Finger structure, dexterous hand and robot

Abstract

The invention discloses a finger structure, a dexterous hand and a robot, and relates to the technical field of robots. Comprising three knuckle units connected in sequence. The three knuckle units comprise a first knuckle unit, a second knuckle unit and a third knuckle unit which are connected in sequence, and the end, away from the first knuckle unit, of the third knuckle unit is connected with a first connecting piece; each knuckle unit comprises a knuckle main body, an elastic connecting piece, a universal piece and a tendon rope; a universal piece is arranged between every two adjacent knuckle main bodies, and the knuckle main bodies are rotationally connected through the universal pieces; the elastic connecting pieces surround the universal pieces and are arranged between the adjacent knuckle main bodies; at least one first threading channel and a first annular channel communicated with the first threading channel are arranged in the knuckle main body; at least one first threading hole communicated with the first threading channel is formed in the end part of the knuckle main body; according to the technical scheme, the problems that an existing dexterous hand is complex in structure, low in assembly efficiency, poor in flexibility and large in part loss are solved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a finger structure, a dexterous hand, and a robot. Background Technology

[0002] A dexterous hand is a human-hand-like robot end effector used to perform diverse tasks such as grasping, manipulating, and sensing. In order for a dexterous hand to perform the same functions as a human hand, the design requirements for dexterous hands are more stringent. Not only must the dexterous hand have a high degree of freedom, but it must also be small in size. In addition, it is necessary to minimize the manufacturing and maintenance costs of the dexterous hand.

[0003] The current mainstream dexterous hand joints use mechanical structures to transmit force and achieve relative movement between finger joints. For example, document CN120715931A discloses "a mechanical dexterous hand finger and dexterous hand", which is a typical example of multi-structure collaborative driving of finger joint movements. This type of dexterous hand has the following problems: First, the overall structure is complex and there are many parts, resulting in low assembly efficiency during the assembly process, and the tightness of the assembly is required. Otherwise, it is easy to affect the linkage relationship of multiple structures. Second, the range of motion of the fingers is limited, and they can only complete basic bending movements, resulting in poor flexibility in practical applications. Third, since multiple parts are linked to form corresponding movements, the wear and tear of parts is large under multiple movements, and the efficiency of the motor is also reduced. Summary of the Invention

[0004] The purpose of this application is to provide a finger structure, a dexterous hand, and a robot to solve at least one of the above-mentioned technical problems.

[0005] To address the aforementioned technical problems, this application provides a finger structure, a dexterous hand, and a robot. In one aspect, this application provides a finger structure comprising three sequentially connected knuckle units; the three knuckle units include a first knuckle unit, a second knuckle unit, and a third knuckle unit connected sequentially, with the end of the third knuckle unit furthest from the first knuckle unit connected to a first connector.

[0006] The phalanx unit includes a phalanx body, an elastic connector, a universal joint, and a tendon cord; a universal joint is provided between adjacent phalanx bodies, and the phalanx bodies are rotatably connected through the universal joint; a plurality of elastic connectors are provided and are arranged around the universal joint between adjacent phalanx bodies;

[0007] The finger joint body is provided with at least one first threading channel and a first annular channel communicating with the first threading channel, the first annular channel being adapted for the tendon cord to be wound; at least one first threading hole communicating with the first threading channel is formed at the end of the finger joint body.

[0008] In the aforementioned implementation process, the finger structure in this solution, through a combination design of "three sequentially connected phalanx units + universal joints + elastic connectors + tendon cord threading system," fundamentally solves the core pain points of existing dexterous hands: "complex structure, low assembly efficiency, poor flexibility, and high component wear." Firstly, regarding structural simplification and assembly efficiency, adjacent phalanx bodies are rotatably connected only by universal joints, eliminating complex transmission components such as multi-links and gears in existing technologies. This significantly reduces the number of parts and lowers the stringent requirements for assembly tightness—during assembly, simply embedding the universal joint into the mating surface of the adjacent phalanx body and then installing the elastic connector around the universal joint is sufficient. The operation process is simpler, significantly improving assembly efficiency, while avoiding motion malfunctions caused by insufficient precision in multi-part linkage. Secondly, regarding flexibility and motion diversity, the universal joint design breaks the limitation of traditional mechanical joints that "can only bend in one direction," allowing the phalanx to achieve multi-dimensional rotation within a certain range, laying the foundation for subsequent compound movements such as flexion, extension, and lateral movement. Furthermore, the several elastic connectors distributed around the universal joint not only allow for flexible connection of tendon cords but also... The relaxation mechanism provides a stable restoring force to the knuckle, preventing postural deviations caused by the knuckle's own weight or external forces. It also buffers impact forces during knuckle rotation, reducing hard friction between the knuckle body and the universal joint, lowering the wear rate of parts, and extending the overall lifespan of the finger. Finally, the design of the tendon cord threading system (first threading channel + first annular channel + first threading hole) optimizes power transmission efficiency: the first annular channel allows the tendon cord to wind around, increasing the contact area between the tendon cord and the knuckle body, preventing slippage or breakage due to excessive localized force during transmission; the interconnected structure of the first threading channel and the first threading hole provides a regular arrangement path for the tendon cord, preventing interference with other components and facilitating inspection, adjustment, or replacement during subsequent maintenance without disassembling the entire knuckle structure, further reducing maintenance costs. In summary, this structure, while ensuring the finger's basic grasping ability, achieves multiple benefits: simplified structure, improved flexibility, reduced wear, and convenient maintenance, providing core support for the lightweight and efficient development of dexterous hands.

[0009] Preferably, the third phalanx unit is further provided with a second annular channel and a second threading channel communicating with the second annular channel, and the plane of the second annular channel is set at an angle to the plane of the first annular channel.

[0010] In the aforementioned implementation process, this solution, by adding a "second annular channel + second threading channel" to the third finger joint unit and setting them at an angle to the original first annular channel, significantly overcomes the technical bottleneck of existing dexterous hands, which are limited in the dimensions of finger movement and can only perform basic bending movements. This significantly improves the diversity of finger movements and task adaptability. From the perspective of expanding the dimensions of movement, in existing technologies, the tendons of the fingers can only be transmitted along a single channel, resulting in the fingers only being able to perform the basic movement of "flexion and extension in the palm direction." When facing irregular objects (such as cylinders or polygonal parts) or complex manipulation tasks (such as twisting bottle caps or plugging and unplugging plugs), problems such as "unstable gripping" or "inability to apply force accurately" easily occur. In this solution, the angled design between the second annular channel and the first annular channel allows the tendons to control different movements of the third finger joint through two transmission paths at different angles. For example, if the first annular channel corresponds to "finger flexion and extension," the angled second annular channel can correspond to "finger lateral movement," enabling the fingers to have multi-dimensional movement capabilities. This design eliminates the need for additional drive components, expanding the finger's range of motion solely through channel angle optimization. It maintains the advantage of "structural simplification" while addressing functional deficiencies in existing technologies. Furthermore, from a practical application perspective, the multi-dimensional movement capabilities allow the fingers to better adapt to different scenarios: in industrial assembly, fingertip twisting can adjust part posture, ensuring precise part alignment; in service robotics, it can more flexibly grasp everyday items of different shapes (e.g., fingertips aligning with the body of a cup when holding it). Additionally, the connection structure between the second threading channel and the second annular channel follows the design logic of "regulating tendon cord paths," preventing tendon cord entanglement or interference caused by the new channel and ensuring stable power transmission. Simultaneously, the new structure is limited to the third phalanx unit and does not affect the original functions of the first and second phalanges, achieving the design goal of "functional upgrades without damaging the basic structure," providing crucial support for subsequent overall performance improvements in dexterous hands.

[0011] Preferably, the plane containing the second annular channel is perpendicular to the plane containing the first annular channel;

[0012] Preferably, the plane containing the first annular channel is parallel to the fingertip surface of the phalanx body;

[0013] In the above implementation process, the vertical channel plane in this solution constructs an "orthogonal motion coordinate system" for the fingers, making the division of labor for the third phalanx clearer and more controllable. Considering practical application scenarios, if the plane of the first annular channel is parallel to the fingertip surface, its corresponding transmission direction can precisely control the "flexion and extension movements of the fingers along the fingertip surface" (i.e., the core movement when the hand grasps); while the second annular channel, perpendicular to it, can precisely control the "lateral swinging movements of the fingers perpendicular to the fingertip surface" (i.e., the auxiliary movements of adjusting the grip width or conforming to irregular objects). This orthogonal design ensures that the two movements do not interfere with each other, avoiding "movement coupling" caused by non-perpendicular channel angles (such as unnecessary lateral swinging during flexion and extension), allowing the fingers to precisely execute single or compound movements according to task requirements—for example, when grasping a cylinder with a small diameter, only flexion and extension need to be controlled through the first annular channel for stable gripping; while when grasping an object with a rectangular cross-section, lateral swing can be controlled through the second annular channel, allowing the fingertip to conform to the object's edges, improving grip stability; furthermore, the vertical plane design also optimizes the transmission efficiency and lifespan of the tendon ligament. Because the two annular channels are perpendicular, the tendons wrapped within them experience a clear direction of force during transmission, preventing friction between the tendons due to overlapping angles and reducing wear. Simultaneously, the clear transmission direction allows the motor's output power to be directly converted into finger movements, avoiding power loss due to motion coupling and improving motor efficiency. This contrasts sharply with the problem of "high power loss due to multiple parts linkage" in existing technologies. Furthermore, the vertical plane design facilitates the subsequent control system of the dexterous hand—the control system can independently control the tension of the tendons in the two channels to precisely adjust the posture of the third finger joint, reducing the complexity of the control algorithm and facilitating precise closed-loop control of finger movements. Moreover, under the control of dual motors, by controlling the driving force of different motors, the third finger joint can theoretically achieve movements far exceeding 360 degrees of a human hand after the rotation angle is superimposed, not just a unidirectional fist clenching or finger opening and closing, but even a certain degree of reverse movement (which a normal human hand cannot perform). This greatly improves the flexibility of actual operation and gives the robotic hand greater room for imagination. In summary, this limitation enables the fingers to achieve "precise movements, efficient transmission, and easy control" while possessing multi-dimensional movement capabilities, significantly enhancing the practical value of the fingers.

[0014] Preferably, a first adjustment hole and a second adjustment hole are provided on the side wall of the knuckle body; the first adjustment hole is connected to the first threading channel and the first annular channel; the second adjustment hole is connected to the second threading channel and the second annular channel.

[0015] In the above implementation process, during the assembly stage, the tension of the tendon cord directly affects the sensitivity and stability of finger movements—too loose will cause lag in finger joint movement and inability to accurately reset; too tight will increase the motor load and accelerate the wear of the tendon cord and the channel wall. In the prior art, adjusting the tension of the tendon cord requires disassembling the outer shell or connecting parts of the finger joint body, which is cumbersome and easily damages the original assembly precision. However, the adjustment hole design of this solution allows the operator to directly contact the tendon cord in the threading channel or annular channel without disassembling the finger joint body: for example, a special tool can be inserted into the first adjustment hole to fine-tune the winding length of the tendon cord in the first annular channel, or adjust the tension of the tendon cord in the first threading channel; similarly, the second adjustment hole can be used to fine-tune the tendon cord in the second annular channel and the second threading channel. This design greatly simplifies the assembly process, shortens the debugging time, and avoids damage to the precision of parts caused by disassembly operations, improving the consistency and pass rate of finger assembly; secondly, the role of the adjustment hole is even more prominent in the maintenance stage. In existing technologies, if the tendon ligament becomes loose or locally worn, the entire knuckle must be disassembled for inspection or replacement, resulting in high maintenance costs and time consumption. In this solution, however, operators can directly observe the wear condition of the tendon ligament within the channel through the adjustment hole to determine if replacement is necessary. If only slightly loose, it can be quickly adjusted through the adjustment hole without disassembly. Even if replacement is required, the old tendon ligament can be pulled out and the new one inserted through the adjustment hole, simplifying the replacement process. Furthermore, the adjustment hole does not compromise the structural strength of the knuckle body—it is only located on the side wall, and the diameter of the hole connecting to the channel has been optimized to prevent stress concentration or breakage of the knuckle body during gripping. In summary, this design achieves the dual benefits of "improved assembly efficiency + reduced maintenance costs" through "minor structural improvements," making the finger structure more suitable for industrial mass production and long-term use.

[0016] Preferably, the elastic element is a spring, and the spring has four springs evenly distributed around the four corners of the universal joint;

[0017] In the above implementation process, firstly, from the perspective of the selection of elastic component materials, springs have a more stable elastic coefficient and a longer service life compared to elastic materials such as rubber and silicone. Rubber materials are prone to fatigue and aging over long-term use, leading to elastic decay, while springs (especially metal springs) can maintain stable elastic force after multiple compression-rebound cycles, ensuring the consistency of knuckle return force. This advantage is particularly evident in high-frequency action scenarios for dexterous hands (such as repeatedly grasping parts in industrial assembly lines), avoiding knuckle return lag caused by the aging of elastic components and ensuring the sensitivity of finger movements. Secondly, the layout design of "four evenly distributed at the four corners of the universal joint" achieves the dual goals of "balanced force and smooth rotation". On the one hand, four springs are symmetrically distributed around the universal joint. When the knuckle rotates around the universal joint, the compression and rebound force of the springs can be evenly applied to the knuckle body, avoiding "jamming" or "displacement" of the knuckle due to excessive force on one side of the spring. For example, when the finger bends to one side, the spring on the corresponding side compresses, and the spring on the opposite side stretches, and the elastic force of the springs on both sides is balanced, making the knuckle rotation smooth and without jerking. On the other hand, the springs distributed at the four corners can fully wrap around the area surrounding the universal joint, forming a stable "elastic support frame." Even if the universal joint experiences slight wear due to long-term use, the balanced elastic force of the springs can compensate for the wear gap, preventing the knuckle from becoming loose or wobbly, and improving the accuracy of finger movements. In addition, this design also has the advantages of "easy assembly and low maintenance cost": the four springs are of uniform specifications, so there is no need to distinguish the direction during assembly; they only need to be installed at the four corners of the universal joint. If a single spring is damaged, it can be disassembled and replaced individually without replacing the entire elastic connector assembly, reducing maintenance costs.

[0018] Preferably, the universal joint includes a ball bearing; a first groove adapted to the ball bearing is formed between adjacent surfaces between the knuckle bodies and between adjacent surfaces of the knuckle bodies and the first connector.

[0019] In the above implementation process, firstly, in terms of friction loss and motor efficiency, the rolling friction coefficient of the ball is much smaller than that of the sliding friction or multi-link transmission friction system in existing mechanical joints. When the knuckle rotates around the ball, there is rolling contact between the ball and the first groove, and the friction is greatly reduced. On the one hand, this reduces the wear rate of the universal joint and the knuckle body, and extends the service life of the parts. On the other hand, the reduction of friction directly reduces the power loss required for the motor to drive the knuckle to rotate, and improves the motor efficiency. In existing technologies, frictional losses from the linkage of multiple parts lead to a significant waste of power output from the motor. The ball joint of this claim effectively reduces power loss, especially in scenarios involving long-term continuous work of dexterous hands, significantly saving energy, extending battery life, or reducing equipment operating costs. Secondly, regarding rotational accuracy and stability, the matching design of the first groove and the ball (i.e., the radius of curvature of the groove matches the diameter of the ball) precisely limits the ball's trajectory, preventing deviation or wobbling during rotation. When the knuckle rotates, the ball always rolls within the first groove, ensuring the stability of the knuckle's rotation axis and preventing "motion deviation" caused by universal joint misalignment. This precision is crucial in scenarios requiring delicate operation. Furthermore, this structure offers the advantages of "easy assembly and low maintenance costs": during assembly, simply place the ball into the first groove on one side of the knuckle body and align it with the other side, without complex positioning or tightening operations; if the ball wears out, simply disassemble the adjacent knuckle body and replace the individual ball, without replacing the entire universal joint assembly.

[0020] Secondly, this application provides a dexterous hand, which includes a palm and a thumb unit, an index finger unit, a middle finger unit, a ring finger unit and a little finger unit detachably disposed on the palm; the thumb unit, index finger unit, middle finger unit, ring finger unit and little finger unit all include the finger structure as described above, wherein the thumb unit does not include a first connector;

[0021] The hand includes a palm, a back of the hand, a first end near the arm, and a second end away from the arm; the index finger unit, middle finger unit, ring finger unit, and little finger unit are all located at the second end, and the thumb unit is located at the palm; the first connector is located at the second end of the hand.

[0022] A plurality of third threading holes are formed through the second end of the palm in the direction of the second end toward the first end; an installation groove is formed in the center of the palm, and a second connector is provided in the installation groove. A gap is formed between the second connector and the installation groove, and the gap communicates with the third threading holes. The thumb unit is rotatably mounted on the second connector, and the tendon cord on the thumb unit is adapted to pass through the gap and enter the third threading holes.

[0023] In the above implementation process, when a finger unit (such as the index finger) is damaged, it is not necessary to replace the entire dexterous hand. Only the damaged finger unit needs to be disassembled and replaced with a new one, reducing maintenance costs by more than 50%. Moreover, since each finger unit adopts a basically the same structure (except for the thumb, which does not have a first connector), it is not necessary to equip multiple production lines to produce various different fingers. This greatly reduces mold opening costs and production line maintenance costs, and makes later maintenance more convenient (since it does not distinguish which specific finger it is, it is more convenient). Furthermore, the "tendon cord threading optimization" (third threading hole + mounting slot gap) solves the power transmission problem of the thumb unit. The tendon cord of the thumb unit can pass through the gap between the mounting slot and the second connector into the third threading hole and then connect to the drive device (which can be set in the arm position of the entire robot structure). This path avoids the tendon cord from getting tangled or interfering in the palm, ensuring the transmission stability of the thumb movement.

[0024] Preferably, a second groove is formed on the second connector, and the universal joint on the third phalanx of the thumb unit facing away from the second phalanx is adapted to abut against the second groove;

[0025] In the above implementation process, regarding motion positioning accuracy, the second groove provides a "precise limiting reference" for the universal joint of the thumb unit—when the thumb unit rotates around the second connector, the universal joint always abuts against the second groove. The contour of the groove can limit the range of motion of the universal joint, avoiding "motion inaccuracy" caused by excessive rotation or deviation of the thumb. Regarding force distribution and wear control, the thumb unit needs to withstand a large clamping force when grasping. If the universal joint and the second connector are in "point contact," it is easy to cause local stress concentration, accelerating the wear of the universal joint and the connector. However, the abutting design of the second groove and the universal joint changes the contact method from "point contact" to "surface contact" (the inner wall of the groove fits against the surface of the universal joint), which greatly increases the contact area, disperses the stress caused by the clamping force, reduces the local wear rate, and extends the service life of the thumb unit and the second connector.

[0026] Thirdly, this application provides a robot that includes a dexterous hand or finger structure as described above.

[0027] Compared with the prior art, the beneficial effects of this application are as follows: The finger structure in this solution, through the combined design of "three sequentially connected knuckle units + universal joints + elastic connectors + tendon cord threading system", fundamentally solves the core pain points of existing dexterous hands, such as "complex structure, low assembly efficiency, poor flexibility, and large wear and tear of parts". First, in terms of structural simplification and assembly efficiency, adjacent phalanges are rotatably connected only by universal joints, eliminating the complex transmission components such as multi-links and gears used in existing technologies. This significantly reduces the number of parts and lowers the stringent requirements for assembly tightness. During assembly, the universal joint is simply embedded into the mating surface of the adjacent phalanges, and then elastic connectors are installed around the universal joint. The operation process is simpler, significantly improving assembly efficiency, while avoiding motion failures caused by insufficient precision in the linkage of multiple parts. Second, in terms of flexibility and motion diversity, the universal joint design breaks the limitation of traditional mechanical joints that "can only bend in one direction," allowing the phalanges to achieve multi-dimensional rotation within a certain range, laying the foundation for subsequent compound movements such as flexion, extension, and lateral movement of the fingers. The several elastic connectors distributed around the universal joint can not only help with tendon and chord relaxation but also... The relaxation mechanism provides a stable restoring force to the knuckle, preventing postural deviations caused by the knuckle's own weight or external forces. It also buffers impact forces during knuckle rotation, reducing hard friction between the knuckle body and the universal joint, lowering the wear rate of parts, and extending the overall lifespan of the finger. Finally, the design of the tendon cord threading system (first threading channel + first annular channel + first threading hole) optimizes power transmission efficiency: the first annular channel allows the tendon cord to wind around, increasing the contact area between the tendon cord and the knuckle body, preventing slippage or breakage due to excessive localized force during transmission; the interconnected structure of the first threading channel and the first threading hole provides a regular arrangement path for the tendon cord, preventing interference with other components and facilitating inspection, adjustment, or replacement during subsequent maintenance without disassembling the entire knuckle structure, further reducing maintenance costs. In summary, this structure, while ensuring the finger's basic grasping ability, achieves multiple benefits: simplified structure, improved flexibility, reduced wear, and convenient maintenance, providing core support for the lightweight and efficient development of dexterous hands. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of a finger structure according to one embodiment of this application;

[0030] Figure 2This is a schematic diagram of the internal structure of a finger structure according to one embodiment of this application;

[0031] Figure 3 This is a partial structural diagram of the third phalanx according to one embodiment of this application;

[0032] Figure 4 This is a schematic diagram of the structure of a dexterous hand according to one embodiment of this application;

[0033] Figure 5 This is a partial structural diagram of the palm of one embodiment of this application;

[0034] Figure 6 This is a partial structural diagram of the palm of one embodiment of this application;

[0035] Wherein: 10, First knuckle; 20, Second knuckle; 21, Knuckle body; 22, Elastic element; 23, Universal joint; 24, Tendon cord; 25, First threading hole; 26, First threading channel; 27, First annular channel; 30, Third knuckle; 31, Second annular channel; 32, Second threading channel; 33, First adjustment hole; 34, Second adjustment hole; 35, First groove; 36, Limiting groove; 40, First connector; 51, Thumb unit; 52, Index finger unit; 53, Middle finger unit; 54, Ring finger unit; 55, Little finger unit; 60, Palm; 70, Second connector; 71, Mounting groove; 72, Second groove; 73, Third threading hole. Detailed Implementation

[0036] The following drawings disclose several embodiments of this application. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details should not be used to limit this application. That is, in some embodiments of this application, these practical details are not essential. In addition, for the sake of simplicity, some conventional structures and components will be shown in the drawings in a simple schematic manner.

[0037] It should be noted that all directional indications in the embodiments of this application, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indication will also change accordingly.

[0038] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit this application. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0039] To further understand the invention's content, features, and effects, the following embodiments are provided, along with detailed descriptions in conjunction with the accompanying drawings:

[0040] Example

[0041] Currently, the mainstream method for dexterous hand joints is to use mechanical structures to transmit force and achieve relative movement between finger joints. For example, document CN120715931A discloses "a mechanical dexterous hand finger and dexterous hand," which is a typical example of multi-structure collaborative driving of finger joint movements. This type of dexterous hand has the following problems: First, the overall structure is complex with a large number of parts, resulting in low assembly efficiency during assembly and requiring high precision in assembly; otherwise, it can easily affect the linkage relationship of multiple structures. Second, the range of motion of the fingers is limited, only able to complete basic bending movements, resulting in poor flexibility in practical applications. Third, because multiple parts are linked to form corresponding movements, the wear and tear on the parts is significant after multiple movements, and the efficiency of the motor is also reduced. To solve the above technical problems, this embodiment provides the following technical solution:

[0042] For details, please see Figure 1-6 This embodiment provides a finger structure, including three knuckle units connected in sequence; the three knuckle units include a first knuckle 10 unit, a second knuckle 20 unit and a third knuckle 30 unit connected in sequence, and the end of the third knuckle 30 unit away from the first knuckle 10 unit is connected to a first connector 40;

[0043] Furthermore, the knuckle unit includes a knuckle body 21, an elastic connector, a universal joint 23, and a tendon 24; a universal joint 23 is provided between adjacent knuckle bodies 21 and the knuckle bodies 21 are rotatably connected through the universal joint 23; a plurality of elastic connectors are provided and are arranged around the universal joint 23 between adjacent knuckle bodies 21;

[0044] Specifically, at least one first threading channel 26 and a first annular channel 27 communicating with the first threading channel 26 are provided in the knuckle body 21. The first annular channel 27 is adapted for the tendon cord 24 to be wound. At least one first threading hole 25 communicating with the first threading channel 26 is formed at the end of the knuckle body 21.

[0045] In the above solution, the finger structure in this solution fundamentally solves the core pain points of existing dexterous hands, namely "complex structure, low assembly efficiency, poor flexibility, and high wear and tear of parts", through the combination design of "three sequentially connected knuckle units + universal joint 23 + elastic connector + tendon rope 24 threading system". First, in terms of structural simplification and assembly efficiency, adjacent phalanx bodies 21 are rotatably connected only by universal joints 23, eliminating complex transmission components such as multi-links and gears in existing technologies, significantly reducing the number of parts and lowering the stringent requirements for assembly tightness—during assembly, it is only necessary to embed the universal joint 23 into the mating surface of the adjacent phalanx body 21, and then install the elastic connectors around the universal joint 23. The operation process is simpler, significantly improving assembly efficiency, while avoiding motion failures caused by insufficient precision of multi-part linkage. Second, in terms of flexibility and motion diversity, the design of the universal joint 23 breaks the limitation of traditional mechanical joints that "can only bend in one direction," allowing the phalanx to achieve multi-dimensional rotation within a certain range, laying the foundation for subsequent compound movements such as flexion, extension, and lateral swing of the fingers. The several elastic connectors distributed around the universal joint 23 not only provide stability to the phalanx when the tendon ligament 24 is relaxed, but also... The design of the tendon cord 24 threading system (first threading channel 26 + first annular channel 27 + first threading hole 25) optimizes power transmission efficiency: the first annular channel 27 allows the tendon cord 24 to wind around, increasing the contact area between the tendon cord 24 and the finger body 21, preventing slippage or breakage of the tendon cord 24 due to excessive local force during transmission; the connection structure between the first threading channel 26 and the first threading hole 25 provides a regular arrangement path for the tendon cord 24, preventing interference between the tendon cord 24 and other components, and facilitating inspection, adjustment, or replacement of the tendon cord 24 during subsequent maintenance without disassembling the entire finger structure, further reducing maintenance costs. In summary, this structure, while ensuring that the fingers have basic grasping ability, achieves multiple benefits such as "simplified structure, improved flexibility, reduced wear and tear, and convenient maintenance", providing core support for the lightweight and efficient development of dexterous hands.

[0046] For details, please see Figure 2-3The third phalanx 30 unit is further provided with a second annular channel 31 and a second threading channel 32 connected to the second annular channel 31 in the phalanx body 21. The plane of the second annular channel 31 is set at an angle to the plane of the first annular channel 27.

[0047] In the above-mentioned solution, this solution adds a "second annular channel 31 + second threading channel 32" to the third phalanx 30 unit, and sets the two at an angle to the original first annular channel 27. This solution breaks through the technical bottleneck of existing dexterous hands, which are limited in the dimension of finger movement and can only complete basic bending movements, and significantly improves the diversity of finger movements and task adaptability. From the perspective of expanding the dimension of movement, in the existing technology, the tendon cord 24 of the finger can only be transmitted along a single channel, which results in the finger being able to only perform the basic movement of "flexion and extension in the palm direction". When facing irregular objects (such as cylinders, polygonal parts) or complex manipulation tasks (such as twisting bottle caps, plugging and unplugging plugs), problems such as "unstable grip" or "inability to apply force accurately" are likely to occur. In the solution, the angled design between the second annular channel 31 and the first annular channel 27 allows the tendon cord 24 to control different movements of the third phalanx 30 through two transmission paths with different angles. For example, if the first annular channel 27 corresponds to "finger flexion and extension", the angled second annular channel 31 can correspond to "finger lateral movement", giving the finger multi-dimensional movement capabilities. This design eliminates the need for additional drive components, expanding the finger's range of motion solely through channel angle optimization. It maintains the advantage of "structural simplification" while addressing functional deficiencies in existing technologies. Furthermore, from a practical application perspective, the multi-dimensional movement capabilities allow the fingers to better adapt to different scenarios: in industrial assembly, fingertip twisting can adjust part posture, ensuring precise part alignment; in service robotics, it can more flexibly grasp everyday items of different shapes (e.g., fingertips aligning with the body of a water cup when holding it). Additionally, the connection structure between the second threading channel 32 and the second annular channel 31 follows the design logic of "regulating the path of the tendon cord 24," preventing the tendon cord 24 from becoming entangled or interfered with by the new channel, ensuring stable power transmission. Simultaneously, the new structure is limited to the third phalanx 30 unit and does not affect the original functions of the first and second phalanxes 20, achieving the design goal of "functional upgrades without damaging the basic structure," providing crucial support for subsequent overall performance improvements in dexterous hands.

[0048] It should be noted that the aforementioned annular channel for the tendon cord 24 to be wound can be further understood as the formation of an annular channel, which in turn forms a disc structure. The tendon cord 24 is wound around the disc structure and also along the annular channel.

[0049] Furthermore, in one embodiment, the plane containing the second annular channel 31 is perpendicular to the plane containing the first annular channel 27.

[0050] Furthermore, the plane containing the first annular channel 27 is parallel to the fingertip surface of the phalanx body 21;

[0051] In the above scheme, the vertical channel plane constructs an "orthogonal motion coordinate system" for the fingers, making the division of labor for the third phalanx 30 clearer and more controllable. In practical application scenarios, if the plane of the first annular channel 27 is parallel to the fingertip surface, its corresponding transmission direction can precisely control the "flexion and extension movement of the fingers along the fingertip surface" (i.e., the core movement when the human hand grasps); while the second annular channel 31, which is perpendicular to it, can precisely control the "lateral swing movement of the fingers perpendicular to the fingertip surface" (i.e., the auxiliary movement of the human hand adjusting the grasping width or conforming to irregular objects). This orthogonal design ensures that the two movements do not interfere with each other, avoiding "movement coupling" caused by non-perpendicular channel angles (such as unnecessary lateral swaying during flexion and extension). This allows the fingers to precisely execute single or compound movements according to task requirements. For example, when grasping a small-diameter cylinder, flexion and extension can be controlled through the first annular channel 27 for stable gripping; while when grasping an object with a rectangular cross-section, lateral sway can be controlled through the second annular channel 31, allowing the fingertip to conform to the object's edges and improving gripping stability. Furthermore, the vertical plane design optimizes the transmission efficiency and service life of the tendon cord 24. Because the two annular channel planes are perpendicular, the tendon cord 24 wound within them experiences a clear force direction during transmission, preventing friction between tendon cords 24 due to overlapping angles and reducing the wear rate of tendon cords 24. At the same time, the clear transmission direction allows the power output from the motor to be more directly converted into finger joint movements, avoiding power loss caused by movement coupling and improving motor efficiency. This contrasts sharply with the problem of "large power loss due to multi-part linkage" in existing technologies. Furthermore, the vertical plane design facilitates the subsequent control system of the dexterous hand. The control system can precisely adjust the posture of the third phalanx 30 by independently controlling the tension of the tendon 24 in the two channels, reducing the complexity of the control algorithm and facilitating precise closed-loop control of finger movements. Moreover, under the control of dual motors, by controlling the driving force of different motors, the third phalanx can theoretically achieve movements far exceeding 360 degrees of a human hand after the rotation angles are superimposed, not just a unidirectional fist-clenching or finger-opening / closing movement, but even a certain degree of reverse movement (which a normal human hand cannot perform). This greatly improves the flexibility of actual operation and gives the robotic hand greater room for imagination. In summary, this limitation enables the finger to possess multi-dimensional movement capabilities while further achieving the effects of "precise movement, efficient transmission, and simple control," significantly enhancing the practical value of the finger.

[0052] Specifically, a first adjustment hole 33 and a second adjustment hole 34 are provided on the side wall of the knuckle body 21. The first adjustment hole 33 is connected to the first threading channel 26 and the first annular channel 27; the second adjustment hole 34 is connected to the second threading channel 32 and the second annular channel 31.

[0053] In the above scheme, during the assembly stage, the tension of the tendon cord 24 directly affects the sensitivity and stability of finger movements—too loose will cause lag in finger joint movements and inability to accurately reset; too tight will increase the motor load and accelerate the wear of the tendon cord 24 and the channel wall. In the prior art, adjusting the tension of the tendon cord 24 requires disassembling the outer shell or connecting parts of the finger joint body 21, which is cumbersome and easily damages the original assembly precision. However, the adjustment hole design of this scheme allows the operator to directly contact the tendon cord 24 in the threading channel or annular channel without disassembling the finger joint body 21: for example, a special tool can be inserted into the first adjustment hole 33 to fine-tune the winding length of the tendon cord 24 in the first annular channel 27, or adjust the tension of the tendon cord 24 in the first threading channel 26; similarly, the second adjustment hole 34 can be used to fine-tune the tendon cord 24 in the second annular channel 31 and the second threading channel 32. This design significantly simplifies the assembly process, shortens debugging time, and avoids damage to the precision of parts caused by disassembly, improving the consistency and pass rate of finger assembly. Secondly, the adjustment hole plays a more prominent role in the maintenance phase. In existing technologies, if the tendon cord 24 becomes loose or locally worn, the entire knuckle must be disassembled for inspection or replacement, resulting in high maintenance costs and time consumption. In this solution, the operator can directly observe the wear condition of the tendon cord 24 in the channel through the adjustment hole to determine whether replacement is necessary. If it is only slightly loose, it can be quickly adjusted through the adjustment hole without disassembly. Even if the tendon cord 24 needs to be replaced, the old tendon cord 24 can be pulled out and the new tendon cord 24 can be inserted through the adjustment hole, simplifying the replacement process. In addition, the setting of the adjustment hole does not compromise the structural strength of the knuckle body 21—the adjustment hole is only opened on the side wall, and the diameter of the hole communicating with the channel has been optimized, so it will not cause stress concentration or breakage risk to the knuckle body 21 when gripping. In summary, this design achieves the dual benefits of "improved assembly efficiency and reduced maintenance costs" through "minor structural improvements," making the finger structure more suitable for industrial mass production and long-term use.

[0054] In one embodiment, the first finger joint 10 unit can be understood to have two first threading holes 25. The two ends of the first annular channel 27 in the first direct channel are connected to the first threading channel 26 that runs longitudinally through it. The first threading channel 26 forms a first threading hole 25 at one end facing the second finger joint 20 unit. It can be understood that there are two first threading holes 25 here, which respectively lead out the corresponding connected first threading channels 26 from the two ends of the first annular channel 27.

[0055] In one embodiment, the second phalanx 20 unit can be understood as having two first threading holes 25 formed at the end near the first phalanx 10 unit, corresponding to the two first threading holes 25 of the unit on the first phalanx 10, for the tendon cord 24 on the first phalanx 10 unit to pass through the second phalanx 20 unit; further, four first threading holes 25 are formed opposite each other at the end of the second phalanx 20 unit away from the first phalanx 10 unit, which can be understood as being opposite each other in pairs, one of which is for the tendon cord 24 of the first phalanx 10 unit to pass through, and the other is for the tendon cord 24 controlled by the second phalanx 20 unit itself to pass through. Thus, the second phalanx 20 unit can be understood as having two first threading holes 25 at the upper end and four first threading holes 25 at the lower end.

[0056] In one embodiment, based on the first phalanx 10 unit and the second phalanx 20 unit described above, four first threading holes 25 are formed at the upper end of the third phalanx 30 unit, and six first threading holes 25 are formed at the lower end. Furthermore, since the third phalanx 30 also has an additional annular channel, namely a second annular through hole, the lower end of the third phalanx 30 unit will have two additional second threading holes.

[0057] For details, please see Figure 1 and Figure 3 A first adjustment hole 33 and a second adjustment hole 34 are provided on the side wall of the knuckle body 21. The first adjustment hole 33 is connected to the first threading channel 26 and the first annular channel 27; the second adjustment hole 34 is connected to the second threading channel 32 and the second annular channel 31.

[0058] In the above scheme, during the assembly stage, the tension of the tendon cord 24 directly affects the sensitivity and stability of finger movements—too loose will cause lag in finger joint movements and inability to accurately reset; too tight will increase the motor load and accelerate the wear of the tendon cord 24 and the channel wall. In the prior art, adjusting the tension of the tendon cord 24 requires disassembling the outer shell or connecting parts of the finger joint body 21, which is cumbersome and easily damages the original assembly precision. However, the adjustment hole design of this scheme allows the operator to directly contact the tendon cord 24 in the threading channel or annular channel without disassembling the finger joint body 21: for example, a special tool can be inserted into the first adjustment hole 33 to fine-tune the winding length of the tendon cord 24 in the first annular channel 27, or adjust the tension of the tendon cord 24 in the first threading channel 26; similarly, the second adjustment hole 34 can be used to fine-tune the tendon cord 24 in the second annular channel 31 and the second threading channel 32. This design significantly simplifies the assembly process, shortens debugging time, and avoids damage to the precision of parts caused by disassembly, improving the consistency and pass rate of finger assembly. Secondly, the adjustment hole plays a more prominent role in the maintenance phase. In existing technologies, if the tendon cord 24 becomes loose or locally worn, the entire knuckle must be disassembled for inspection or replacement, resulting in high maintenance costs and time consumption. In this solution, the operator can directly observe the wear condition of the tendon cord 24 in the channel through the adjustment hole to determine whether replacement is necessary. If it is only slightly loose, it can be quickly adjusted through the adjustment hole without disassembly. Even if the tendon cord 24 needs to be replaced, the old tendon cord 24 can be pulled out and the new tendon cord 24 can be inserted through the adjustment hole, simplifying the replacement process. In addition, the setting of the adjustment hole does not compromise the structural strength of the knuckle body 21—the adjustment hole is only opened on the side wall, and the diameter of the hole communicating with the channel has been optimized, so it will not cause stress concentration or breakage risk to the knuckle body 21 when gripping. In summary, this design achieves the dual benefits of "improved assembly efficiency and reduced maintenance costs" through "minor structural improvements," making the finger structure more suitable for industrial mass production and long-term use.

[0059] Furthermore, it is understood that the aforementioned first annular channel 27 leads out channels at both ends and connects to the vertically penetrating first threading channel 26. In some embodiments, the leading-out channels are perpendicular to the first threading channel 26. Moreover, the first threading hole 25 is on the same straight line as the leading-out channels, and the first threading hole 25 is located at the bifurcation, which is more conducive to the adjustment of the tendon rope 24.

[0060] For details, please see Figure 1-2 The elastic element 22 is a spring, and the spring has four surrounding universal joints 23 evenly distributed at the four corners of the universal joints 23;

[0061] In the above solution, firstly, regarding the material selection of the elastic component 22, springs, compared to elastic materials such as rubber and silicone, have a more stable elastic coefficient and a longer service life. Rubber materials are prone to fatigue and aging over long-term use, leading to elastic decay, while springs (especially metal springs) can maintain stable elasticity after multiple compression-rebound cycles, ensuring the consistency of knuckle return force. This advantage is particularly evident in high-frequency action scenarios for dexterous hands (such as repeatedly grasping parts in industrial assembly lines), avoiding knuckle return lag caused by the aging of the elastic component 22 and ensuring the sensitivity of finger movements. Secondly, the layout design of "four evenly distributed at the four corners of the universal joint 23" achieves the dual goals of "balanced force and smooth rotation". On the one hand, four springs are symmetrically distributed around the universal joint 23. When the knuckle rotates around the universal joint 23, the compression and rebound force of the springs can be evenly applied to the knuckle body 21, avoiding "jamming" or "displacement" of the knuckle due to excessive force on one side of the spring. For example, when the finger bends to one side, the spring on the corresponding side is compressed, and the spring on the opposite side is stretched, and the elastic force of the springs on both sides is balanced, making the knuckle rotation smooth and without jerking. On the other hand, the springs distributed at the four corners can fully wrap around the area surrounding the universal joint 23, forming a stable "elastic support frame". Even if the universal joint 23 is slightly worn due to long-term use, the balanced elastic force of the springs can compensate for the wear gap, preventing the knuckle from becoming loose or wobbly, and improving the accuracy of finger movements. In addition, this design also has the advantages of "easy assembly and low maintenance cost": the four springs are of uniform specifications, and there is no need to distinguish the direction during assembly. They only need to be installed at the four corners of the universal joint 23. If a single spring is damaged, it can be disassembled and replaced individually without replacing the entire elastic connecting component assembly, reducing maintenance costs.

[0062] In one embodiment, a limiting groove 36 is formed on the knuckle body 21. The limiting groove 36 is used to install a spring. The contact point can be fixed by laser welding, or other methods can be used to achieve stable fixation. This fixing method is a relatively mature technology in the prior art, so it will not be described in detail here.

[0063] Specifically, the universal joint 23 includes a ball; a first groove 35 adapted to the ball is formed between adjacent surfaces between the knuckle bodies 21 and between adjacent surfaces of the knuckle bodies 21 and the first connector 40.

[0064] In the above solution, firstly, in terms of friction loss and motor efficiency, the rolling friction coefficient of the ball is much smaller than that of the sliding friction or multi-link transmission friction system in existing mechanical joints. When the knuckle rotates around the ball, the ball and the first groove 35 are in rolling contact, and the friction is greatly reduced. On the one hand, this reduces the wear rate of the universal joint 23 and the knuckle body 21, and extends the service life of the parts. On the other hand, the reduction of friction directly reduces the power loss required for the motor to drive the knuckle to rotate, and improves the motor efficiency. In existing technologies, frictional losses from the linkage of multiple parts lead to a significant waste of power output from the motor. However, the ball joint 23 in this solution effectively reduces the power loss rate, especially in scenarios where dexterity hands work continuously for extended periods, significantly saving energy, extending battery life, or reducing equipment operating costs. Secondly, regarding rotational accuracy and stability, the matching design between the first groove 35 and the ball (i.e., the radius of curvature of the groove matches the diameter of the ball) precisely limits the ball's trajectory, preventing deviation or wobbling during rotation. When the knuckle rotates, the ball always rolls within the first groove 35, ensuring the stability of the knuckle's rotation axis and preventing "motion deviation" caused by the offset of the joint 23. This precision is crucial in scenarios requiring delicate operation. In addition, the structure has the advantages of "easy assembly and low maintenance cost": during assembly, you only need to put the ball into the first groove 35 of one side of the finger body 21 and then align it with the other side of the finger body 21, without the need for complicated positioning or fastening operations; if the ball is worn, you only need to disassemble the adjacent finger body 21 and replace a single ball, without replacing the entire universal joint assembly.

[0065] For details, please see Figure 4 This embodiment also provides a dexterous hand, which includes a palm 60 and a thumb unit 51, an index finger unit 52, a middle finger unit 53, a ring finger unit 54 and a little finger unit 55 detachably disposed on the palm 60; the thumb unit 51, the index finger unit 52, the middle finger unit 53, the ring finger unit 54 and the little finger unit 55 all include the finger structure as described above, wherein the thumb unit 51 does not include the first connector 40;

[0066] Specifically, the palm 60 includes the palm center, the back of the hand, a first end near the arm, and a second end away from the arm; the index finger unit 52, the middle finger unit 53, the ring finger unit 54, and the little finger unit 55 are all located at the second end, and the thumb unit 51 is located at the palm center; the first connector 40 is located at the second end of the palm 60.

[0067] Furthermore, a plurality of third threading holes 73 are formed through the second end of the palm 60 in the direction of the second end toward the first end; a mounting groove 71 is formed in the palm, and a second connector 70 is provided in the mounting groove 71. A gap is formed between the second connector 70 and the mounting groove 71, and the gap communicates with the third threading holes 73. The thumb unit 51 is rotatably mounted on the second connector 70, and the tendon 24 on the thumb unit 51 is adapted to pass through the gap and enter the third threading holes 73.

[0068] In the above solution, when a finger unit (such as the index finger) is damaged, it is not necessary to replace the entire dexterous hand. Only the damaged finger unit needs to be disassembled and replaced with a new one, reducing maintenance costs by more than 50%. Furthermore, since each finger unit adopts a basically the same structure (except for the thumb, which does not have the first connector 40), it is not necessary to equip multiple production lines to produce different fingers. This greatly reduces mold opening costs and production line maintenance costs, and makes later maintenance more convenient (since it does not distinguish which specific finger it is, it is more convenient). In addition, the "tendon cord 24 threading optimization" (the gap between the third threading hole 73 and the mounting slot 71) solves the power transmission problem of the thumb unit 51. The tendon cord 24 of the thumb unit 51 can pass through the gap between the mounting slot 71 and the second connector 70 into the third threading hole 73 and then connect to the drive device (which can be set in the arm position of the entire robot structure). This path avoids the tendon cord 24 from getting tangled or interfering in the palm 60, ensuring the transmission stability of the thumb movement.

[0069] Specifically, in other embodiments, the first connector 40 can also be fixedly connected to the palm 60, such as by laser welding; while when a detachable connection is used, it can be fixed by screws or by snap-fit ​​connection.

[0070] For details, please see Figure 5-6 A second groove 72 is formed on the second connector 70, and the universal joint 23 on the third phalanx 30 of the thumb unit 51 facing away from the second phalanx 20 is adapted to abut against the second groove 72.

[0071] In the above scheme, regarding the accuracy of motion positioning, the second groove 72 provides a "precise limiting reference" for the universal joint 23 of the thumb unit 51. When the thumb unit 51 rotates around the second connector 70, the universal joint 23 always abuts against the second groove 72. The contour of the groove can limit the range of motion of the universal joint 23, avoiding "inaccurate motion" caused by excessive rotation or deviation of the thumb. Regarding force distribution and wear control, the thumb unit 51 needs to withstand a large clamping force when grasping. If the universal joint 23 and the second connector 70 are in "point contact," it is easy to cause local stress concentration, accelerating the wear of the universal joint 23 and the connector. However, the abutting design of the second groove 72 and the universal joint 23 changes the contact method from "point contact" to "surface contact" (the inner wall of the groove is in contact with the surface of the universal joint 23), which greatly increases the contact area, disperses the stress caused by the clamping force, reduces the local wear rate, and extends the service life of the thumb unit 51 and the second connector 70.

[0072] Specifically, this embodiment also provides a robot, which includes any of the dexterous hand or finger structures described above. It should be noted that other structures of the robot can be easily reproduced in the prior art, so they will not be elaborated upon here. It should also be noted that the drive motor for driving the tendon ligament 24 in this embodiment can be located at the robot's arm position.

[0073] The above description is merely a preferred embodiment of this application and is not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application shall fall within the scope of the technical solution of this application.

Claims

1. A finger structure, characterized by: The finger structure comprises three sequentially connected knuckle units; the three knuckle units comprise sequentially connected first knuckle unit, second knuckle unit and third knuckle unit, and the third knuckle unit is connected with a first connecting member at one end away from the first knuckle unit; The knuckle unit comprises knuckle body, elastic connecting member, universal member and tendon; the universal member is arranged between adjacent knuckle bodies and the knuckle bodies are rotatably connected through the universal member; the elastic connecting member is arranged between adjacent knuckle bodies and surrounds the universal member; At least one first threading channel and a first annular channel in communication with the first threading channel are arranged in the knuckle body, and the first annular channel is adapted for winding the tendon; at least one first threading hole in communication with the first threading channel is formed at the end of the knuckle body.

2. The finger structure of claim 1, wherein: A second annular channel and a second threading channel in communication with the second annular channel are further arranged in the knuckle body of the third knuckle unit, and the plane of the second annular channel is arranged at an angle with the plane of the first annular channel.

3. The finger structure of claim 2, wherein: The plane of the second annular channel is perpendicular to the plane of the first annular channel.

4. The finger structure of claim 2, wherein: The plane of the first annular channel is parallel to the palm surface of the knuckle body.

5. The finger structure of claim 2, wherein: A first adjusting hole and a second adjusting hole are arranged on the side wall of the knuckle body, the first adjusting hole is in communication with the first threading channel and the first annular channel, and the second adjusting hole is in communication with the second threading channel and the second annular channel.

6. The finger structure of claim 1, wherein: The elastic member is a spring, and the spring is arranged at four corners of the universal member.

7. The finger structure of claim 1, wherein: The universal member comprises a ball; a first groove adapted to the ball is formed between adjacent surfaces of the knuckle bodies and between adjacent surfaces of the knuckle body and the first connecting member.

8. A dexterous hand characterized by: The hand structure comprises a palm and a thumb unit, an index finger unit, a middle finger unit, a ring finger unit and a little finger unit which are detachably arranged on the palm; the thumb unit, the index finger unit, the middle finger unit, the ring finger unit and the little finger unit all comprise the finger structure as claimed in any one of claims 1-7, wherein the thumb unit does not comprise a first connecting member; The palm comprises a palm surface, a palm back, a first end portion close to an arm end, and a second end portion away from the arm end; the index finger unit, the middle finger unit, the ring finger unit and the little finger unit are arranged at the second end portion, and the thumb unit is arranged at the palm surface; the first connecting member is arranged at the second end portion of the palm; A plurality of third threading holes are formed at the second end portion of the palm in a direction that the second end portion faces the first end portion; a mounting groove is formed at the palm surface, a second connecting member is arranged in the mounting groove, a gap is formed between the second connecting member and the mounting groove, and the gap is in communication with the third threading holes; the thumb unit is rotatably arranged on the second connecting member, and the tendon on the thumb unit is adapted to pass through the gap and enter the third threading holes.

9. The dexterous hand of claim 8, wherein: A second groove is formed on the second connecting member, and the universal member at one end of the third knuckle away from the second knuckle of the thumb unit is adapted to abut on the second groove.

10. A robot, characterized by: The robot comprises a dexterous hand as claimed in claim 8 or 9, or a finger structure as claimed in any of claims 1-7.

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