Dexterous hand finger, dexterous hand and robot

Abstract

The invention discloses a dexterous hand finger, a dexterous hand and a robot, the dexterous hand finger comprises a base, a finger root assembly, a first movement assembly and a second movement assembly, the finger root assembly comprises a first connecting piece and a joint unit, and the first connecting piece is movably connected with the joint unit relatively; the first movement assembly comprises a first transmission part and a first driving unit, the first transmission part is arranged on the supporting rod in a sleeving mode and can rotate around a first axis perpendicular to the central axis of the supporting rod relative to the supporting rod, and the first driving unit is in transmission connection with the first transmission part; the second transmission part can rotate around the central axis relative to the first transmission part, and the second driving unit is in transmission connection with the supporting rod. According to the dexterous hand finger, high degree of freedom and high stability are achieved in a limited space, meanwhile, natural movement close to the root of the human finger is achieved, and the problems that an existing dexterous hand is insufficient in degree of freedom, poor in flexibility and the like are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a dexterous hand finger, a dexterous hand and a robot. BACKGROUND

[0002] The related art points out that the dexterous hand as a highly bionic robot end effector aims to imitate the structure and function of the human hand and plays a crucial role in the interaction between the robot and the environment, and is widely used in aerospace, medical surgery, intelligent manufacturing and other fields, and is expected to become one of the core technologies in the development of humanoid robots. The human hand has a high degree of complex motion capability, and the complete palm has 21 to 23 degrees of freedom: the thumb has 5 degrees of freedom (2 CMC joints, 2 MCP joints, and 1 DIP joint), and each of the remaining fingers usually has 4 degrees of freedom (2 MCP joints, 1 PIP joint, and 1 DIP joint). It is worth noting that, in addition to the thumb, the wrist and palm joints (CMC) of the ring finger and the little finger have a certain degree of freedom, although the range of motion is small, but they play a key role in realizing the opposition of fingers and fine operations, so the actual motion requirement of the complete human hand is close to 23 degrees of freedom.

[0003] However, most of the current dexterous hands are limited by mechanical design and driving technology, and it is difficult to integrate a sufficient number of active degrees of freedom in a limited space, and there is a common problem of insufficient degrees of freedom. In order to realize high degrees of freedom, the existing dexterous hand often adopts a complex mechanical structure, such as rope drive, direct drive or flexible drive, but these schemes often result in bulky mechanism, low reliability and poor motion stability. At the same time, due to low transmission efficiency and insufficient power density, the dexterous hand generally has the defects of large weight and low weight-to-grip ratio, i.e. the load capacity is much lower than the weight itself. In addition, the existing technology is difficult to realize high degrees of freedom and high gripping force at the same time, especially in simulating the multi-degree-of-freedom cooperative motion of the thumb and the opposition function, which is insufficient, resulting in stiff and poor flexibility of the dexterous hand. SUMMARY

[0004] The present application aims to at least solve one of the problems in the prior art. To this end, the present application proposes a dexterous hand finger which can realize high degrees of freedom, high stability and natural motion close to the root of the human finger in a limited space.

[0005] The present application also proposes a dexterous hand having the above-mentioned dexterous hand finger.

[0006] The present application also proposes a robot having the above-mentioned dexterous hand.

[0007] According to a first aspect of the present invention, a dexterous hand finger includes: a base having a support rod; a finger root assembly connected to the support rod, the finger root assembly including: a first connector and a joint unit, the first connector and the joint unit being movably connected relative to each other; a first motion assembly including: a first transmission member and a first drive unit, the first transmission member being sleeved on the support rod and rotatable relative to the support rod about a first axis perpendicular to the central axis of the support rod, the first drive unit being pulsatorically connected to the first transmission member; and a second motion assembly including: a second transmission member and a second drive unit, the second transmission member being sleeved on the support rod and movably connected relative to the joint unit, the second transmission member being rotatable relative to the first transmission member about a central axis of the support rod, the second drive unit being pulsatorically connected to the support rod.

[0008] The dexterous hand fingers of the present invention, by coaxially arranging the first and second transmission components and movably connecting them with the finger root assembly, achieve high degree of freedom, high stability, and natural movement close to the base of the human finger within a limited space, thus solving the problems of insufficient degree of freedom, heavy weight, and poor flexibility that are common in current dexterous hands.

[0009] In some feasible embodiments, the first drive unit includes: a first drive rod, a lead screw, and a first drive member. One end of the first drive rod is movably connected to the first transmission member, and the other end of the first drive rod is movably connected to the lead screw. The first drive member is driven by the lead screw to drive the first transmission member to rotate about the first axis relative to the support rod.

[0010] In some feasible embodiments, a transmission bearing is connected between the first transmission member and the second transmission member, the transmission bearing is sleeved on the support rod, and a ball joint connects the support rod and the transmission bearing.

[0011] In some feasible embodiments, the second drive unit includes: a second drive assembly and a second drive member. The second drive assembly is connected between the second drive member and the support rod. The second drive assembly includes: a second drive rod and a third drive rod. One end of the second drive rod is connected to the support rod, and the other end of the second drive rod is rotatably connected to one end of the third drive rod. The second drive member is drively connected to the other end of the third drive rod to drive the second drive member to rotate relative to the first drive member about the central axis of the support rod.

[0012] In some feasible embodiments, the joint unit includes: a first joint member, a second joint member, and a third joint member, one end of the first joint member is hinged to the second joint member, the other end of the first joint member is hinged to the third joint member, both ends of the second joint member are hinged to the second transmission member, and both ends of the third joint member are hinged to the first connecting member.

[0013] In some feasible embodiments, the finger root assembly further includes: a second connector, a third connector, and a finger root body, wherein the second connector is connected to the support rod, one end of the first connector is hinged to the second connector, the finger root body forms a first pivot portion and a second pivot portion, the second connector is connected to the first pivot portion, the third connector is connected to the second pivot portion, and the other end of the first connector is hinged to the third connector.

[0014] In some feasible embodiments, the dexterous hand fingers further include: a middle finger assembly, which is rotatably connected to the root finger assembly. The middle finger assembly includes: a fourth connector and a middle finger body. The middle finger body forms a third pivot portion. The middle finger body and the root finger body are connected to the third pivot portion via a second pivot portion. The root finger body forms a fourth pivot portion. One end of the fourth connector is connected to the fourth pivot portion.

[0015] In some feasible embodiments, the dexterous hand fingers further include: a fingertip assembly, which is rotatably connected to the middle finger assembly. The fingertip assembly includes: a fifth connector and a fingertip body. The fifth connector is connected to the fingertip body. A fifth pivot portion and a sixth pivot portion are formed on the fifth connector. The other end of the fourth connector is connected to the fifth pivot portion. The middle finger body has a seventh pivot portion. The middle finger body is connected to the fifth connector through the sixth pivot portion and the seventh pivot portion.

[0016] The dexterous hand according to the second aspect of the invention includes the dexterous hand fingers according to the first aspect of the invention described above.

[0017] According to the present invention, the dexterous hand, by setting the dexterous hand fingers of the first aspect described above, realizes multi-level linkage of the finger root component, the middle component and the fingertip component. At the same time, combined with the synergistic effect of the first motion component and the second motion component, it realizes multi-degree-of-freedom movement of a single finger, supporting complex actions such as flexion, extension, rotation and finger opposition. The transmission chain composed of multiple connectors and multiple pivots realizes natural linkage from the finger root to the fingertip, reducing the number of driving components, reducing the weight and power consumption of the dexterous hand, improving the dynamic response of the dexterous hand, and enabling multiple grasping modes such as envelope grasping and fine pinching. It has good adaptability and high stability.

[0018] The robot according to a third aspect of the invention includes a dexterous hand according to the second aspect of the invention described above.

[0019] According to the robot of the present invention, by setting the dexterous hand described in the second aspect above, the overall performance of the robot is improved, the flexibility and precision of the robot are enhanced, and the stability of the robot's operation is ensured.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the fingers of a dexterous hand according to an embodiment of the present invention; Figure 2 yes Figure 1 A schematic diagram of another angle of the fingers of a dexterous hand shown; Figure 3 yes Figure 1 A schematic diagram showing another angle of the fingers of a dexterous hand; Figure 4 yes Figure 3 A schematic diagram of the AA cross-section of the fingers of a dexterous hand shown in the figure; Figure 5 yes Figure 3 A schematic diagram of the BB cross-section of the fingers of a dexterous hand shown in the figure; Figure 6 yes Figure 1 A schematic diagram of the explosion of the fingers of a dexterous hand shown; Figure 7 yes Figure 1 A schematic diagram of the fingertip components of a dexterous hand shown; Figure 8 yes Figure 1 The diagram shows another angle of the fingers of a dexterous hand.

[0022] Figure label: 100. Dexterous hands and fingers; 1. Base; 11. Support rod; 12. First load-bearing component; 13. Second load-bearing component; 14. Third load-bearing component; 2. Finger root assembly; 21. First connector; 22. Joint unit; 221. First joint; 222. Second joint; 223. Third joint; 23. Second connector; 24. Third connector; 25. Finger root body; 251. First pivot; 252. Second pivot; 253. Fourth pivot; 3. First motion assembly; 31. First transmission component; 32. First drive unit; 321. First drive rod; 3211. First rod portion; 3212. Second rod portion; 322. Lead screw; 323. First drive component; 4. Second motion assembly; 41. Second transmission component; 42. Second drive unit; 421. Second drive rod; 422. Third drive rod; 43. Second drive component; 5. Transmission bearing; 51. Outer ring; 52. Inner ring; 6. Ball hinge; 7. Finger center component; 71. Fourth connector; 72. Finger center body; 721. Third pivot; 722. Seventh pivot; 8. Fingertip assembly; 81. Fifth connector; 811. Fifth pivot; 812. Sixth pivot; 82. Fingertip body. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] The following is for reference. Figures 1-8 A dexterous hand finger 100 according to an embodiment of the first aspect of the present invention is described.

[0025] like Figures 1-8 As shown, the dexterous hand finger 100 according to a first aspect embodiment of the present invention includes: a base 1, a finger root assembly 2, a first motion assembly 3, and a second motion assembly 4.

[0026] Specifically, the base 1 has a support rod 11, and the finger root assembly 2 is connected to the support rod 11. The finger root assembly 2 includes a first connector 21 and a joint unit 22. The first connector 21 and the joint unit 22 are movably connected relative to each other. The first motion assembly 3 includes a first transmission member 31 and a first drive unit 32. The first transmission member 31 is sleeved on the support rod 11 and can rotate relative to the support rod 11 around a first axis perpendicular to the central axis of the support rod 11. The first drive unit 32 is drively connected to the first transmission member 31. The second motion assembly 4 includes a second transmission member 41 and a second drive unit 42. The second transmission member 41 is sleeved on the support rod 11 and can be movably connected relative to the joint unit 22. The second transmission member 41 can rotate relative to the first transmission member 31 around the central axis of the support rod 11. The second drive unit 42 is drively connected to the support rod 11.

[0027] Understandably, the base 1 is equipped with a support rod 11, which provides the mounting position and rotation fulcrum for the entire dexterous hand finger 100, and at the same time provides a transmission path for the second drive unit 42 to achieve effective torque transmission. The finger root assembly 2 is connected to the support rod 11. The finger root assembly 2 includes a first connector 21 and a joint unit 22. The first connector 21 and the joint unit 22 are movably connected to each other, which enables the dexterous hand finger 100 to produce angle changes in multiple directions. This simulates the compound movement ability of the human thumb or other fingers at the metacarpophalangeal joint, and realizes bionics at the finger root.

[0028] The first motion component 3 achieves independent rotation around the first axis. The first transmission component 31 is sleeved on the support rod 11. The first transmission component 31 can rotate around the first axis perpendicular to the central axis of the support rod 11, which forms a movement similar to finger flexion and / or lateral swing. The first drive unit 32 is connected to the first transmission component 31 and drives the first transmission component 31 to rotate around the first axis, thereby causing the entire finger root component 2 to produce an angular deflection. Here, the first axis extends perpendicular to the central axis of the support rod 11 (that is, the first axis extends along the radial direction of the support rod 11). Furthermore, by placing the first drive unit 32 on the base 1, the click is avoided on the finger body, the weight of the fingertip is reduced, and the dynamic response speed is improved.

[0029] The second motion component 4 realizes the rotational movement of the central axis of the support rod 11. The second transmission component 41 is sleeved on the support rod 11 and is movably connected to the joint unit 22. At the same time, it can rotate relative to the first transmission component 31 around the central axis of the support rod 11. The second drive unit 42 is connected to the support rod 11 to drive the support rod 11 to rotate itself, thereby driving the second transmission component 41 to rotate, realizing the twisting or rotating action of the fingers (such as the thumb-palm movement).

[0030] In other words, the first motion component 3 can independently realize the flexion, extension and / or lateral movement of the dexterous hand fingers 100, and the second motion component 4 can independently realize the twisting or rotation of the dexterous hand fingers 100. When the first motion component 3 and the second motion component 4 work together, they can achieve a natural range of motion close to the base of the human finger.

[0031] According to an embodiment of the present invention, the dexterous hand finger 100 is coaxially arranged with a first transmission member 31 and a second transmission member 41 and is movably connected with the finger root assembly 2. It achieves high degree of freedom, high stability and natural movement close to the root of human fingers in a limited space, thus solving the problems of insufficient degree of freedom, heavy weight and poor flexibility that are common in dexterous hands.

[0032] In some embodiments of the present invention, the first driving unit 32 includes: a first driving rod 321, a lead screw 322, and a first driving member 323. One end of the first driving rod 321 is movably connected to the first transmission member 31, and the other end of the first driving rod 321 is movably connected to the lead screw 322. The first driving member 323 is drively connected to the lead screw 322 to drive the first transmission member 31 to rotate relative to the support rod 11 about a first axis. (Refer to...) Figure 1 , Figure 2 and Figure 5 As shown, it can be understood that the first drive rod 321 includes a first rod portion 3211 and a second rod portion 3212, with the first rod portion 3211 and the second rod portion 3212 connected sequentially. The first rod portion 3211 is connected along the front-back direction (e.g., ...). Figure 1 The second rod 3212 extends in the vertical direction (as shown in the front-back direction), and extends in the vertical direction (as shown in the back-to-back direction). Figure 1 Extending in the vertical direction (as shown), the lead screw 322 is connected to the first driving member 323 to drive the lead screw 322 to rotate around its own axis. At the same time, the lead screw 322 converts the rotational motion into linear motion. One end of the first driving rod 321 is hinged to the first transmission member 31, and the other end of the first driving rod 321 is hinged to the lead screw 322.

[0033] Specifically, when the lead screw 322 moves toward the first drive rod 321, the first drive rod 321 pushes the first transmission member 31 to rotate around the first axis, realizing the bending movement of the dexterous hand's fingers 100; when the lead screw 322 moves away from the first drive rod 321, the first drive rod 321 pulls the first transmission member 31 to rotate around the first axis, realizing the straightening movement of the dexterous hand's fingers 100. This improves the repeatability and positioning accuracy of the dexterous hand's fingers 100. Because the lead screw 322 and the first drive rod 321 are rigid transmissions, slippage, loosening, or breakage are less likely, resulting in high mechanical rigidity and reliability. Furthermore, the lead screw 322, in conjunction with the first drive member 323, can output a large pushing and pulling force, driving the first transmission member 31 to overcome friction and load resistance, achieving strong gripping and starting capabilities, and enhancing the dexterous hand's grasping force.

[0034] Furthermore, the movement distance of the lead screw 322 in a straight line limits the degree of bending and straightening of the dexterous hand fingers 100, preventing the dexterous hand fingers 100 from bending or straightening excessively (i.e., bending in the opposite direction), thus preventing damage to the dexterous hand fingers 100 and reducing the failure rate of the dexterous hand fingers 100.

[0035] For example, the first driving component 323 is a motor.

[0036] In some embodiments of the present invention, a transmission bearing 5 is connected between the first transmission member 31 and the second transmission member 41, the transmission bearing 5 is sleeved on the support rod 11, and a ball joint 6 connects the support rod 11 and the transmission bearing 5. (Refer to...) Figure 3, Figure 4 As shown, the transmission bearing 5 includes an inner ring 52 and an outer ring 51. The first transmission member 31 is connected to the outer ring 51, and the second transmission member 41 is connected to the inner ring 52, realizing the independent movement of the first transmission member 31 and the second transmission member 41. This avoids the interference between the flexion and rotation movements of the dexterous hand fingers 100. A ball joint 6 is provided between the inner ring 52 and the support rod 11, and the second transmission member 41 is located between the inner ring 52 and the ball joint 6, realizing the multi-directional tilting movement between the support rod 11 and the transmission bearing 5 within a certain angle range. This simulates the natural accompanying rotation (such as the linkage effect) of the metacarpophalangeal joint (MCP) of the human hand during flexion and extension, making the finger movement closer to the biomechanical characteristics and enhancing the gripping adaptability and operational smoothness.

[0037] For example, the transmission bearing 5 can be a rolling bearing.

[0038] In some embodiments of the present invention, the second driving unit 42 includes: a second driving assembly and a second driving member 43. The second driving assembly is connected between the second driving member 43 and the support rod 11. The second driving assembly includes: a second driving rod 421 and a third driving rod 422. One end of the second driving rod 421 is connected to the support rod 11, and the other end of the second driving rod 421 is rotatably connected to one end of the third driving rod 422. The second driving member 43 is drively connected to the other end of the third driving rod 422 to drive the second driving member 41 to rotate relative to the first driving member 31 about the central axis of the support rod 11. (Refer to...) Figure 1 and Figure 8 As shown, it can be understood that when the second driving member 43 rotates, the third driving rod 422 produces a swinging or linear reciprocating motion. One end of the second driving rod 421 is hinged to the third driving rod 422, transmitting power to the second driving rod 421. The other end of the second driving rod 421 is connected to the support rod 11 to drive the support rod 11 to rotate around its own axis (i.e., the support rod 11 rotates around the central axis), thereby realizing the rotational freedom of the dexterous hand fingers 100 around the central axis of the support rod 11 (such as the thumb's opposition, rotational grasping, etc.).

[0039] For example, the second drive component 43 is a servo motor.

[0040] In other feasible embodiments, the second drive component may be a gear drive or a synchronous belt drive.

[0041] In some embodiments of the present invention, the joint unit 22 includes: a first joint member 221, a second joint member 222, and a third joint member 223. One end of the first joint member 221 is hinged to the second joint member 222, and the other end of the first joint member 221 is hinged to the third joint member 223. Both ends of the second joint member 222 are hinged to the second transmission member 41, and both ends of the third joint member 223 are hinged to the first connecting member 21. (Refer to...) Figure 3 , Figure 4 and Figure 6 As shown, it can be understood that the first joint member 221 is along the vertical direction (e.g., Figure 6 Extending in the vertical direction (as shown), the second joint 222 and the third joint 223 both extend in the left-right direction (as shown). Figure 6 Extending in the left-right direction (as shown), the second joint 222 and the second transmission member 41 are rotatable relative to each other along the left-right rotation axis; the third joint 223 and the first connecting member 21 are rotatable relative to each other along the left-right rotation axis; the first joint 221 and the second joint 222 are rotatable relative to each other along the front-back rotation axis; and the first joint 221 and the third joint 223 are rotatable relative to each other along the front-back rotation axis. Thus, by setting the joint unit 22, multi-degree-of-freedom compound motion of the dexterous hand fingers 100 is realized, simulating the accompanying motion of the human hand during grasping (such as the slight rotation that naturally occurs during flexion and extension), making the movements of the dexterous hand fingers 100 more natural and fluid, and improving the grasping success rate of the dexterous hand.

[0042] In other embodiments, the joint unit 22 may be configured as a universal coupling, a fisheye bearing, or a spherical bearing.

[0043] In some embodiments of the present invention, the finger root assembly 2 further includes: a second connector 23, a third connector 24, and a finger root body 25. The second connector 23 is connected to the support rod 11. One end of the first connector 21 is hinged to the second connector 23. The finger root body 25 has a first pivot portion 251 and a second pivot portion 252. The second connector 23 is connected to the first pivot portion 251, the third connector 24 is connected to the second pivot portion 252, and the other end of the first connector 21 is hinged to the third connector 24. (Refer to...) Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6As shown, it can be understood that when the first drive unit 32 drives the first transmission member 31 to swing, the first transmission member 31 drives the first connecting member 21 to rotate around the hinge point between the first connecting member 21 and the second connecting member 23. The movement of the first connecting member 21 is transmitted to the second pivot part 252 of the finger root body 25 through the third connecting member 24. The finger root body 25 rotates around the first pivot part 251 as the center of rotation and performs flexion, extension or abduction movements around the axis perpendicular to the support rod 11 (i.e., the first axis). This forms the flexion and extension movements of the human metacarpophalangeal joint, which enhances the movement flexibility and structural rigidity of the dexterous hand fingers 100 at the root.

[0044] In some embodiments of the present invention, the dexterous hand finger 100 further includes: a middle finger component 7, which is rotatably connected to the root finger component 2. The middle finger component 7 includes: a fourth connector 71 and a middle finger body 72. The middle finger body 72 has a third pivot portion 721. The middle finger body 72 and the root finger body 25 are connected to the third pivot portion 721 via a second pivot portion 252. The root finger body 25 has a fourth pivot portion 253. One end of the fourth connector 71 is connected to the fourth pivot portion 253. (See reference...) Figure 1 , Figure 2 and Figure 6 As shown, it can be understood that when the first drive unit 32 drives the finger root body 25 to swing around the first pivot 251, it drives the entire finger root assembly 2 to move. At the same time, since one end of the fourth connector 71 is connected to the fourth pivot 253 of the finger root body 25, when the finger root body 25 moves, the fourth connector 71 moves accordingly. The movement of the fourth connector 71 pushes or pulls the middle finger body 72, causing it to flex and extend synchronously around the joint axis formed by the third pivot 721 and the second pivot 252. This achieves linkage-like flexion similar to that of a human finger, that is, the finger root and the middle finger phalanx bend in tandem, realizing the enveloping grasp and fine pinching of objects of different shapes, forming a natural grasping action. The first drive unit 32 can drive the finger root and the middle finger phalanx to move in linkage, improving the power transmission efficiency and reducing drive redundancy.

[0045] In some embodiments of the present invention, the dexterous hand finger 100 further includes: a fingertip assembly 8, which is rotatably connected to the middle finger assembly 7. The fingertip assembly 8 includes: a fifth connector 81 and a fingertip body 82. The fifth connector 81 is connected to the fingertip body 82. A fifth pivot portion 811 and a sixth pivot portion 812 are formed on the fifth connector 81. The other end of the fourth connector 71 is connected to the fifth pivot portion 811. The middle finger body 72 has a seventh pivot portion 722, and the middle finger body 72 is connected to the fifth connector 81 through the sixth pivot portion 812 and the seventh pivot portion 722. (See reference...) Figure 1 , Figure 6 and Figure 7As shown, when the first drive unit 32 is activated, it drives the finger root body 25 to rotate around the first pivot part 251. The finger root body 25 drives the fourth connector 71 to move. The fourth connector 71 pulls or pushes the fifth connector 81. The fifth connector 81 rotates around the joint axis formed by the sixth pivot part 812 and the seventh pivot part 722, driving the entire fingertip assembly 8 to complete the flexion action. That is, the fingertip assembly 8 and the middle finger assembly 7 are hinged through the sixth pivot part 812 and the seventh pivot part 722. Thus, the linkage flexion of the entire segment is realized, and the dexterous hand finger 100 is highly biomimetic. The first drive unit 32 can drive the linkage movement of the finger root, middle finger joint and fingertip, which improves the power transmission efficiency, reduces drive redundancy, and achieves natural bending through the cooperation of multiple pivot parts, thus improving the compliance of the dexterous hand finger 100.

[0046] Furthermore, a tactile sensor, camera, or adjustable temperature element can be installed on the fingertip body 82, which enhances the functionality of the dexterous hand finger 100 and expands the application range of the dexterous hand.

[0047] In other feasible embodiments of the present invention, the connector may be a rod, a tendon rope, or a gear coupling mechanism.

[0048] In some embodiments of the present invention, such as Figure 1 and Figure 6 As shown, the base 1 includes: a first support member 12, a second support member 13, a third support member 14 and a mounting member. The first support member 12 is connected to the support rod 11, the second support member 13 is connected to the first support member 12, the second support member 13 is used to support the second drive member 43, the third support member 14 is used to support the first drive member 323, and the mounting member is connected to the second support member 13.

[0049] According to a second aspect of the present invention, a dexterous hand includes dexterous hand fingers 100 according to the first aspect of the present invention described above.

[0050] According to the embodiments of the present invention, the dexterous hand, by setting the dexterous hand finger 100 of the first aspect embodiment, realizes multi-level linkage of the finger root component 2, the middle finger component 7 and the fingertip component 8. At the same time, combined with the synergistic effect of the first motion component 3 and the second motion component 4, it realizes multi-degree-of-freedom movement of a single finger, supporting complex actions such as flexion, extension, rotation and finger opposition. The transmission chain composed of multiple connectors and multiple pivots realizes natural linkage from the finger root to the fingertip, reducing the number of driving components, reducing the weight and power consumption of the dexterous hand, improving the dynamic response of the dexterous hand, and enabling multiple grasping modes such as envelope grasping and fine pinching, with good adaptability and high stability.

[0051] A robot according to a third aspect of the present invention includes a dexterous hand according to the second aspect of the present invention described above.

[0052] The robot according to the embodiments of the present invention improves the overall performance of the robot, enhances its flexibility and precision, and ensures the stability of the robot's operation by setting up the dexterous hand of the second aspect embodiment described above.

[0053] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0055] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0056] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0057] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A dexterous hand finger, characterized in that, include: The base (1) has a support rod (11). Finger root assembly (2), the finger root assembly (2) is connected to the support rod (11), the finger root assembly (2) includes: a first connector (21) and a joint unit (22), the first connector (21) and the joint unit (22) are movably connected relative to each other; The first motion component (3) includes a first transmission member (31) and a first drive unit (32). The first transmission member (31) is sleeved on the support rod (11), and the first transmission member (31) is rotatable relative to the support rod (11) about a first axis perpendicular to the central axis of the support rod (11). The first drive unit (32) is connected to the first transmission member (31) in a transmission connection. The second motion component (4) includes a second transmission member (41) and a second drive unit (42). The second transmission member (41) is sleeved on the support rod (11) and is movably connected to the joint unit (22). The second transmission member (41) is rotatable about the central axis of the support rod (11) relative to the first transmission member (31). The second drive unit (42) is connected to the support rod (11) in a transmission manner.

2. The dexterous hand finger according to claim 1, characterized in that, The first drive unit (32) includes: a first drive rod (321), a lead screw (322) and a first drive member (323). One end of the first drive rod (321) is movably connected to the first transmission member (31), and the other end of the first drive rod (321) is movably connected to the lead screw (322). The first drive member (323) is drivenly connected to the lead screw (322) to drive the first transmission member (31) to rotate relative to the support rod (11) around the first axis.

3. The dexterous hand finger according to claim 2, characterized in that, A transmission bearing (5) is connected between the first transmission component (31) and the second transmission component (41). The transmission bearing (5) is sleeved on the support rod (11). A ball joint (6) is connected between the support rod (11) and the transmission bearing (5).

4. The dexterous hand finger according to claim 1, characterized in that, The second drive unit (42) includes: a second drive assembly and a second drive member (43). The second drive assembly is connected between the second drive member (43) and the support rod (11). The second drive assembly includes: a second drive rod (421) and a third drive rod (422). One end of the second drive rod (421) is connected to the support rod (11), and the other end of the second drive rod (421) is rotatably connected to one end of the third drive rod (422). The second drive member (43) is drively connected to the other end of the third drive rod (422) to drive the second drive member (41) to rotate relative to the first drive member (31) about the central axis of the support rod (11).

5. The dexterous hand finger according to any one of claims 1-4, characterized in that, The joint unit (22) includes: a first joint member (221), a second joint member (222), and a third joint member (223). One end of the first joint member (221) is hinged to the second joint member (222), and the other end of the first joint member (221) is hinged to the third joint member (223). Both ends of the second joint member (222) are hinged to the second transmission member (41), and both ends of the third joint member (223) are hinged to the first connecting member (21).

6. The dexterous hand finger according to claim 5, characterized in that, The finger root assembly (2) further includes: a second connector (23), a third connector (24), and a finger root body (25). The second connector (23) is connected to the support rod (11). One end of the first connector (21) is hinged to the second connector (23). The finger root body (25) has a first pivot portion (251) and a second pivot portion (252). The second connector (23) is connected to the first pivot portion (251). The third connector (24) is connected to the second pivot portion (252). The other end of the first connector (21) is hinged to the third connector (24).

7. The dexterous hand finger according to claim 6, characterized in that, Also includes: The finger middle component (7) is rotatably connected to the finger root component (2). The finger middle component (7) includes a fourth connector (71) and a finger middle body (72). The finger middle body (72) has a third pivot portion (721). The finger middle body (72) and the finger root body (25) are connected to the third pivot portion (721) through the second pivot portion (252). The finger root body (25) has a fourth pivot portion (253). One end of the fourth connector (71) is connected to the fourth pivot portion (253).

8. The dexterous hand finger according to claim 7, characterized in that, Also includes: A fingertip assembly (8) is rotatably connected to the middle finger assembly (7). The fingertip assembly (8) includes a fifth connector (81) and a fingertip body (82). The fifth connector (81) is connected to the fingertip body (82). A fifth pivot portion (811) and a sixth pivot portion (812) are formed on the fifth connector (81). The other end of the fourth connector (71) is connected to the fifth pivot portion (811). The middle finger body (72) has a seventh pivot portion (722). The middle finger body (72) is connected to the fifth connector (81) through the sixth pivot portion (812) and the seventh pivot portion (722).

9. A dexterous hand, characterized in that, Includes the dexterous hand fingers as described in any one of claims 1-8.

10. A robot, characterized in that, Including the dexterous hand as described in claim 9.

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