability of the finger structure 42. For example, when grasping a heavy object, the force borne by the third phalanx 213 can be better transmitted and dispersed through the second link 225, thereby reducing the burden on the third phalanx 213 and reducing the risk of its damage. Further, the fourth hinge end 227 is located on the side of the third axis closer to the first axis, so as to facilitate the connection of the second link 225 and the fourth hinge post, and can play a role in facilitating the second link 225 to apply force to the fourth hinge post. Further, the second link 225 is provided with a second avoidance concave surface 228 on the side surface close to the second axis for avoiding the second axis.

[0052] Please refer to Figures 4 to 5, in one embodiment, the first transmission member 121 is configured as a worm 123 coaxially arranged with the output rotating shaft, and the second transmission member 122 is configured as a worm wheel meshingly connected to the worm 123, and the axis of the worm wheel is collinear with the first axis. That is, the axis of the first transmission member 121 intersects with the axis of the second rotating member, that is, the axis of the first driving member 11 intersects with the first axis. That is, when there is insufficient installation space for the palm portion 41 of the first driving device 100, the axis direction of the output rotating shaft of the first driving member 11 can be changed relative to the axis direction of the first axis to reduce the volume of the first driving device 100 in a single direction within the installation space. This enables the transmission structure between torques to be realized in a smaller space. This layout allows the palm portion 41 of the dexterous hand 400 to accommodate more mechanical components without occupying too much space, thereby improving the structural compactness of the entire dexterous hand 400. The meshing of the worm 123 and the worm wheel can achieve high-precision motion control. The worm 123 transmission has the characteristics of accurate transmission ratio and smooth transmission, enabling the rotation of the first phalanx portion 211 around the first axis to be more precise and stable. This precise transmission method is suitable for the dexterous hand 400 when performing fine operations, such as grasping small objects or performing complex operation tasks, to ensure the motion accuracy of the fingers. The worm 123 transmission usually has a self-locking property. When the number of teeth of the worm wheel is small, the worm 123 transmission can achieve reverse self-locking. This means that after the first driving member 11 stops driving, the first phalanx portion 211 can remain in the current position without reverse rotation due to external forces, thereby improving the stability and reliability of the finger structure 42. This is very useful for the dexterous hand 400 to maintain the grasping state after grasping an object and prevent the object from slipping accidentally. Further, the extending direction of the first driving member 11 is consistent with the extending direction of the finger structure 42 in the unfolded state. This layout is beneficial to the reasonable layout of the internal components of the finger. The driving member is arranged along the extending direction of the finger structure 42, which can form a relatively compact layout inside the finger, avoiding mutual interference and congestion between the driving member and other components. This provides more space for the installation and arrangement of other components and improves the overall integration degree of the finger structure 42.

[0053] In one embodiment, the finger structure 42 further includes a pressure sensor 300 disposed at the end of the phalanx portion 21 and located on the pulp side of the phalanx portion 21. There is an electrical connection relationship between the pressure sensor 300 and the first driving member 11 to enable data transmission. The pressure sensor 300 is provided on the pulp side at the end of the phalanx portion 21 and can directly contact and sense the pressure information on the surface of an object. This positional layout enables the sensor to accurately detect the contact force between the finger and the object, providing precise tactile feedback for the dexterous hand 400. For example, when grasping a fragile object, the pressure sensor 300 can monitor the grasping force in real time to prevent damage to the object due to excessive force. The electrical connection relationship between the pressure sensor 300 and the first driving member 11 enables the pressure sensor 300 to transmit the detected pressure data to the driving member in real time. The first driving member 11 can adjust the output torque according to this data to achieve real-time force feedback control. For example, when the pressure sensor 300 detects insufficient grasping force, the driving member can increase the output torque to make the finger grasp the object more firmly; conversely, when the grasping force is too large, the driving member can reduce the output torque to avoid damaging the object. In other embodiments, the pressure sensor 300 may not be provided.

[0054] Please refer to Figures 6 to 7 , the present invention also provides a dexterous hand 400, which includes a palm portion 41 and a finger structure 42. The specific structure of the finger structure 42 refers to the above embodiments. Since the dexterous hand 400 adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be elaborated herein one by one. Among them, the finger structure 42 is installed on the palm portion 41.

[0055] In one embodiment, the dexterous hand 400 includes a thumb, an index finger, a middle finger, a ring finger, and a little finger, and at least one of the index finger, the middle finger, the ring finger, and the little finger is configured as the finger structure 42;

[0056] The thumb includes a second driving device 500 and a thumb body 600 drivingly connected to the second driving device 500. The thumb body 600 includes a metacarpal segment 61, a first thumb bone segment 62, and a second thumb bone segment 63 connected in sequence. The metacarpal segment 61 is rotatably disposed on the palm portion 41 around a fourth axis, and the first thumb bone segment 62 is rotatably disposed on the metacarpal segment 61 around a fifth axis. The fourth axis and the fifth axis intersect. The thumb body 600 flips towards the palm side around the fourth axis, and the thumb body 600 bends towards the palm side around the fifth axis. This enables the thumb to cooperate with the other four fingers to hold an object. Such a design of the fourth axis and the fifth axis enables the thumb to achieve complex movements similar to those of a human thumb. The thumb can flip towards the palm side around the fourth axis and bend towards the palm side around the fifth axis at the same time. This movement ability enables the thumb to better cooperate with other fingers to achieve more delicate operations, such as pinching small objects or making complex gesture movements. Further, the index finger, the middle finger, the ring finger, and the little finger are all configured as finger structures 42. In other embodiments, it may also be that the thumb is also configured as a finger structure 42.

[0057] In an embodiment, the second driving device 500 includes a third driving member 51 and a fourth driving member 52. The third driving member 51 is disposed on the palm portion 41 and drivingly connected to the metacarpal segment 61. The fourth driving member 52 is disposed on the first thumb bone segment 62 and drivingly connected to the first thumb bone segment 62. Further, the palm portion 41 further includes a palm housing 411. The palm housing 411 is provided with an avoidance notch 412 corresponding to the thumb. The avoidance notch 412 extends from the side surface of the palm portion 41 to the side with the palm of the palm portion 41. The thumb body 600 extends out from the avoidance notch 412, and the metacarpal segment 61 abuts against the upper end and / or the lower end of the avoidance notch 412. That is, the third driving member 51 can drive the metacarpal segment 61 to move along the extending direction of the avoidance notch 412. When the fourth driving member 52 drives the first thumb segment to rotate relative to the metacarpal segment 61, since the metacarpal segment 61 is abutted by the avoidance notch 412, the first thumb segment is forced to rotate around the fourth axis on the metacarpal segment 61, so that the first thumb segment and the second thumb segment approach or move away from the palm portion 41. In other embodiments, it may also be that the second driving device 500 includes a third driving member 51, a fourth driving member 52, and a fifth driving member. The fifth driving member is disposed on the second thumb bone segment 63 and can enable the second thumb bone segment 63 to be rotatably disposed on the first thumb bone segment 62 around a sixth axis.

[0058] In one embodiment, the second driving device 500 further includes a second worm 123 and a second turbine 124 that are drivingly connected to the third driving member 51. Among them, the axial direction of the second turbine 124 is collinear with the fourth axis, the axis of the second worm 123 is collinear with the output rotating shaft of the third driving member 51, and the axes of the second worm 123 and the second turbine 124 intersect; the second driving device 500 further includes a third worm 123 and a third turbine 124 that are drivingly connected to the fourth driving member 52. Among them, the axial direction of the third turbine 124 is collinear with the fifth axis, the axis of the third worm 123 is collinear with the output rotating shaft of the fourth driving member 52, and the axes of the third worm 123 and the third turbine 124 intersect. Both the second turbine 124 and the third turbine 124 are fixedly connected to the metacarpal segment 61. That is to say, the third driving member 51 causes the metacarpal segment 61 to rotate around the fourth axis by driving the rotation of the second turbine 124; the fourth driving member 52 causes the third turbine 124 to rotate, and due to the abutting relationship between the metacarpal segment 61 and the upper end and / or the lower end of the avoidance notch 412, the fifth axis of the first thumb segment with the fourth driving member 52 rotates relative to the metacarpal segment 61. Further, the structural configurations of the third driving member 51, the second worm 123 and the second turbine 124, and the fourth driving member 52, the third worm 123 and the third turbine 124 in the second driving device 500 are the same as those of the first driving device 100.

[0059] In one embodiment, it may also be that a pressure sensor 300 is provided on the second thumb bone segment 63. The pressure sensor 300 is provided at one end away from the palm portion 41 and is located on the pulp side of the thumb body 600. The pressure sensor 300 can be electrically connected to the second driving device 500 to transmit data, so that the second driving device 500 can adjust the output torque according to these data to achieve real-time force feedback control.

[0060] The above are only exemplary embodiments of the present invention, and thus do not limit the protection scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields, is included in the protection scope of the present invention.

Claims

1. A finger structure is applied to a dexterous hand. The dexterous hand includes a palm part and the finger structure, and the finger structure is mounted on the palm part. It is characterized in that, The finger structure includes: A first driving device, including a first driving member and a transmission mechanism disposed on the palm portion. The transmission mechanism includes a first transmission member and a second transmission member that cooperate with each other. The first transmission member is disposed on the output rotating shaft of the first driving member, and the second transmission member rotates around a first axis under the drive of the first transmission member. A linkage finger, including a phalanx portion and a linkage member. The phalanx portion includes at least a first phalanx portion and a second phalanx portion. The first phalanx portion is fixedly disposed on the second transmission member. The second phalanx portion is rotatably connected to an end of the first phalanx portion away from the first driving device and can rotate around a second axis under the drive of the linkage member. The first axis and the second axis are arranged in parallel.

2. The finger structure according to claim 1, wherein The linkage member includes a first connecting rod, which has a first hinged end and a second hinged end. The first hinged end is rotatably disposed on the palm portion, and the second hinged end is rotatably disposed on the second phalanx portion, and is located on a side of the second axis close to the first axis in the unfolded state of the finger structure.

3. The finger structure according to claim 2, characterized in that, The first hinged end is located on the pulp side of the first axis, and / or a first avoidance concave surface is provided on a side surface of the first connecting rod close to the first axis.

4. The finger structure according to claim 2, characterized in that The phalanx portion further includes a third phalanx portion, and the linkage member further includes a second connecting rod having a third hinged end and a fourth hinged end. The third hinged end is rotatably disposed on the first phalanx portion, and the fourth hinged end is rotatably disposed on the third phalanx portion. The third phalanx portion is rotatably connected to an end of the second phalanx portion away from the first phalanx portion and can rotate around a third axis under the drive of the second connecting rod.

5. The finger structure according to claim 4, wherein, In the unfolded state of the finger structure, the third hinged end is located on a side of the second axis close to the first axis, and / or the fourth hinged end is located on a side of the third axis close to the first axis, and / or a second avoidance concave surface is provided on a side surface of the second connecting rod close to the second axis.

6. The finger structure according to claim 2, characterized in that, The first transmission member is configured as a worm coaxial with the output rotating shaft, and the second transmission member is configured as a worm wheel meshing with the worm. The axis of the worm wheel is collinear with the first axis.

7. The finger structure according to claim 1, characterized in that The finger structure further includes a pressure sensor, which is disposed at the end of the phalanx portion and is located on the pulp side of the phalanx portion.

8. A dexterous hand, characterized in that, including: A palm portion; The finger structure according to any one of claims 1 to 7, and the finger structure is mounted on the palm portion.

9. The dexterous hand according to claim 8, wherein The dexterous hand includes a thumb, an index finger, a middle finger, a ring finger, and a little finger. At least one of the index finger, the middle finger, the ring finger, and the little finger is configured as the finger structure; The thumb includes a second driving device and a thumb body drivingly connected to the second driving device. The thumb body includes a metacarpal segment, a first thumb bone segment, and a second thumb bone segment connected in sequence. The metacarpal segment is rotatably disposed on the palm portion around a fourth axis, and the first thumb bone segment is rotatably disposed on the metacarpal segment around a fifth axis.

10. The dexterous hand according to claim 9, characterized in that, The second driving device includes a third driving member and a fourth driving member. The third driving member is disposed on the palm portion and is drivingly connected to the metacarpal segment. The fourth driving member is disposed on the first thumb bone segment and is drivingly connected to the first thumb bone segment.

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