dexterous hand fingers and dexterous hand

Abstract

The application discloses a finger of a dexterous hand and the dexterous hand, and relates to the technical field of dexterous hands, wherein the finger of the dexterous hand is installed on a palm, and the finger comprises a knuckle shell, a mounting seat and a conductive wire harness. Functional components are arranged in the knuckle shell and can rotate around a first axis penetrating the lower end of the knuckle shell. The lower end of the shell is provided with a bottom wire passing channel and a wire passing channel, and the proximal end or the distal end of the shell is connected to the palm through the mounting seat, and the top of both is provided with a top wire passing channel. The conductive wire harness comprises first, second and third extension sections connected in sequence, the first and third sections extend in the up-down direction and are connected to the functional components of the current stage and the components of the next stage or the palm respectively; the second section is coaxial with the first axis, and the third section passes through the bottom wire passing channel, the wire passing channel and the top wire passing channel respectively. The technical scheme provided by the application can avoid the repeated stretching, bending or twisting of the wire harness during the movement of the dexterous hand.

Description

TECHNICAL FIELD

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

[0002] As the core executive component of the robot interacting with the outside environment, the performance of the anthropomorphic dexterous hand directly determines the ability of the robot to complete fine operations and complex actions. As the core bearing component of the dexterous hand, the palm not only needs to provide a stable installation basis for the fingers, but also needs to integrate the core control and power components such as the master control board and the driving part, and at the same time needs to realize the electrical connection between the fingers and the master control board to ensure the normal work of the functional components (such as position sensors, force sensors, driving parts, etc.) in the fingers.

[0003] In order to realize the flexible movement of the fingers, the overline structure is usually provided between the finger joints of the dexterous hand and between the palm and the fingers, which is used for the conductive wire bundle connecting the electrical control components and the finger functional components to pass through, so as to ensure the stable transmission of power and control signals. At present, the conventional overline structure design method is to open an overline channel on the back side of the finger, which is in communication with the installation space inside the palm. After the conductive wire bundle is led out from the inside of the finger, it is stretched into the inside of the palm through the overline channel on the back side of the finger, and then the electrical connection is established with the master control board and other electrical control components in the palm.

[0004] However, when the fingers of the dexterous hand move, the relative positions between different finger joints and between the fingers and the palm will change, which will cause the conductive wire bundle arranged in the overline channel to be repeatedly stretched, bent or twisted with the movement of the fingers. The repeated stretching and bending will frequently change the length of the conductive wire bundle, and after long-term use, the conductive wire bundle is prone to fatigue wear, insulation layer damage and other problems, and even the internal wires of the wire bundle may be broken, causing the electrical connection between the electrical control components and the finger functional components to fail, and then causing the dexterous hand finger action to be out of control and unable to normally complete the operation task. At the same time, the stretching force and bending resistance generated by the conductive wire bundle during swinging will also increase the load of the finger movement, affect the flexibility and action accuracy of the finger movement, and limit the application of the dexterous hand in high-precision operation scenes. SUMMARY

[0005] The main purpose of the present application is to provide a finger of a dexterous hand and a dexterous hand, which aims to avoid the repeated stretching, bending or twisting of the wire bundle during the movement of the dexterous hand.

[0006] In order to achieve the above purpose, the finger of the dexterous hand provided by the present application is installed on the palm, and the finger comprises:

[0007] At least one knuckle shell, the knuckle shell is internally provided with a mounting space, the mounting space is internally provided with a functional component, the knuckle shell can rotate around a first axis, the first axis penetrates a lower end of the knuckle shell, the lower end of the knuckle shell is provided with a bottom wire passing channel and a wire passing channel, the knuckle shell comprises a proximal knuckle shell and / or a distal knuckle shell;

[0008] A mounting seat is used to connect the knuckle shell and the palm, the top of the mounting seat and the top end of the proximal knuckle shell are both provided with a top wire passing channel;

[0009] A conductive wire harness is used to supply power to the functional component, the conductive wire harness comprises a first extension section, a second extension section and a third extension section connected in sequence, the first extension section and the third extension section both extend along the up-down direction of the knuckle shell, the first extension section is electrically connected with the functional component in the knuckle shell of the current level, the third extension section is electrically connected with the functional component in the knuckle shell of the next level or the palm, the second extension section is coaxially arranged with the first axis, the first extension section passes through the bottom wire passing channel, the second extension section passes through the wire passing channel, and the third extension section passes through the top wire passing channel.

[0010] In an embodiment, the top end of the proximal knuckle shell is provided with an avoiding channel, the avoiding channel communicates the bottom wire passing channel and the wire passing channel, and the avoiding channel extends along the circumferential direction of the first axis.

[0011] In an embodiment, the top of the proximal knuckle shell and the top of the mounting seat are both relatively provided with two connecting supports, the connecting supports are rotationally connected with the knuckle shell of the upper level, the top wire passing channel and the avoiding channel are both arranged in the connecting supports, the connecting supports further comprise avoiding holes, the axes of the avoiding holes are coaxially arranged with the first axis, the two avoiding holes respectively communicate the top wire passing channel and the avoiding channel, and the two avoiding holes are communicated through the wire passing channel.

[0012] In an embodiment, the functional component comprises a rotation driving member, a helical gear shaft drivingly connected with an output shaft of the rotation driving member, the helical gear shaft is connected with the connecting support, the rotation axis of the helical gear shaft is coaxially arranged with the first axis, and the wire passing channel is formed in the helical gear shaft.

[0013] In an embodiment, the top wire passing channel is obliquely extended from the avoiding hole to the lateral side of the palm of the dexterous hand in the extension direction of the knuckle shell, and directly communicates with the mounting space, and an avoiding area is formed below the top wire passing channel on the connecting support.

[0014] In an embodiment, a limiting groove is arranged on the connecting support near one side of the palm, the limiting groove is arranged in the avoiding area, the bottom of the knuckle shell is provided with a limiting protrusion, the knuckle shell has a holding position and an opening position in the circumferential direction of the first axis, in the opening position, the extending direction of the knuckle shell is consistent with the extending direction of the palm or the next knuckle shell, in the holding position, the knuckle shell is rotated around the first axis to abut the limiting protrusion and the limiting groove.

[0015] In an embodiment, the fingers are divided into a thumb and four fingers, the thumb includes one proximal knuckle shell and one distal knuckle shell, the four fingers include two proximal knuckle shells and one distal knuckle shell, the mounting seat includes a thumb mounting seat connected with the thumb and a four-finger mounting seat connected with the four fingers, the palm is provided with a plurality of swing driving members and a thumb driving module, the swing driving members are arranged one by one corresponding to the four fingers and are drivingly connected with the four-finger mounting seat, so that the four-finger driving member swings around the second axis in the width direction of the palm, the thumb driving module is drivingly connected with the thumb mounting seat, so that the thumb mounting seat rotates around the third axis, and the top of the four-finger mounting seat and the top of the thumb mounting seat are provided with the top wire passing channel.

[0016] In an embodiment, the four-finger mounting seat is further provided with a palm wire passing channel, the palm wire passing channel is coaxially arranged with the second axis, or the axis of the palm wire passing channel intersects with the second axis, and the intersection point is located at the end of the palm wire passing channel, in the four-finger mounting seat, the third extending section of the conductive wire bundle is bent into the fourth extending section coaxially arranged with the palm wire passing channel after extending from the top wire passing channel, and the fourth extending section is arranged in the palm wire passing channel.

[0017] In an embodiment, the thumb driving module includes a rotating shaft rotatably arranged in the palm around the third axis, one end of the rotating shaft away from the palm is connected with the thumb mounting seat, and the rotating shaft is provided with a rotating shaft wire passing channel penetrating through the rotating shaft along the third axis, the thumb mounting seat is further provided with a seat wire passing channel in communication with the rotating shaft wire passing channel, in the thumb mounting seat, the third extending section of the conductive wire bundle is bent into the fifth extending section coaxially arranged with the third axis after extending from the top wire passing channel, and the fifth extending section is arranged in the seat wire passing channel and the rotating shaft wire passing channel in sequence.

[0018] The application further provides a dexterous hand, comprising:

[0019] The palm comprises a palm shell, a palm space is arranged in the palm shell, a swing driving element, a thumb driving module and a general control board are arranged in the palm space;

[0020] The fingers are divided into the four fingers and the thumb, the four fingers are connected with the palm through the four finger mounting seat, the thumb is connected with the palm through the thumb mounting seat, the four finger mounting seat rotates around the second axis under the driving of the swing driving element, and the thumb mounting seat rotates around the third axis under the driving of the thumb driving module.

[0021] The third extension section of the conductive wire harness in the four fingers is bent into the fourth extension section after extending out of the top wire passing channel of the four finger mounting seat, the fourth extension section is coaxially arranged with the second axis, or the fourth extension section intersects with the second axis, and the intersection point is located at the tail end of the fourth extension section, and the fourth extension section extends into the palm space through the four finger mounting seat to electrically connect the general control board; the third extension section of the conductive wire harness in the thumb extends into the fifth extension section coaxially arranged with the third axis after extending out of the top wire passing channel of the thumb mounting seat, and the fifth extension section extends into the palm space through the thumb mounting seat to electrically connect the general control board.

[0022] In the technical scheme, the second extension section of the conductive wire harness is designed to be coaxial with the first axis and to pass through the wire passing channel at the lower end of the knuckle shell; when the knuckle shell rotates around the first axis, the coaxial second extension section is constant in length and has no relative displacement because it is at the rotation center, so that torsional stress is avoided; meanwhile, the first extension section is connected with the functional component at the current level and extends along the up-down direction of the knuckle shell together with the third extension section connected with the lower knuckle shell or the palm, and respectively passes through the bottom wire passing channel and the top wire passing channel, that is, the first extension section and the second extension section will not be bent in the process of the knuckle shell rotating around the first axis. The structure restricts the dynamic bending point of the conductive wire harness to the coaxial region, that is, the second extension section, significantly reduces the risk of abrasion of the insulating layer and breakage of the wire, reduces the resistance of the wire harness to the joint movement, improves the flexibility and force control accuracy of the finger movement, and provides a reliable electrical connection basis for high-frequency fine operation. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical schemes in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0024] Figure 1 A schematic diagram of the structure of an embodiment of the dexterous hand provided by the present invention;

[0025] Figure 2 for Figure 1 A cross-sectional view of a finger in the illustrated embodiment;

[0026] Figure 3 for Figure 1 Another cross-sectional view of the finger in the illustrated embodiment;

[0027] Figure 4 for Figure 1 A cross-sectional view of the fingers in the gripping position in the illustrated embodiment;

[0028] Figure 5 for Figure 1 Another cross-sectional view of the fingers in the gripping position in the illustrated embodiment;

[0029] Figure 6 for Figure 1 Another structural schematic diagram of the embodiment shown;

[0030] Figure 7 for Figure 1 A schematic diagram of the speed reducer for the dexterous finger joint in the illustrated embodiment;

[0031] Figure 8 for Figure 7 Schematic diagram of the structure of the transmission housing;

[0032] Figure 9 for Figure 7 A cross-sectional view of the embodiment shown;

[0033] Figure 10 for Figure 7 Another cross-sectional view of the embodiment shown;

[0034] Figure 11 for Figure 7 Exploded view of the structure of the embodiment shown;

[0035] Figure 12 This is a schematic diagram of the structure of the speed reducer for the dexterous finger joint provided by the present invention when the worm is a ring-enclosed worm.

[0036] Figure 13 A schematic diagram of the speed reducer for the dexterous finger joint provided by the present invention when the worm is a cylindrical worm.

[0037] Figure 14 for Figure 1 Another structural schematic diagram of the embodiment shown;

[0038] Figure 15 for Figure 1 Top view of the dexterous hand in the embodiment;

[0039] Figure 16 For Figure 1 An exploded view of a mounting base, a drive unit, and a metacarpophalangeal joint embodiment of the present application;

[0040] Figure 17 For Figure 16 An exploded view of a drive unit of the embodiment shown;

[0041] Figure 18 For Figure 16 A cross-sectional view of the mounting base, drive unit, and metacarpophalangeal joint of the embodiment shown assembled;

[0042] Figure 19 For Figure 16 A schematic view of the structure of a mounting base embodiment of the present application;

[0043] Figure 20 For Figure 1 A partial assembly view of the thumb in the embodiment shown;

[0044] Figure 21 For Figure 20 A cross-sectional view of the embodiment shown;

[0045] Figure 22 For Figure 1 An exploded view of a proximal phalangeal housing embodiment in the embodiment shown;

[0046] Figure 23 For Figure 1 A schematic view of the structure of a thumb mounting base in the embodiment shown;

[0047] Figure 24 For Figure 23 An exploded view of a thumb mounting base in the embodiment shown;

[0048] Figure 25 For Figure 15 Another labeled schematic view of the top view shown;

[0049] Figure 26 For Figure 1 A top view of the thumb mounting base and proximal phalangeal housing assembled in the embodiment shown;

[0050] Figure 27 For Figure 1 An exploded view of a proximal phalangeal housing in the embodiment shown;

[0051] Figure 28 For Figure 1 A schematic view of the structure of a palm in the embodiment shown;

[0052] Figure 29 For Figure 1A cross-sectional view of the palm of the embodiment shown;

[0053] Figure 30 A Figure 1 Another cross-sectional view of the palm of the embodiment shown;

[0054] Figure 31 A Figure 1 An exploded view of the palm of the embodiment shown;

[0055] Figure 32 A Figure 28 A structural schematic view of the palm of the embodiment shown from another perspective;

[0056] Figure 33 A Figure 31 Another labeled schematic view of the exploded view shown;

[0057] Figure 34 A Figure 1 A structural schematic view of the palm of the embodiment shown when applied to a dexterous hand, when the fingers are in abutment with the swing limiting structure;

[0058] Figure 35 A Figure 1 A structural schematic view of the palm of the embodiment shown when applied to a dexterous hand, when the fingers are away from the swing limiting structure;

[0059] Figure 36 A Figure 29 A close-up view of A in the figure shown;

[0060] Figure 37 A Figure 1 An exploded view of the four-finger mounting seat of the embodiment shown;

[0061] Figure 38 A Figure 1 Another exploded view of the four-finger mounting seat of the embodiment shown;

[0062] Figure 39 A Figure 1 A structural schematic view of the swing driving member and the speed reducer connection of the embodiment shown;

[0063] Figure 40 A Figure 1 Another structural schematic view of the swing driving member and the speed reducer connection of the embodiment shown;

[0064] Figure 41 A Figure 1 A structural schematic view of the proximal knuckle shell of the embodiment shown;

[0065] Figure 42 A Figure 41 A partial exploded view of the embodiment shown;

[0066] Figure 43For Figure 41 A cross-sectional view of the embodiment shown in Fig. 1 1 ;

[0067] Figure 44 For Figure 41 Another cross-sectional view of the embodiment shown in Fig. 1 1 ;

[0068] Figure 45 For Figure 41 Yet another cross-sectional view of the embodiment shown in Fig. 1 1 ;

[0069] Figure 46 For Figure 41 Still another cross-sectional view of the embodiment shown in Fig. 1 1 ;

[0070] Figure 47 For Figure 41 Structural schematic of an embodiment of the drive housing in the embodiment shown in Fig. 1 1 ;

[0071] Figure 48 For Figure 41 Structural schematic of the main housing in the embodiment shown in Fig. 1 1 ;

[0072] Figure 49 For Figure 41 Structural schematic of the main housing in the embodiment shown in Fig. 1 1 from another perspective;

[0073] Figure 50 For Figure 1 Structural schematic of the distal knuckle housing in the embodiment shown in Fig. 1 1 ;

[0074] Figure 51 For Figure 50 Exploded view of the distal knuckle housing and the proximal knuckle housing in the embodiment shown in Fig. 1 1 ;

[0075] Figure 52 For Figure 50 Cross-sectional view of the distal knuckle housing in the embodiment shown in Fig. 1 1 with the finger in a gripping position;

[0076] Figure 53 For Figure 50 Another cross-sectional view of the distal knuckle housing in the embodiment shown in Fig. 1 1 with the finger in a gripping position;

[0077] Figure 54 For Figure 50 Cross-sectional view of the embodiment shown in Fig. 1 1 ;

[0078] Figure 55 For Figure 1 Structural schematic of adjacent proximal knuckle housings in the embodiment shown in Fig. 1 1 with the finger in an open position;

[0079] Figure 56 For Figure 1 Structural schematic of adjacent proximal knuckle housings in the embodiment shown in Fig. 1 1 with the finger in a gripping position;

[0080] Figure 57 for Figure 1 a sectional view of the embodiment shown in FIG. 1;

[0081] Figure 58 for Figure 1 another sectional view of the proximal knuckle shell in the embodiment shown in FIG. 1;

[0082] Figure 59 for Figure 1 still another structural schematic view of the proximal knuckle shell in the embodiment shown in FIG. 1;

[0083] Figure 60 for Figure 1 still another structural schematic view of the proximal knuckle shell in the embodiment shown in FIG. 1.

[0084] BRIEF DESCRIPTION OF THE DRAWINGS

[0085] 100, knuckle shell; 11, mounting space; 111, sensing mounting port; 112, splicing port; 113, mounting groove; 114, second mounting hole; 115, positioning protrusion; 116, concave arc surface; 117, fourth mounting hole; 118, connecting groove; 12, proximal knuckle shell; 121, main shell; 122, sensing support; 123, mounting plate; 124, mounting surface; 125, first plate segment; 126, second plate segment; 127, third plate segment; 128, connecting plate; 129, shell portion; 13, distal knuckle shell; 131, fingertip shell portion; 132, fingertip sensing support; 133, outer convex arc surface segment; 134, straight line segment; 135, fingertip connecting assembly; 136, positioning connecting block; 14, bottom wire passage; 15, top wire passage; 16, threading passage; 17, material guiding surface; 18, mating surface; 181, first mating segment; 182, second mating segment; 101, first limiting structure; 102, limiting protrusion; 103, third limiting structure; 104, first abutting surface; 105, second limiting structure; 106, limiting groove; 107, fourth limiting structure; 108, second abutting surface;

[0086] 200, mounting seat; 21, thumb mounting seat; 211, seat threading passage; 212, base plate; 213, observation groove; 214, first convex arc surface; 215, second convex arc surface; 22, four-finger mounting seat; 221, palm wire passage; 222, connecting support; 223, avoidance passage; 224, avoidance hole; 225, mounting support; 226, first seat body structure; 227, second seat body structure; 228, insertion block; 229, insertion groove;

[0087] 300, electrically conductive wire harness; 301, first extension section; 302, second extension section; 303, third extension section; 305, fourth extension section; 306, fifth extension section; 307, first section; 308, second section; 309, third section; 310, fourth section; 311, fifth section;

[0088] 400, finger; 41, functional assembly; 411, rotating driving member; 412, sensor; 413, electric control board; 42, four fingers; 43, thumb;

[0089] 500, speed reducer; 51, transmission housing; 511, speed reduction avoidance hole; 5111, annular mounting groove; 512, speed reduction mounting cavity; 513, first cavity; 514, second cavity; 515, driving positioning port; 516, connecting block; 517, first mounting hole; 518, third mounting hole; 501, end cover; 502, fixed shell; 52, worm; 521, ring surface envelope worm; 522, cylindrical worm; 523, rod body; 524, helical tooth; 53, helical gear shaft; 531, mounting portion; 5311, clamping through groove; 5312, positioning protrusion; 5313, fixed block; 5314, mounting hole; 532, gear portion; 5321, clamping protrusion; 534, first bearing; 535, second bearing; 536, positioning sleeve ring;

[0090] 600, palm; 61, palm housing; 62, palm space; 63, wire harness through hole; 64, swinging driving member; 65, fastener; 66, wire protection groove; 661, transition inclined surface; 67, mounting notch; 671, swinging limiting structure; 672, weight reduction structure; 68, palm core housing; 69, palm back housing;

[0091] 700, thumb driving module; 71, first thumb driving member; 72, second thumb driving member; 73, rotating shaft; 731, rotating shaft threading channel; 74, mounting shaft rod; 741, first shaft rod; 742, second shaft rod; 743, first wire passing hole; 744, second mounting port; 745, thumb avoidance notch; 746, first mounting port; 747, thumb driving cavity.

[0092] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0093] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0094] It should be noted that if the embodiment of the present application involves directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, motion condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly.

[0095] In addition, if the embodiment of the present application involves descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, "and / or" or "and / or" appearing throughout the text means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B simultaneously satisfy the scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0096] The present application provides a finger of a dexterous hand.

[0097] Please refer to Figures 1-60 In an embodiment of the present application, the finger 400 of the dexterous hand, the finger 400 is installed on the palm 600, and the finger 400 comprises:

[0098] Please refer to Figures 1-5 At least one phalange shell 100, the phalange shell 100 is provided with an installation space 11, the installation space 11 is provided with a functional component 41, the phalange shell 100 can rotate around a first axis, the first axis penetrates the lower end of the phalange shell 100, the lower end of the phalange shell 100 is provided with a bottom wire passing channel 14 and a wire passing channel 16, the phalange shell 100 comprises a proximal phalange shell 12 and / or a distal phalange shell 13;

[0099] The mounting seat 200 is used to connect the phalange shell 100 and the palm 600, and the top of the mounting seat 200 and the top end of the proximal phalange shell 12 are both provided with a top wire passing channel 15;

[0100] The conductive wire bundle 300 for supplying power to the functional assembly 41 includes a first extension section 301, a second extension section 302 and a third extension section 303 connected in sequence, the first extension section 301 and the third extension section 303 extend along the up-down direction of the knuckle shell 100, the first extension section 301 is electrically connected with the functional assembly 41 in the knuckle shell 100 of the current stage, the third extension section 303 is electrically connected with the functional assembly 41 in the knuckle shell 100 of the next stage or the palm 600, the second extension section 302 is coaxially arranged with the first axis, the first extension section 301 passes through the bottom wire passage 14, the second extension section 302 passes through the wire passage 16, and the third extension section 303 passes through the top wire passage 15.

[0101] In the technical scheme, the second extension section 302 of the conductive wire bundle 300 is designed to be coaxial with the first axis and passes through the wire passage 16 at the lower end of the knuckle shell 100, when the knuckle shell 100 rotates around the first axis, the coaxial second extension section 302 is constant in length and has no relative displacement because it is at the rotation center, thereby avoiding torsional stress; meanwhile, the first extension section 301 is connected with the functional assembly 41 of the current stage and extends along the up-down direction of the knuckle shell 100 together with the third extension section 303 connected with the knuckle shell 100 of the next stage or the palm 600, and respectively passes through the bottom wire passage 14 and the top wire passage 15, that is, the first extension section 301 and the second extension section 302 will not be bent in the process of the knuckle shell 100 rotating around the first axis. The structure restricts the dynamic bending point of the conductive wire bundle 300 to the coaxial region, that is, the second extension section 302, significantly reduces the risk of insulation layer wear and wire breakage, reduces the resistance of the wire bundle to joint movement, improves the flexibility and force control accuracy of the finger 400 movement, and provides a reliable electrical connection basis for high-frequency fine operation.

[0102] In an embodiment, the top end of the proximal knuckle shell 12 is provided with an avoiding passage 223, the avoiding passage 223 is communicated with the bottom wire passage 14 and the wire passage 16, and the avoiding passage 223 extends along the circumferential direction of the first axis. That is, when the knuckle shell 100 of the upper stage rotates, the first extension section 301 extending out of the bottom wire passage 14 can slide in the avoiding passage 223, and after the first extension section 301 passes through the avoiding passage 223, the second extension section 302 coaxial with the first axis is bent out. The avoiding passage 223 can avoid the deformation of the conductive wire bundle 300 in the first extension section 301, significantly prolong the fatigue life of the wire bundle, and at the same time guarantee the stability of signal transmission. In other embodiments, the avoiding passage 223 can also be arranged at the bottom end of the knuckle shell 100.

[0103] In an embodiment, the top of the proximal knuckle shell 12 and the top of the mounting base 200 are each provided with two connecting brackets 222, the connecting brackets 222 are rotationally connected with the knuckle shell 100 of the previous stage, the top wire passage 15 and the avoidance passage 223 are provided on the connecting bracket 222, the connecting bracket 222 further comprises avoidance holes 224, the axis of the avoidance holes 224 is coaxial with the first axis, the two avoidance holes 224 are respectively communicated with the top wire passage 15 and the avoidance passage 223, and the two avoidance holes 224 are communicated through the wire passage 16. The axes of the avoidance holes 224 on the two connecting brackets 222 are coaxial with the first axis, and are respectively communicated with the top wire passage 15 and the avoidance passage 223, so that the conductive wire bundle 300 is bent in the avoidance hole 224 when passing through the knuckle shell 100 and the mounting base 200 or the two adjacent knuckle shells 100, and there is no sharp angle bending. The avoidance hole 224 coaxial with the first axis can ensure that the conductive wire bundle 300 does not interfere with the rotation of the knuckle shell 100 during the relative rotation of the knuckle shell 100. This structure not only strengthens the reliability of the wire bundle in the complex multi-finger cooperative movement, but also simplifies the assembly process. In other embodiments, the connecting knuckle can be provided on the bottom of the knuckle shell 100, at this time, the bottom wire passage 14, the avoidance passage 223, and the avoidance hole 224 are formed on the connecting bracket 222.

[0104] In an embodiment, the functional assembly 41 comprises a rotation driving member 411, a helical gear shaft 53 drivingly connected with the output shaft of the rotation driving member 411, the helical gear shaft 53 is connected with the connecting bracket 222, the rotation axis of the helical gear shaft 53 is coaxial with the first axis, and the wire passage 16 is formed in the helical gear shaft 53. The helical gear shaft 53 is a key component for driving the knuckle to rotate, the rotation axis of the helical gear shaft 53 is coaxial with the first axis, and the wire passage 16 is directly formed in the shaft, when the helical gear shaft 53 rotates to drive the knuckle to move, the second extension section 302 passing through it has no relative movement because it is completely coaxial with the rotating shaft 73, eliminating the risk of pulling the conductive wire bundle 300 in the traditional design when the knuckle rotates. In other embodiments, the helical gear shaft 53 can not be provided, the output shaft of the rotation driving member 411 is drivingly connected with other transmission structures, such as a planetary gear assembly, to realize the rotation of the knuckle shell 100 around the first axis.

[0105] In an embodiment, the top wire passage 15 extends obliquely from the avoidance hole 224 to the lateral side of the palm of the dexterous hand in the extension direction of the knuckle shell 100, and is directly communicated with the mounting space 11, and an avoidance area is formed below the top wire passage 15 on the connecting bracket 222. The avoidance area is used to set other functional components on the knuckle shell 100. In other embodiments, the top wire passage 15 can only extend in the up-down direction of the knuckle shell 100.

[0106] Please refer toFigures 55-56 In an embodiment, the knuckle shell 100 comprises a first limiting structure 101 arranged at the bottom of the finger palm side, a second limiting structure 105 arranged at the top of the finger palm side, a third limiting structure 103 arranged at the bottom of the finger back side, and a fourth limiting structure 107 arranged at the top of the finger back side. The knuckle of the finger 400 has an open position and a holding position. In the open position, the fourth limiting structure 107 abuts against the third limiting structure 103 of the knuckle of the next level finger 400. In the holding position, the first limiting structure 101 abuts against the second limiting structure 105 of the knuckle of the next level finger 400. By abutting the fourth limiting structure against the third limiting structure of the knuckle of the next level finger 400 in the open position and abutting the first limiting structure against the second limiting structure of the knuckle of the next level finger 400 in the holding position, the maximum open angle and holding angle of the knuckle of the finger 400 are accurately defined, and the impact on the joint, bearing and other components caused by overtravel rotation is avoided. This is beneficial to improve the safety and reliability of the knuckle structure, prolong the service life of the internal components, ensure the consistency of the grabbing and opening actions, and improve the stability of the dexterous hand operation. In other embodiments, the first limiting structure 101, the second limiting structure 105, the third limiting structure 103 and the fourth limiting structure 107 can not be arranged. By installing a control program on the electric control board 413 of the driving member for rotating the tip of the finger 400, the forward and reverse rotation of the driving member is limited.

[0107] In an embodiment, the top of the knuckle shell 100 or the top of the palm 600 mounting seat 200 is oppositely provided with two connecting brackets 222. The connecting bracket 222 is rotationally connected with the knuckle shell 100 of the next level, and the second limiting structure 105 and the fourth limiting structure 107 are arranged on the connecting bracket 222. The connecting bracket 222 is rotationally connected with the knuckle of the next level, and the second limiting structure 105 and the fourth limiting structure 107 are integrated on the connecting bracket 222. The rotation connection and the limiting function are concentrated on the same component, the structure design is simplified, the assembly process is reduced, and the stress is evenly transmitted through the connecting bracket 222 when limiting to avoid local stress concentration. By simplifying the structure and reducing the assembly cost, the stability of the limiting structure is improved, and the synchronous reliability of the rotation and limiting actions is ensured. In other embodiments, the connecting bracket 222 can not be arranged.

[0108] In an embodiment, the second limiting structure 105 includes a limiting groove 106 arranged on the side of the connecting bracket 222 close to the finger pulp side, and the limiting groove 106 is arranged in the avoiding area. The first limiting structure 101 includes a limiting protrusion 102, which moves around the circumferential side of the connecting bracket 222 in the process of the rotation of the finger joint 400 of the previous stage. In the holding position, the limiting protrusion 102 abuts against the groove bottom wall of the limiting groove 106. The limiting groove 106 structure can form a circumferential constraint on the limiting protrusion 102, avoiding slipping, and the abutting surface is the groove bottom wall, the contact area is stable, the limiting precision is higher, and the limiting protrusion 102 moves around the circumferential side of the connecting bracket 222, without affecting the normal rotation of the finger joint. It is beneficial to ensure the accurate positioning of the holding action, improve the stability of the grabbing, avoid the material falling off, and adapt to the precise grabbing scene. At the same time, it can ensure that the conductive wire harness 300 is always within the protection range of the avoiding area, avoiding the wire harness being forcibly stretched to breakage due to human error operation or control failure. The structure ensures the freedom of the finger 400 while improving the fault tolerance capability of the dexterous hand in the industrial continuous operation. In other embodiments, the second limiting structure 105 and the first limiting structure 101 can be respectively the abutting protrusions on the finger pulp side of the finger joint 400 of the current stage and the finger joint 400 of the next stage. In the holding position, the two abutting protrusions abut against each other.

[0109] In an embodiment, the bottom of the finger joint shell 100 is provided with a connecting groove 118, the groove bottom wall of the connecting groove 118 is rotationally connected with the connecting bracket 222, the third limiting structure 103 includes a first abutting surface 104 arranged on the groove side wall of the connecting groove 118, and the fourth limiting structure 107 includes a second abutting surface 108 arranged on the top wall of the connecting bracket 222. In the open position, the first abutting surface 104 and the second abutting surface 108 abut against each other, increasing the limiting contact area, dispersing the stress, and avoiding local wear. At the same time, the groove bottom wall of the connecting groove 118 is rotationally connected with the connecting bracket 222, integrating the rotational connection and the open limiting structure, and simplifying the layout. It is helpful to improve the stability and durability of the open position limiting, avoid limiting failure, and at the same time optimize the compactness of the rotational connection, and reduce the structural space occupation. In other embodiments, the first limiting structure 101 and the second limiting structure 105 can be respectively the abutting protrusions arranged on the back side of the finger joint 400 of the current stage and extending towards the finger root, and the grooves arranged on the back side of the finger joint 400 of the next stage and capable of abutting against the abutting protrusions.

[0110] In an embodiment, the limit protrusion 102 and the groove side wall of the connecting groove 118 are configured as the same structure, and the limit protrusion 102 extends along the circumference of the connecting bracket 222. This helps to reduce the number of independent parts, simplify processing and assembly, and the circumferentially extending structure can make the force more uniform when holding the limit, thereby improving the stability of the limit. In other embodiments, the limit protrusion 102 and the groove side wall of the connecting groove 118 can also be configured as different structures.

[0111] Please refer to Figure 6 In an embodiment, the fingers 400 are divided into a thumb 43 and four fingers 42, the thumb 43 includes one proximal phalanx shell 12 and one distal phalanx shell 13, the four fingers 42 include two proximal phalanx shells 12 and one distal phalanx shell 13, the mounting seat 200 includes a thumb mounting seat 21 connected with the thumb 43 and a four-finger mounting seat 22 connected with the four fingers 42, the palm 600 is provided with a plurality of swing driving members 64 and a thumb driving module 700, the swing driving members 64 are arranged one-to-one with the four fingers 42 and are drivingly connected with the four-finger mounting seat 22 to make the four-finger driving members swing around the second axis in the width direction of the palm 600, the thumb driving module 700 is drivingly connected with the thumb mounting seat 21 to make the thumb mounting seat 21 rotate around the third axis, and the top of the four-finger mounting seat 22 and the top of the thumb mounting seat 21 are both provided with a top wire passing channel 15. In view of the differentiated structure and rotating mode of the thumb 43 and the four fingers 42 on the human hand, the thumb mounting seat 21 and the four-finger mounting seat 22 are configured respectively, and the top wire passing channel 15 is arranged on the top of both, that is, the conductive wire bundle 300 in the proximal phalanx shell 12 and the distal phalanx shell 13 on the thumb 43 and the four fingers 42 pass through in the same way. In other embodiments, the fingers 400 can only be the thumb 43 or the four fingers 42.

[0112] Please refer to Figures 7-13In an embodiment, the dexterous hand is provided with a speed reducer 500, which is applied to the joints of the fingers 400 of the dexterous hand, and specifically, the output ends of the rotating driving member 411 and the swinging driving member 64 are each provided with a speed reducer 500. The speed reducer 500 comprises a transmission housing 51, a worm 52 and a helical gear shaft 53. The transmission housing 51 is provided with a speed reduction installation cavity 512 and a speed reduction avoidance hole 511 communicating with the speed reduction installation cavity 512; the worm 52 is arranged in the speed reduction installation cavity 512 and is used to be drivingly connected with the output shaft of the driving member; the helical gear shaft 53 is arranged in the speed reduction installation cavity 512, the helical gear shaft 53 comprises an installation portion 531 and a gear portion 532 arranged on the installation portion 531, the installation portion 531 is exposed to the two speed reduction avoidance holes 511 and is used to be fixedly connected with the connecting bracket 222 in opposition, the gear portion 532 is in meshing engagement with the worm 52 in the axial intersection manner, the helical gear shaft 53 is internally provided with a threading passage 16, the threading passage 16 penetrates through the opposite end faces of the helical gear shaft 53 along the axial direction of the gear portion 532, and the threading passage 16 is used to accommodate the conductive wire harness 300 electrically connected with the driving member.

[0113] The technical scheme of the present application realizes the built-in conductive wire harness 300 in the transmission housing 51 by arranging the threading passage 16 in the speed reducer 500, completely accommodates the conductive wire harness 300 in the helical gear shaft 53, avoids the contact between the conductive wire harness 300 and the external structure, eliminates the risk of wear and entanglement of the conductive wire harness 300 during the movement of the fingers 400 of the dexterous hand, guarantees the stability of the power supply and control signal of the driving member, and significantly prolongs the service life of the speed reducer 500 and the joints of the fingers 400.

[0114] The installation portion 531 is exposed to the two speed reduction avoidance holes 511 and is fixed with the external structure, realizes the reliable positioning of the helical gear shaft 53, provides stable support for the revolution of the transmission housing 51, the threading passage 16 penetrates through along the axial direction of the gear portion 532, is consistent with the joint movement direction, the wire harness has no bending stress inside, and the internal wear risk is further reduced.

[0115] In an embodiment, the end face of the installation portion 531 is provided with a plurality of mounting holes 5314, the plurality of mounting holes 5314 are distributed in the periphery of the threading passage 16 along the circumferential direction of the gear portion 532, and the connecting bracket 222 is connected to the mounting holes 5314 through fasteners 65. The mounting holes 5314 are distributed along the circumferential direction of the periphery of the threading passage 16, so that when the connecting bracket 222 is connected through the fasteners 65, the force is uniform and symmetrical, and the helical gear shaft 53 is prevented from tilting due to single-point or single-side force. Under the dynamic working condition of repeated flexion and extension of the joints of the fingers 400, the helical gear shaft 53 can be effectively prevented from loosening, and the meshing precision stability of the gear portion 532 and the worm 52 is guaranteed. In other embodiments, the end face of the installation portion 531 can also be provided with a plurality of buckle structures to be able to be clamped with the connecting bracket 222.

[0116] In an embodiment, the end surface of the mounting portion 531 is flush with the outer edge of the deceleration avoidance hole 511. The end surface of the mounting portion 531 is flush without protrusion, which can avoid scratches and interference with external structures, such as other dexterous hand fingers 400, during the articulation of the finger 400, thereby further reducing the movement resistance. At the same time, the mechanism appearance is regular, which meets the design requirements of miniaturization and light weight of the dexterous hand finger 400. In other embodiments, the end surface of the mounting portion 531 can be inside the deceleration mounting cavity 512, and the external structure can extend into the deceleration mounting cavity 512 through the deceleration avoidance hole 511 and be connected with the end surface of the mounting portion 531.

[0117] In an embodiment, the transmission housing 51 can revolve around the axis of the gear portion 532. The dexterous hand can imitate the design of a human hand, and generally has five fingers 400, each of which has three finger 400 joints, each of which has one degree of freedom. The deceleration mechanism 500 of the present embodiment is applied to the finger 400 joint of the robot. Among them, the mounting portion 531 is fixed with the external structure, that is, the two ends of the mounting portion 531 are used for fixed connection with the next level finger 400 joint or palm 600, and the driving member drives the worm 52 to rotate, so that the worm 52 drives the worm 52 to revolve around the axis of the gear portion 532, and then drives the transmission housing 51 to revolve around the axis of the gear portion 532, to realize the bending movement of the finger 400, and through the forward and reverse rotation of the driving member, the bending and stretching of the finger 400 can be controlled.

[0118] In an embodiment, the mounting portion 531 and the gear portion 532 are separately formed and arranged, the mounting portion 531 is configured as a shaft structure with a threading passage 16, and the gear portion 532 is sleeved on the outer peripheral surface of the mounting portion 531; one of the gear portion 532 and the mounting portion 531 is provided with a clamping groove 5311, and the other is provided with a clamping protrusion 5321, the clamping protrusion 5321 can be clamped into the clamping groove 5311 along the axial direction of the gear portion 532, to realize the circumferential fixation of the mounting portion 531 and the gear portion 532. The mounting portion 531 needs to be processed with a through-type threading passage 16, and the gear portion 532 needs to ensure the accuracy of the gear shape, so the separate forming can separately process the structures with different process requirements. The shaft of the mounting portion 531 and the threading passage 16 can be efficiently processed by turning and drilling, and the gear shape of the gear portion 532 can ensure the accuracy by hobbing and gear shaping process. Compared with the integrated forming process, the separate processing can greatly reduce the processing difficulty and cost, and at the same time improve the processing qualification rate of each component.

[0119] The cooperation of the clamping protrusion 5321 and the clamping groove 5311 realizes the circumferential fixation, which can effectively prevent the relative slipping between the gear portion 532 and the mounting portion 531, ensure the stable transmission of the torque transmitted by the worm 52 to the transmission housing 51, and realize the accurate flexion and extension of the finger 400 joint.

[0120] Of course, in other embodiments, the mounting portion 531 is configured as a plurality of mounting rods arranged on the end face of the gear portion 532 and extending along the axial direction of the gear portion 532, and the mounting rods are capable of being connected with external structures.

[0121] In an embodiment, the outer side of the mounting portion 531 is further provided with a positioning protrusion 5312, and the bevel gear shaft 53 further comprises a positioning collar 536, which is sleeved on the mounting portion 531, and the positioning protrusion 5312 and the positioning collar 536 abut against the gear along the axial direction of the mounting portion 531. The positioning protrusion 5312 and the positioning collar 536 clamp the gear portion 532 from both axial sides, which can limit the axial movement of the gear portion 532. During transmission, the meshing position of the gear portion 532 and the worm 52 remains stable at all times, avoiding changes in meshing clearance due to axial displacement, reducing transmission impact and noise, and improving the smoothness and accuracy of the articulation of the finger 400. Axial positioning can prevent the gear portion 532 from deforming axially under stress, prevent local stress concentration on the tooth surface, reduce the risk of wear and tooth collapse of the helical teeth 524, and prolong the service life of the gear portion 532. In other embodiments, the positioning protrusion 5312 and the positioning ring can also not be provided, and the gear portion 532 can be fixed to the mounting portion 531 by welding.

[0122] In an embodiment, the bevel gear shaft 53 further comprises a fixing block 5313 arranged in the clamping through groove 5311 and arranged on opposite sides of the clamping protrusion 5321 and abutting against the clamping protrusion 5321. The fixing block 5313 arranged on opposite sides of the clamping protrusion 5321 and abutting against the clamping protrusion 5321 can disperse the torque transmitted by the gear portion 532 to multiple contact points of the clamping structure, avoid damage to the clamping structure caused by single-point stress concentration, and prolong the overall service life of the bevel gear shaft 53. In other embodiments, the fixing block 5313 can also not be provided.

[0123] It should be noted that during assembly, the clamping protrusion 5321 of the gear portion 532 is first aligned with the clamping, so that the gear portion 532 can slide on the mounting portion 531 to abut against the positioning protrusion 5312. Then, the fixing block 5313 is placed in the clamping through groove 5311 to abut against opposite sides of the clamping protrusion 5321, and the fixing block 5313 and the clamping through groove 5311 are welded or press-fitted and fixed. After the fixing block 5313 and the clamping through groove 5311 are fixed, the positioning collar 536 and the first bearing 534 are sequentially sleeved on the mounting portion 531, and the assembled bevel gear shaft 53 is placed in the transmission housing 51 to complete the assembly of the bevel gear shaft 53 in the speed reduction mounting cavity 512.

[0124] In an embodiment, the hole wall of the deceleration avoidance hole 511 is formed with an annular mounting groove 5111, and the deceleration machine 500 of the joint of the dexterous finger 400 further includes two sealing rings, which are respectively sleeved on both ends of the helical gear shaft 53, and each sealing ring is embedded in an annular mounting groove 5111, and the outer circumferential surface of the fixed block 5313 abuts against the sealing ring. The sealing ring is embedded in the annular mounting groove 5111, which can effectively block the impurities such as dust, water vapor and oil stains in the external environment from entering the deceleration mounting cavity 512, avoid rust, wear or jamming of the tooth surface of the worm 52 and the gear part 532, ensure the stable work of the deceleration machine 500 in complex environments such as humid and dusty daily scenes, and improve the protection level of the deceleration machine 500.

[0125] In addition, the deceleration mounting cavity 512 is usually provided with lubricating oil, which can provide lubrication for the worm 52, the helical gear shaft 53 and the first bearing 534. In this case, the provision of the sealing ring can also avoid the leakage of lubricating oil from the inside, ensure the continuous lubrication of each part, and help to prolong the service life of each part. In other embodiments, the sealing ring can also not be provided.

[0126] In an embodiment, the helical gear shaft 53 further includes two first bearings 534, the outer ring of the first bearing 534 abuts against the transmission housing 51, the inner ring of the first bearing 534 abuts against the mounting part 531, and the two first bearings 534 are respectively sleeved on both ends of the mounting part 531. The first bearing 534 converts the sliding friction between the transmission housing 51 and the mounting part 531 into rolling friction, greatly reduces the resistance when the transmission housing 51 revolves, makes the flexion and extension movement of the joint of the finger 400 more smooth and light, reduces the power loss of the driving part, and at the same time improves the response speed of the movement of the finger 400. When the dexterous finger 400 grasps an object, radial load is generated, which can be directly borne by the first bearing 534, avoiding the direct contact and wear between the mounting part 531 and the transmission housing 51, prolonging the service life of the two, and at the same time ensuring the coaxiality of the mounting part 531 and maintaining the meshing precision of the gear part 532 and the worm 52. Further, the outer side surface of the fixed block 5313 and the rod body 523 of the mounting part 531 enclose a cylindrical structure, and part of the structure of the inner ring of the first bearing 534 abuts against the outer side surface of the fixed block 5313. Of course, in other embodiments, the first bearing 534 can also not be provided.

[0127] In an embodiment, the transmission housing 51 comprises an end cover 501 and a fixed shell 502, the speed reduction avoidance holes 511 are arranged on the end cover 501 and the fixed shell 502, and enclose a speed reduction mounting cavity 512, the end cover 501 is connected with the fixed shell 502 through screw connection, and the end cover 501 and the side wall of the transmission housing 51 respectively abut against two sides away from the two first bearings 534, so as to limit the axial movement of the two first bearings 534. The end cover 501 and the fixed shell 502 are separately machined, and different parts of the speed reduction avoidance holes 511 and the speed reduction mounting cavity 512 can be respectively formed, compared with the integral shell, the machining process is simpler, and the dimensional accuracy is easier to control. At the same time, it is convenient for the assembly of internal parts such as the worm 52, the helical gear shaft 53, the first bearing 534, the sealing ring and the like, and the production efficiency is improved. The screw connection has strong fastening, can ensure the sealing of the speed reduction mounting cavity 512, and prevent the internal parts from falling off; at the same time, it is convenient to disassemble and assemble, when the first bearing 534, the gear part 532 and the like are worn, the end cover 501 can be quickly disassembled and replaced, and the maintenance cost is reduced. In other embodiments, the transmission housing 51 can also comprise a left half housing and a right half housing, and the left half housing and the right half housing are spliced along the axial direction of the gear part 532.

[0128] In an embodiment, the speed reduction mounting cavity 512 comprises a first cavity 513 extending along the axial direction of the gear part 532 and a second cavity 514 extending along the axial direction of the worm 52, the first cavity 513 and the second cavity 514 are communicated, the speed reduction avoidance holes 511 are arranged on the opposite sides of the first cavity 513, and the top of the second cavity 514 is provided with a driving positioning port 515, the worm 52 is drivingly connected with the output end of the driving member, and the driving positioning port 515 is connected with the housing of the driving member through screw connection. The first cavity 513 is adapted to the arrangement of the helical gear shaft 53, and the second cavity 514 is adapted to the arrangement of the worm 52, the partition design makes the layout of the two core transmission components more reasonable, maximally compresses the overall volume of the speed reduction mounting cavity 512, and meets the miniaturization and light weight design requirements of the dexterous finger 400 joint. The driving positioning port 515 is connected with the housing of the driving member through screw connection, can ensure the coaxiality of the driving member and the worm 52, reduces the torque loss in the power transmission process, and at the same time, the connection is stable, and will not be loose when the finger 400 moves at high frequency, and the working stability of the transmission mechanism is improved. In other embodiments, the first cavity 513 and the second cavity 514 can also not be arranged.

[0129] In an embodiment, the side wall of the fixed shell 502 on the side of the finger pulp of the dexterous hand has a connecting block 516 extending away from the side of the threading channel 16, and the connecting block 516 is capable of being connected with the main shell 121 of the knuckle of the dexterous hand finger 400 to assemble the worm 52 transmission mechanism on the knuckle shell 100. Further, the connecting block 516 is connected with the main shell 121 through the fastener 65. In other embodiments, the connecting block 516 can also not be provided, and the peripheral side of the fixed shell 502 is provided with a buckle structure to connect the main shell 121.

[0130] In an embodiment, the worm 52 includes an enveloping worm 521 or a cylindrical worm 522. The enveloping worm 521 is designed through multi-tooth simultaneous contact and double contact lines, so that the contact area of the enveloping worm 521 with the gear part 532 is significantly increased to have a larger carrying capacity. And the relative curvature radius of the tooth surface is large, the contact stress is small, and the effective conjugate area can be expanded through modification to reduce impact and noise. The cylindrical worm 522 is machined by straight generatrix cutter or flat surface grinding wheel, which has mature process and low manufacturing cost, and is suitable for standardized production. The tolerance of the center distance and the shaft intersection angle is high, the assembly difficulty is small, and the maintenance is convenient. Of course, in other embodiments, the worm 52 can also be a conical worm.

[0131] In an embodiment, the transmission ratio of the speed reducer 500 of the joint of the dexterous hand finger 400 is 10:1 to 30:1. This transmission ratio range is the optimal interval of the joint of the dexterous hand finger 400. Specifically, when the transmission ratio is ≥10:1, torque amplification can be realized to meet the force requirement of the finger 400 to grasp objects; when the transmission ratio is ≤30:1, the movement speed of the finger 400 can be prevented from being too slow to ensure the flexibility and responsiveness of the action, balancing the requirements of “force” and “speed”.

[0132] In an embodiment, the distance between the axis of the worm 52 and the axis of the helical gear shaft 53 is 3mm to 10mm. This distance is a reasonable spacing for the meshing of the small modulus worm 52 and the gear part 532, which ensures the tooth surface contact area and meshing accuracy while minimizing the radial dimension of the mechanism to adapt to the limited installation space 11 of the joint of the finger 400.

[0133] In an embodiment, the modulus of the worm 52 and the modulus of the helical gear shaft 53 are both m, and 0.15≤m≤0.5. Small modulus design is the key of the transmission mechanism of the dexterous hand finger 400, which can realize high-precision gear meshing in a small volume and reduce transmission noise; at the same time, the carrying capacity of the small modulus helical tooth 524 can meet the load requirement of the joint of the finger 400, balancing miniaturization and reliability.

[0134] In an embodiment, the toroidal enveloping worm 521 comprises a rod body 523 and a plurality of helical teeth 524 arranged on the rod body 523, the plurality of helical teeth 524 forms a transmission section, the bevel gear shaft 53 is engaged with the transmission section, and the outer diameter of the helical teeth 524 gradually increases from the middle of the transmission section to the two ends of the transmission section. That is, the height of the helical teeth 524 at the two ends of the transmission section is greater than the height of the helical teeth 524 at the middle of the transmission section, and the plurality of helical teeth 524 is arranged in an arc-like manner. In this way, when the bevel gear shaft 53 is engaged with the toroidal enveloping worm 521, multi-tooth engagement can be achieved, thereby generating a larger output torque, effectively transmitting the power of the driving member to the robot finger 400, and improving the performance of the robot. In addition, by setting the size of the toroidal enveloping worm 521 and the bevel gear shaft 53, the speed reducer 500 of the toroidal enveloping worm 521 and the bevel gear shaft 53 can have self-locking capability, without the need to design an additional locking mechanism. In other embodiments, the outer diameters of all the helical teeth 524 can be consistent.

[0135] In an embodiment, the worm 52 transmission mechanism further comprises two second bearings 535, the outer ring of the second bearing 535 is in abutment with the transmission housing 51, the inner ring of the second bearing 535 is in abutment with the worm 52, and the two second bearings 535 are respectively sleeved on the two ends of the worm 52. The stable positioning of the worm 52 is realized by the two end second bearings 535, effectively limiting the radial runout and axial movement of the worm 52 during rotation, ensuring the coaxiality and meshing accuracy of the gear transmission. The abutment structure of the outer ring of the second bearing 535 with the transmission housing 51 and the inner ring of the second bearing 535 with the worm 52 converts the rotational friction of the worm 52 into rolling friction, significantly reducing the frictional resistance and energy loss during transmission, and improving the transmission efficiency. The layout of the two second bearings 535 can disperse the radial load generated by the worm 52 during operation, avoiding deformation or wear of the components caused by excessive force on a single point, and prolonging the service life of the speed reducer 500. Through the buffering effect of the second bearing 535, vibration and impact during transmission can be absorbed, noise can be reduced, and the overall operation stability can be improved. In other embodiments, the second bearing 535 can not be provided.

[0136] In an embodiment, the driving member comprises a rotating driving member 411 and a planetary reduction structure, the planetary reduction structure connects the output shaft of the rotating driving member 411 and the worm 52 is connected to the end exposed to the shell. The planetary reduction structure comprises a first planetary disc, a second planetary disc, three first planetary gears, three second planetary gears, a first sun gear and a second sun gear; the first planetary disc is provided with a first output rod and three first input rods on both sides respectively, the second planetary disc is provided with three second input rods, each first planetary gear is sleeved on a first input rod, each second planetary gear is sleeved on a second input rod, the first sun gear is sleeved on the output shaft of the driving member and meshes with the three first planetary gears, the second sun gear is sleeved on the first output rod and meshes with the three second planetary gears, and the annular envelope worm 521 is connected to the end exposed to the shell and is inserted into the second planetary disc. Through the meshing of the first sun gear and the three first planetary gears and the meshing of the second sun gear and the three second planetary gears, two-stage reduction is realized. This multi-stage reduction structure can realize a larger reduction ratio in a smaller volume, thereby reducing the high-speed rotation of the driving member to a lower speed suitable for the joint movement of the finger 400, while significantly increasing the output torque, so that the finger 400 joint can generate enough power for precise motion control. In addition, the planetary reduction structure further comprises a protective shell, the protective shell is connected to the shell of the motor and is screwed with the driving positioning port 515 of the transmission shell 51, and the first planetary disc, the second planetary disc, the three first planetary gears, the three second planetary gears, the first sun gear and the second sun gear are located in the protective shell.

[0137] Please refer to Figures 14-24 In an embodiment, the thumb driving module 700 comprises a rotating shaft 73 rotatably arranged in the palm 600 around the third axis, the end of the rotating shaft 73 away from the palm 600 is connected with the thumb mounting seat 21, and the rotating shaft 73 is provided with a rotating shaft threading channel 731 penetrating through the rotating shaft 73 along the third axis, and the thumb mounting seat 21 is further provided with a seat threading channel 211 in communication with the rotating shaft threading channel 731. In the thumb mounting seat 21, the third extension section 303 of the conductive wire bundle 300 extends out from the top threading channel 15 and is bent into a fifth extension section 306 coaxially arranged along the third axis, and the fifth extension section 306 is sequentially arranged in the seat threading channel 211 and the rotating shaft threading channel 731. The rotating shaft threading channel 731 penetrates through the rotating shaft 73 along the third axis, and the fifth extension section 306 of the conductive wire bundle 300 is coaxial with the rotating shaft threading channel 731; when the thumb mounting seat 21 rotates around the third axis to realize fine actions such as pinching and rotating, the wire bundle has no relative displacement in the rotating shaft 73, avoiding the entanglement and wear of the traditional external cable in the large-angle rotation of the thumb 43. In other embodiments, the thumb 43 driving unit can not be provided, the seat threading channel 211 can not be provided in the thumb mounting seat 21, and the top threading channel 15 can directly introduce the conductive wire bundle 300 into the palm 600.

[0138] In an embodiment, the thumb driving module 700 comprises a mounting shaft 74 rotatably arranged on the palm 600 about a fourth axis, the mounting shaft 74 having a thumb driving cavity 747 and a first wire passing hole 743 and a first mounting opening 746 communicating with the thumb driving cavity 747; the thumb driving module 700 comprises a rotating shaft 73 rotatably arranged in the thumb driving cavity 747 about a third axis, the rotating shaft 73 being provided with a rotating shaft wire passing channel 731 penetrating through opposite ends of the rotating shaft 73 along the third axis and communicating with the first wire passing hole 743 and the thumb driving cavity 747, the third axis intersecting the fourth axis; the thumb mounting seat 21 is arranged in the thumb driving cavity 747 through the first mounting opening 746 and connected to one end of the rotating shaft 73, and the first wire passing hole 743 of the thumb mounting seat 21 is coaxially arranged with the rotating shaft wire passing channel 731 and the seat wire passing channel 211.

[0139] Specifically, the palm 600 is the main structure of the dexterous hand, and is internally integrated with a master control board, a power module, and a plurality of sensing / driving circuits. An interface region connected with the thumb 43 is arranged at a position close to the root of the thumb 43. The thumb 43 comprises a mounting shaft 74, a thumb driving module 700, and a thumb mounting seat 21, and the mounting shaft 74 is rotatably arranged on the palm 600 about a fourth axis through a bearing or a pivot structure. The fourth axis extends along the longitudinal direction of the dexterous hand, i.e. from the wrist to the fingertip (which can also be understood as being substantially parallel to the middle finger axis). This rotational degree of freedom enables the thumb 43 as a whole to perform abduction or adduction movement relative to the palm 600, i.e. the thumb 43 swings from the unfolded position on the outer side of the palm 600 to the palm center direction, realizing the palm action. The mounting shaft 74 is internally formed with a thumb driving cavity 747, and a first wire passing hole 743 and a first mounting opening 746 are arranged on the side wall of the thumb driving cavity 747 and communicate with the thumb driving cavity 747, the first wire passing hole 743 being used for introducing the conductive wire bundle 300 from the inside of the palm 600, and the first mounting opening 746 being used for allowing the thumb mounting seat 21 to pass in.

[0140] The rotating shaft 73 is arranged in the thumb driving cavity 747 inside the mounting shaft 74 and can rotate relative to the mounting shaft 74 about a third axis. The third axis intersects the fourth axis in space, and the two axes can be perpendicular to each other or generally intersect, i.e. the included angle between the two axes is an acute angle. The rotating shaft 73 is used to drive the thumb 43 to realize the rotation movement about the longitudinal axis of the thumb 43, so as to realize the lateral adjustment of the fingertip posture. The rotating shaft 73 is internally provided with a rotating shaft wire passing channel 731 penetrating through opposite ends of the rotating shaft 73 along the third axis direction, and the first wire passing hole 743 is coaxially arranged with the rotating shaft wire passing channel 731, i.e. the center axes of the two coincide with the third axis. Thus, when the conductive wire bundle 300 enters the rotating shaft wire passing channel 731 directly and without deflection after entering the thumb driving cavity 747 from the first wire passing hole 743 of the palm 600, a continuous and coaxial wiring path is formed.

[0141] The thumb mounting base 21 penetrates the first mounting hole 746 on the side of the mounting shaft 74 into the thumb driving cavity 747 and is fixedly connected to one end of the rotating shaft 73 by screwing, pinning or integrally forming, so as to rotate synchronously with the rotating shaft 73 around the third axis. The end of the thumb mounting base 21 can be sequentially connected to the proximal phalangeal shell 12 and the fingertip phalange to form the complete thumb 43 structure. The inside of the thumb mounting base 21 is provided with a seat wire channel 211, so that the conductive wire bundle 300 can smoothly extend to the sensor 412 or the micro actuator at the end of the thumb mounting base 21. Under this structure, the complete path of the conductive wire bundle 300 is: the palm 600, the first wire hole 743 (located on the third axis), the thumb driving cavity 747, the rotating shaft wire channel 731 (penetrating through the rotating shaft 73 along the third axis), the seat wire channel 211, and the functional components 41 in the phalange.

[0142] When the thumb 43 rotates, the rotating shaft 73 drives the thumb mounting base 21 and the internal conductive wire bundle 300 as a whole to rotate around the third axis. Since the conductive wire bundle 300 is located in the channel centered on the third axis throughout the path, and the first wire hole 743 is coaxially arranged with the rotating shaft wire channel 731 and the seat wire channel 211, the conductive wire bundle 300 does not produce relative displacement, bending or twisting between the rotating parts (the rotating shaft 73 and the thumb mounting base 21) during the movement, but only rotates synchronously with the system. Therefore, the fatigue damage caused by repeated bending, twisting or winding at the wire outlet of the traditional exposed wiring in the thumb mounting base 21 is effectively avoided.

[0143] By coaxially arranging the first wire hole 743 with the rotating shaft wire channel 731 and the seat wire channel 211, the conductive wire bundle 300 can continuously and without corner from the first wire hole 743 to the inside of the thumb mounting base 21 via the rotating shaft 73 along the direction of the third axis. This coaxial arrangement ensures that the conductive wire bundle 300 is in the rotating system centered on the third axis throughout the path when the thumb 43 rotates, and there is no relative displacement or geometric mutation between the segments, thereby effectively avoiding the local bending, shearing or twisting stress generated in the connection area due to path deviation or angle turning.

[0144] In addition, the conductive wire bundle 300 enters along the third axis in a straight line from the palm 600, and even if the rotating shaft 73 rotates around the third axis, the conductive wire bundle 300 only rotates at the first wire hole 743 without bending or shearing. The conductive wire bundle 300 will not be wound on the outer surface of the thumb mounting base 21 or the mounting shaft 74, effectively reducing the local wear of the conductive wire bundle 300, thereby reducing the fatigue damage caused by repeated bending or winding.

[0145] The technical scheme of the present application sets the first wire passing hole 743 on the mounting shaft 74 of the thumb 43, sets the shaft passing channel 731 in the rotation shaft 73 of the thumb driving module 700, sets the seat passing channel 211 in the thumb mounting seat 21, and coaxially sets the first wire passing hole 743 with the shaft passing channel 731 and the seat passing channel 211, so that the conductive wire bundle 300 sequentially penetrates the first wire passing hole 743, the shaft passing channel 731 and the seat passing channel 211 along the third axis, and a continuous wire passing path embedded with the axis of rotation is constructed. Thus, when the thumb 43 rotates, the conductive wire bundle 300 rotates synchronously with the rotation shaft 73 and the thumb mounting seat 21, avoiding the relative displacement, repeated bending, twisting or winding of the conductive wire bundle 300 at the rotating interface, thereby reducing the risk of insulation damage or conductor breakage caused by mechanical fatigue, and effectively improving the long-term reliability of the electrical connection and the service life of the dexterous hand under high-frequency operating conditions.

[0146] In an embodiment, the thumb driving module 700 further comprises a first thumb driving member 71 and a speed reducer 500 arranged at the output end of the first thumb driving member 71. The speed reducer 500 is mounted in the thumb driving cavity 747 and is sleeved on the outer periphery of the rotation shaft 73. The first thumb driving member 71 is mounted on the transmission housing 51 and is drivingly connected with the worm 52. The worm 52 penetrates the transmission housing 51 along the fourth axis and is engaged with the gear portion 532 sleeved on the outer periphery of the mounting portion 531.

[0147] The transmission housing 51 provides support for the internal transmission components and encapsulates the worm 52 and the helical gear shaft 53, effectively isolating external dust and interference and improving the operation reliability of the driving system in complex environments. The first thumb driving member 71 is fixedly mounted on the transmission housing 51 and is directly drivingly connected with the worm 52. Integrating the first thumb driving member 71 on the transmission housing 51 realizes modular assembly and facilitates maintenance and replacement. The worm 52 penetrates the transmission housing 51 along the fourth axis and is aligned with the rotation shaft 73 of the overall extension / retraction movement of the thumb 43, fully utilizing the space of the thumb driving cavity 747 in the longitudinal direction and avoiding radial expansion, which is conducive to the compactness of the overall structure of the dexterous hand. When the first thumb driving member 71 is started, it drives the worm 52 to rotate around the fourth axis. The helical teeth on the worm 52 are engaged with the teeth of the gear portion 532. The rotational movement of the worm 52 is converted into the rotation of the gear portion 532, thereby driving the gear portion 532 sleeved on the outer periphery of the rotation shaft 73 to rotate around the third axis. The mounting portion 531 is fixedly connected with the rotation shaft 73 (for example, through a key, a pin, a screw or an interference fit), and the rotation shaft 73 synchronously rotates around the third axis, thereby driving the thumb mounting seat 21 to realize the rotation movement of the thumb 43.

[0148] In an embodiment, the mounting shaft 74 comprises a first shaft 741 and a second shaft 742 connected at an intersection, the interior spaces of the first shaft 741 and the second shaft 742 are communicated, the first wire hole 743 is arranged on the first shaft 741 and is distributed along the third axis with the second shaft 742, the first shaft 741 is provided with a second mounting opening 744 communicated with the thumb driving cavity 747, and the transmission housing 51 can be mounted into the interior of the first shaft 741 from the second mounting opening 744.

[0149] The mounting shaft 74 comprises a first shaft 741 and a second shaft 742 connected at an intersection, the first shaft 741 and the second shaft 742 form an integral support structure through fixed connection (such as screwing, welding or integrated forming), the interior spaces of the first shaft 741 and the second shaft 742 are communicated, and the first shaft 741 and the second shaft 742 jointly constitute a thumb driving cavity 747 for accommodating the thumb driving module 700 and part of the thumb mounting seat 21. The first wire hole 743 is arranged on the first shaft 741 and is distributed along the third axis direction with the second shaft 742, so as to ensure that the conductive wire bundle 300 can be smoothly introduced along the third axis. The first shaft 741 is further provided with a second mounting opening 744 communicated with the thumb driving cavity 747, and the transmission housing 51 can be mounted into the interior of the first shaft 741 from the side of the first shaft 741 through the second mounting opening 744, so as to complete the modular assembly of the thumb driving module 700. This design not only simplifies the manufacturing and maintenance process, but also avoids complex on-site assembly in a small space, improves production efficiency and structural consistency. At the same time, since the transmission housing 51 is stably constrained in the first shaft 741 after installation, the relative position accuracy between the transmission housing 51 and the rotating shaft 73, the worm 52 and the gear part 532 is guaranteed, which is beneficial to the transmission stability and motion control accuracy.

[0150] In an embodiment, the first shaft 741 extends along the fourth axis to facilitate the arrangement of the thumb driving module 700, and the second shaft 742 extends along the third axis to facilitate the installation of the thumb mounting seat 21, so as to facilitate the miniaturization of the body 523 of the mounting shaft 74. Of course, in other embodiments, the mounting shaft 74 can also adopt a single shaft structure, such as a square three-dimensional structure or a cylindrical structure.

[0151] In an embodiment, the second mounting opening 744 is located on the peripheral side wall of the first shaft 741 between the first wire hole 743 and the second shaft 742.

[0152] The second mounting port 744 is located on the lateral wall of the first shaft 741 between the first wire passing hole 743 and the second shaft 742, that is, in the middle region of the lateral profile of the first shaft 741, avoiding the axial passage of the first wire passing hole 743 and being adjacent to the mounting region of the thumb driving module 700 formed by the second shaft 742. The transmission housing 51 is mounted into the interior of the first shaft 741 through the second mounting port 744, realizing the lateral embedded assembly of the thumb driving module 700. After being mounted, the transmission housing 51 is stably constrained in the first shaft 741, and the first thumb driving member 71, the worm 52 and the gear portion 532 matched with the outer periphery of the mounting portion 531 integrated in the interior of the transmission housing 51 can keep the precise meshing relationship, ensuring the stability and response accuracy of the rotation motion transmission. The second mounting port 744 provides sufficient operation space to support the modular pre-assembly and on-site replacement. Moreover, only partial disassembly is needed to take out the thumb driving module 700 during the later maintenance, without disassembling the entire thumb 43 structure.

[0153] In other embodiments, the second mounting port 744 and the second shaft 742 are distributed along the third axis, and the axial end surface of the rotation shaft 73 is exposed from the second mounting port 744, that is, the second mounting port 744 is used as the first wire passing hole 743. Alternatively, the mounting shaft 74 can also adopt a spliced structure, and the spliced surface of the mounting shaft 74 includes the fourth axis and the third axis.

[0154] In an embodiment, the two side edges of the second mounting port 744 are each provided with a thumb avoiding notch 745, and the partial structure of the two side faces of the transmission housing 51 is exposed at the corresponding thumb avoiding notch 745 after assembly.

[0155] The two side edges of the second mounting port 744 are each provided with a thumb avoiding notch 745, and the partial structure of the two side faces of the transmission housing 51 is exposed at the corresponding thumb avoiding notch 745 after assembly. On the one hand, in the assembly process, the thumb avoiding notch 745 provides necessary space release for the local protrusion, terminal or heat dissipation structure on the transmission housing 51, avoiding the interference or stress concentration caused by the profile limitation of the thumb driving cavity 747; on the other hand, when the transmission housing 51 needs to be taken out or replaced, the operator can directly contact and apply force to the exposed side face of the transmission housing 51 through the two side thumb avoiding notches 745, without the need for special tools or disassembly of other components, realizing the quick grabbing, prying or pulling out operation, and significantly improving the maintenance efficiency and user experience. In addition, the symmetrical arrangement of the two side thumb avoiding notches 745 also enhances the structural balance, avoiding the local strength reduction caused by one-sided slotting.

[0156] In other embodiments, the thumb avoiding notch 745 can also not be provided, and part of the transmission housing 51 protrudes outside the second mounting port 744; or the transmission housing 51 is provided with a lug exposed to the second mounting port 744.

[0157] In an embodiment, the first mounting hole 746 is arranged at one end of the second shaft 742 away from the first shaft 741 and opposite to the first wire passing hole 743. The thumb mounting seat 21 includes a base plate 212 and two connecting brackets 222. One end of the rotating shaft 73 is connected to the base plate 212, and the other end is arranged in the second shaft 742 through the first mounting hole 746 and rotationally connected to the second shaft 742. The seat wire passing channel 211 is arranged in the rotating shaft 73 and penetrates through the opposite two side surfaces of the base plate 212. The two connecting brackets 222 are arranged on the side of the base plate 212 away from the rotating shaft 73 along the third axis. The thumb 43 further includes a proximal phalange shell 12 rotationally mounted to the connecting bracket 222 along the first axis.

[0158] The rotating shaft 73 and the connecting bracket 222 are respectively arranged on the opposite two sides of the base plate 212, i.e., the rotating shaft 73 is connected to the side of the base plate 212 close to the mounting shaft 74, and the connecting bracket 222 is arranged on the side of the base plate 212 away from the mounting shaft 74 and towards the fingertip. The rotating shaft 73 is a rod-shaped structure, which extends along the third axis direction as a whole and is rotationally connected to the mounting shaft 74 as an input end of the thumb mounting seat 21 for transmitting rotational motion. The base plate 212 is provided with a seat wire passing channel 211 extending along the third axis. The seat wire passing channel 211 penetrates through the entire base plate 212 to form a continuous wire path leading from the mounting shaft 74 side to the space between the two connecting brackets 222. Through the seat wire passing channel 211, the conductive wire harness 300 can be directly introduced to the driving member or sensing unit inside the proximal phalange shell 12 without detouring outside or passing through the motion pair gap, thereby effectively avoiding the bending, pulling or wearing of the cable during the swinging or flexing of the thumb 43. The design of the rotating shaft wire passing channel 731 and the seat wire passing channel 211 realizes the internal arrangement of the conductive wire harness 300, improves the simplicity and bionic naturalness of the appearance of the thumb 43, and eliminates the hooking risk and maintenance complexity caused by the exposed conductive wire harness 300. In addition, since the rotating shaft wire passing channel 731, the seat wire passing channel 211 and the wire passing channel 16 in the bevel gear shaft 53 are linearly penetrated along the third axis and located on the core axis of the rotating joint, the conductive wire harness 300 hardly produces relative displacement or torsional stress when rotating around the third axis in the thumb mounting seat 21, which greatly prolongs the service life of the conductive wire harness 300 and improves the system reliability.

[0159] The connecting brackets 222 serve as the output end of the thumb mount 21, and are responsible for transmitting the rotational movement of the rotating shaft 73 to the proximal knuckle housing 12. The two connecting brackets 222 extend from the same side of the base plate 212 (i.e. the side facing the proximal knuckle housing 12), and are parallel and coaxial to each other, together forming a double-pivot bearing structure for supporting and fixing the proximal knuckle housing 12. The first axis is the flexion-extension axis of the proximal knuckle housing 12, and the proximal knuckle housing 12 is rotatably arranged on the connecting brackets 222 about the first axis to realize the flexion-extension action of the proximal knuckle housing 12.

[0160] In an embodiment, the third axis is arranged at an acute angle with the first axis, and the midpoint of the line connecting the two connecting brackets 222 is offset towards the palm center of the palm 600 in a plane perpendicular to the fourth axis; the inner side wall of one of the connecting brackets 222 is provided with an observation slot 213, the third axis passes through the observation slot 213, the observation slot 213 is shaped to match the surface shape of the seat threading channel 211 at the surface extending to the observation slot 213, and the observation slot 213 penetrates through the end face of the connecting bracket 222 away from the base plate 212 along the third axis.

[0161] The third axis is arranged at an acute angle with the first axis, meaning that the flexion-extension axis of the proximal knuckle housing 12 (i.e. the first axis) is not perpendicular to the rotation axis of the thumb 43 (i.e. the third axis), but is inclined towards the palm center of the palm 600. Accordingly, the two connecting brackets 222 are arranged on the base plate 212 along the first axis, and the midpoint of the line connecting the two connecting brackets 222 is offset towards the palm center of the palm 600 in a plane perpendicular to the fourth axis. This offset arrangement makes the knuckle chain (including the proximal knuckle housing 12) of the thumb 43 in the initial stretched state pre-biased towards the palm center. When the rotating shaft 73 rotates the base plate 212 about the third axis towards the palm center, since the third axis itself is inclined towards the palm center, the movement trajectory of the proximal knuckle housing 12 in the subsequent flexion-extension process is no longer limited to the convex arc line perpendicular to the palm center, but superimposes a transverse displacement component towards the palm center. This mechanism enables the fingertip to approach the palm center more quickly and deeply at the same rotation angle, effectively shortening the gripping stroke and improving the enveloping ability and gripping stability of small-sized, cylindrical or irregular-shaped objects.

[0162] Further, the inner side wall of one of the connecting brackets 222 is provided with an observation slot 213, and the third axis passes through the observation slot 213. The observation slot 213 is located on the side of the connecting bracket 222 facing the rotating shaft 73 and extends along the direction of the third axis. The profile shape of the observation slot 213 is adapted to the outer surface shape of the seat wire passage 211 when the seat wire passage 211 extends to this area at the end of the rotating shaft 73. At the same time, the observation slot 213 penetrates to the end face of the connecting bracket 222 away from the base plate 212 along the third axis, so as to establish a straight visual and operation channel between the outer end face of the connecting bracket 222 and the seat wire passage 211 inside the rotating shaft 73. Through the operation channel, the operator can directly observe the running direction, connection state and whether there is wear or loosening of the conductive wire bundle 300 after the conductive wire bundle 300 is drawn out from the seat wire passage 211 without disassembling the main structural parts such as the proximal end knuckle shell 12, the base plate 212, the rotating shaft 73 or the mounting shaft 74; if necessary, the conductive wire bundle 300 can also be plugged, replaced or temporarily tested through the observation slot 213. At the same time, since the observation slot 213 is only opened on the inner side of the connecting bracket 222, it not only avoids affecting the appearance of the main visual surface by opening a hole, but also plays a role in lightening due to the removal of local materials without weakening the structural strength of the key stress area.

[0163] In other embodiments, the third axis can also be perpendicular to the first axis, so that the running direction, connection state and whether there is wear or loosening of the conductive wire bundle 300 after the conductive wire bundle 300 is drawn out from the seat wire passage 211 can be easily observed without the need to set the observation slot 213.

[0164] It should be noted that the top wire passage 15 of the four-finger mounting seat 22, the thumb mounting seat 21 and the top of the knuckle shell 100 has different structures. Specifically, the top wire passage 15 (the area defined by the two dashed lines in the figure represents the top wire passage 15 formed in the connecting bracket 222) of one of the connecting brackets 222 on the thumb mounting seat 21 has one end port exposed on the inner side wall of the connecting bracket 222 (i.e. the side wall facing the other connecting bracket 222), and the other end port is in communication with the avoiding hole 224 of the connecting bracket 222. After the conductive wire bundle 300 is drawn out from the seat wire passage 211 of the rotating shaft 73 and passes through the space between the two connecting brackets 222, it is exposed from the top wire passage 15 port on the inner side wall of one of the connecting brackets 222, extends along the top wire passage 15 to the other port, and then enters the wire passage 16 in the bevel gear shaft 53 in the knuckle shell 100 through the avoiding hole 224, and finally reaches the inside of the knuckle shell 100.

[0165] It is worth mentioning that for the thumb mounting base 21 offset relative to the rotation shaft 73, the top wire passage 15 and the observation slot 213 are arranged on the same connecting bracket 222. In this way, the conductive wire bundle 300 passing out of the seat wire passage 211 can directly enter the top wire passage 15 along the third axis direction or an extension path similar thereto, avoiding the need for a large-angle bending after passing out of the seat wire passage 211 to access the top wire passage 15. At the same time, since the observation slot 213 is located on the same connecting bracket 222 and penetrates along the third axis, the operator can directly observe the state of the conductive wire bundle 300 before and after passing into the top wire passage 15 through the observation slot 213, facilitating maintenance, plugging or troubleshooting, so as to improve the maintenance convenience.

[0166] Of course, in other embodiments, the top wire passage 15 can also be arranged on a different connecting bracket 222 from the observation slot 213.

[0167] Please refer to Figures 25-27 In an embodiment, the first axes of the adjacent knuckle shells 100 are sequentially distributed along the length direction of the knuckle shells 100, the included angle between the first axis and the third axis is arranged as an acute angle, and the length direction of the knuckle shells 100 is offset towards the palm center of the palm 600 in a plane perpendicular to the fourth axis.

[0168] Specifically, the thumb 43 includes a mounting shaft 74, a thumb mounting base 21, a proximal knuckle shell 12 and a distal knuckle shell 13. The mounting shaft 74 is rotatably arranged on the palm 600 around the fourth axis extending in the longitudinal direction of the dexterous hand (i.e. from the wrist to the fingertip), and is used to realize the rotation of the thumb 43 around the fourth axis to realize the abduction or adduction movement of the thumb 43 (i.e. the action of the thumb 43 from the side of the palm 600 to the palm center direction), so that the thumb 43 can move between the unfolded position outside the palm 600 and the palm position towards the palm center of the palm 600. The rotation shaft 73 and the thumb mounting base 21 are intersected, the rotation shaft 73 is rotatably connected to the mounting shaft 74 around the third axis, and the third axis and the fourth axis intersect in space; the thumb mounting base 21 is connected with the proximal knuckle shell 12, and provides a fulcrum for the flexion and extension movement of the proximal knuckle shell 12. The first axis is the flexion and extension axis of the proximal knuckle shell 12, and the proximal knuckle shell 12 is rotatably arranged on the thumb mounting base 21 around the first axis to realize the flexion and extension movement of the proximal knuckle shell 12. The first axis is the flexion and extension axis of the distal knuckle shell 13, and the distal knuckle shell 13 is rotatably arranged on the proximal knuckle shell 12 away from the thumb mounting base 21 around the first axis to realize the flexion and extension movement of the distal knuckle shell 13.

[0169] Since the thumb has a distal knuckle shell 13 and a proximal knuckle shell 12, the flexion and extension movement of the proximal knuckle shell 12 is realized by the rotation of the proximal knuckle shell 12 around the first axis, and the flexion and extension movement of the distal knuckle shell 13 is realized by the rotation of the distal knuckle shell 13 around the first axis. Figure 25The middle marker has two first axes, which are the first axes on the distal phalangeal housing 13 and the proximal phalangeal housing 12 respectively.

[0170] The rotation shaft 73 and the thumb mount 21 are connected at an intersection, and a projection of the thumb mount 21 in a plane perpendicular to the fourth axis is offset toward the palm center of the palm 600 relative to the third axis. This structure causes the first axis to be arranged at an acute angle with the third axis, thereby causing the length direction of the phalangeal housing 100 (i.e., the direction of the line connecting the first axis) to be offset toward the palm center of the palm 600 relative to the third axis in a plane perpendicular to the fourth axis. Although the absolute direction of the length direction of the phalangeal housing 100 in three-dimensional space dynamically changes with the swinging and flexing of the thumb 43, the relative position of the projection of the length direction of the phalangeal housing 100 in the plane perpendicular to the fourth axis relative to the third axis always remains unchanged, i.e., always offset toward the palm center.

[0171] Because the first axis is arranged at an acute angle with the third axis, when the thumb mount 21 rotates (e.g., deflects toward the palm center) about the third axis, the rotation center (i.e., the first axis) of the proximal phalangeal housing 12 does not move along a pure radial trajectory as in the conventional structure, but generates a transverse displacement component toward the palm center, thereby changing the trajectory characteristic of the phalangeal housing 100 moving only along the outer convex arc. In addition, because the length direction of the phalangeal housing 100 is already offset toward the palm center in the cross section, the fingertip of the thumb 43 is already pre-oriented toward the palm center region in the initial stretched state. Therefore, when the thumb mount 21 begins to flex, the entire phalangeal chain naturally bends toward the palm center during the rotation of the thumb mount 21. The above two mechanisms work together to enable the fingertip to quickly move toward the palm center region when the thumb mount 21 rotates toward the palm center, effectively shortening the spatial distance between the fingertip and the palm center. Thus, without increasing the degree of freedom or driving complexity, the present application more efficiently converts the rotational movement of the thumb mount 21 into radial displacement of the fingertip toward the palm center, enabling the fingertip to be closer to the palm center at the same rotation angle, thereby significantly improving the stable gripping ability of small, compact, or irregularly shaped objects.

[0172] It can be understood that in the structure of the conventional dexterous hand, the rotation shaft 73 and the thumb mount 21 are not connected at an intersection, but extend in the same direction along the third axis, and the first axis is perpendicular to the third axis. In other words, when the conventional thumb 43 is in the straightened state, the third axis is substantially parallel to the length direction of the phalangeal housing 100. If the palm surface of the palm 600 is approximated as a plane, then when the conventional thumb 43 is in the unfolded position, the third axis is parallel to the palm surface.

[0173] In a motion scenario, when the rotation shaft 73 of the conventional thumb 43 rotates an angle θ around the fourth axis from the unfolded position to the palm-turning position, the angle between the line connecting the fingertip of the thumb 43 to the fourth axis and the palm surface is (180°-θ). In the present application, since the knuckle chain has been biased towards the palm, the initial position is closer to the palm region. When the rotation shaft 73 rotates the same angle θ around the fourth axis, the angle between the line connecting the fingertip of the thumb 43 to the fourth axis and the palm surface is α, and α satisfies α < (180°-θ). Therefore, under the condition that the thumb mounting seat 21 rotates the same angle around the fourth axis, the fingertip of the thumb 43 of the present application is closer to the palm. On the other hand, when the same palm-turning effect is required, the angle of rotation of the thumb 43 of the present application around the fourth axis is smaller, thereby shortening the motion stroke and improving the response speed of the grip.

[0174] In another motion scenario, taking the unfolded position of the thumb 43 as an example: when the rotation shaft 73 of the conventional thumb 43 rotates around the third axis, the motion trajectory of the fingertip of the thumb 43 is located in a first reference plane, which is perpendicular to the palm surface; while the motion trajectory of the fingertip of the thumb 43 of the present application is located in a second reference plane, which forms an acute dihedral angle with the palm surface. Therefore, when the thumb 43 is opposite to the palm, the fingertip of the present application can penetrate deeper into the palm region, achieving a more compact and stable grip posture.

[0175] It should be noted that the thumb driving module 700 also includes a second thumb driving member 72, which is arranged in the palm space 62 to drive the mounting shaft 74 to rotate around the fourth axis. The output end of the second thumb driving member 72 also has a speed reducer 500, and the second thumb driving member 72 extends along the width direction of the palm 600.

[0176] The technical scheme of the present application achieves the intersection connection of the rotation shaft 73 of the thumb mounting seat 21 and the thumb mounting seat 21, and sets the first axis and the third axis at an acute angle, and biases the distribution direction of the flexion and extension axes of the proximal knuckle shell 12 and the distal knuckle shell 13 (i.e. the length direction of the knuckle shell 100) towards the palm in a plane perpendicular to the fourth axis, so that when the thumb mounting seat 21 performs the palm-turning action, the rotation motion can be partially converted into the inward displacement of the fingertip towards the palm, not only shortening the distance between the fingertip and the palm, but also reducing the required rotation angle to reach the effective palm-turning posture, thereby improving the stability, flexibility and response speed of the dexterous hand in gripping small-sized or irregular-shaped objects.

[0177] In an embodiment, the thumb mount 21 comprises a base plate 212 and two connecting brackets 222 spaced along the first axis and located on opposite sides of the base plate 212; the proximal phalange shell 12 comprises a finger 400 shell, a driving member and a connecting shaft, the connecting shaft is arranged in the finger 400 shell along the first axis, the connecting shaft is rotatable relative to the finger 400 shell and fixedly connected with the two connecting brackets 222, and the driving member is installed inside the finger 400 shell and drivingly connected with the connecting shaft through a transmission mechanism to enable the finger 400 shell to rotate relative to the connecting brackets 222.

[0178] The thumb mount 21 is responsible for transmitting the rotary motion of the rotating shaft 73 to the proximal phalange shell 12. Its specific structure comprises a base plate 212 and two connecting brackets 222 spaced along the first axis. The two connecting brackets 222 extend from the same side of the base plate 212 (i.e. the side facing the proximal phalange shell 12) and are parallel and coaxial with each other, forming a double-pivot bearing structure for supporting and fixing the connecting shaft. In particular, the rotating shaft 73 and the connecting brackets 222 are located on opposite sides of the base plate 212, i.e. the rotating shaft 73 is connected to the side of the base plate 212 close to the mounting shaft 74, and the connecting brackets 222 are arranged on the side of the base plate 212 away from the mounting shaft 74 and facing the fingertips. The base plate 212 can be spatially offset relative to the third axis, so the connecting brackets 222 extending therefrom naturally inherit this offset feature, so that the first axis and the third axis form an acute angle relationship. Of course, in other embodiments, the third axis can be perpendicular to the base plate 212, but the two connecting brackets 222 are spatially offset relative to the base plate 212, and the connecting brackets 222 can also achieve the effect of being offset relative to the third axis.

[0179] In other embodiments, the thumb mount 21 can also be rod-shaped or block-shaped. Alternatively, the thumb mount 21 has a receiving cavity inside, the driving member and the transmission mechanism are installed in the receiving cavity of the thumb mount 21, the connecting shaft is fixedly connected with the finger 400 shell and rotatable relative to the thumb mount 21.

[0180] In an embodiment, the connecting bracket 222 has a first side edge adjacent to the base plate 212, the connecting bracket 222 has a first convex arc surface 214 at the first side edge, and the end of the finger 400 shell facing the thumb mount 21 is provided with a concave arc surface 116 rotatably matched with the first convex arc surface 214.

[0181] The connecting bracket 222 has a first side edge adjacent to the base plate 212, and a first convex arc surface 214 is arranged on the first side edge. The end of the finger 400 shell towards the thumb mounting seat 21 is correspondingly provided with a concave arc surface 116 matched with the first convex arc surface 214, and the two constitute a curved surface pair, realizing the rotary motion of the finger 400 shell relative to the connecting bracket 222 around the first axis. During the rotation of the proximal phalangeal shell 12 around the first axis, the first convex arc surface 214 is always covered by the concave arc surface 116, avoiding its exposure to the outer surface of the thumb 43. At the same time, the outer side of the connecting bracket 222 and the outer side of the finger 400 shell maintain a smooth, neat and continuous overall appearance in vision and touch, thereby significantly improving the overall appearance integration and bionic beauty of the thumb 43. In addition, the arc surface design enables the two connecting brackets 222 and the finger 400 shell to naturally avoid geometric interference with each other during relative rotation. When the finger 400 shell swings, the concave arc surface 116 slides or rolls along the first convex arc surface 214, using the gradual transition characteristics of the curved surface to eliminate angular collision or abrupt steps, ensuring smooth motion without jamming. This matching mode not only realizes the functional rotary connection, but also takes into account the visual neatness of the industrial design level.

[0182] The radius of curvature of the concave arc surface 116 can be greater than that of the first convex arc surface 214. The curved surface matching of the first convex arc surface 214 and the concave arc surface 116 can naturally adapt to small assembly errors or thermal deformation, reduce jamming or wear caused by rigid conflict, and improve the reliability and service life of the mechanism; of course, in other embodiments, the radius of curvature of the first convex arc surface 214 can also match that of the concave arc surface 116, so that during the flexion and extension of the proximal phalangeal shell 12, the two arc surfaces are always in point or line contact state, effectively transmitting torque and limiting displacement in unintended directions, while allowing relative rotation of the finger 400 shell in the first axis direction.

[0183] In an embodiment, the connecting bracket 222 forms a limiting groove 106 on the first side edge, the limiting groove 106 is located on the side of the first convex arc surface 214 close to the base plate 212, and the groove side wall of the limiting groove 106 is smoothly connected with the first convex arc surface 214; the end of the finger 400 shell towards the thumb mounting seat 21 is provided with a positioning protrusion 115, the side surface of the positioning protrusion 115 towards the first convex arc surface 214 constitutes part of the concave arc surface 116, and the positioning protrusion 115 can rotate along the first convex arc surface 214 into the limiting groove 106 and abut against the inner wall surface of the limiting groove 106.

[0184] The connecting support 222 is formed with a limiting groove 106 on the first side edge thereof, which is located on the side of the first convex curved surface 214 close to the base plate 212 and has a smooth connection with the first convex curved surface 214, thereby forming a continuous and smooth transition curved surface, avoiding stress concentration and ensuring smooth switching of the motion pair during the limiting process, preventing jamming or impact caused by geometric discontinuity. The end of the finger 400 shell towards the thumb mounting seat 21 is provided with a positioning protrusion 115, which forms part of the concave curved surface 116 on the side of the first convex curved surface 214 and is used to keep rotational cooperation with the first convex curved surface 214 during the bending and stretching process of the proximal phalangeal shell 12. When the proximal phalangeal shell 12 rotates towards the bending direction (i.e. towards the palm) around the first axis, the positioning protrusion 115 slides along the first convex curved surface 214. When the proximal phalangeal shell 12 moves towards the bending limit position, the positioning protrusion 115 continues to rotate with the finger 400 shell and enters the limiting groove 106, and finally abuts against the inner wall surface of the limiting groove 106, thereby forming mechanical stop for the rotation angle of the proximal phalangeal shell 12 and achieving the end point limiting of the bending stroke. Since the limiting groove 106 is smoothly connected with the first convex curved surface 214, no geometric interference or motion impact will occur during the transition of the positioning protrusion 115 from the free rotation state to the limiting contact state, which not only realizes reliable angle limiting but also maintains the stability of the operation.

[0185] The limiting cooperation between the limiting groove 106 and the positioning protrusion 115 is performed on the first side edge, without damaging the flush continuity of the connecting support 222 and the outer side surface of the finger 400 shell, thereby maintaining the overall simple and bionic appearance of the thumb 43. In addition, since the positioning protrusion 115 itself is part of the concave curved surface 116, it always participates in the curved surface cooperation within the normal rotation range and triggers the limiting only at the limit position, avoiding the additional friction or interference caused by the traditional limiting block. Furthermore, the smooth connection between the limiting groove 106 and the first convex curved surface 214 ensures the gradual transition from the free rotation to the limiting contact, effectively absorbs kinetic energy, reduces impact noise and improves user experience. In addition, the limiting point of the contact between the limiting groove 106 and the positioning protrusion 115 can accurately correspond to the ideal palm-opposing posture of the fingertip closest to the palm, which not only prevents over-bending from causing internal mechanism collision or driving overload but also ensures the effectiveness of the grip, achieving the coordinated optimization of function and safety.

[0186] In other embodiments, a stop portion can also be arranged on the side of the first convex curved surface 214 close to the base plate 212, and the positioning protrusion 115 of the proximal phalangeal shell 12 abuts against the outer surface of the stop portion when the proximal phalangeal shell 12 rotates to the limit position.

[0187] In an embodiment, the connecting bracket 222 further has a second side edge adjacent to the base plate 212, and the connecting bracket 222 has a second convex arc surface 215 on the second side edge, and an end of the second convex arc surface 215 away from the base plate 212 is connected with the first convex arc surface 214 tangentially, and the curvature radius of the concave arc surface 116 is greater than the curvature radius of the first convex arc surface 214 and the second convex arc surface 215.

[0188] The connecting bracket 222 further has a second side edge adjacent to the base plate 212, and the connecting bracket 222 has a second convex arc surface 215 on the second side edge, and an end of the second convex arc surface 215 away from the base plate 212 is connected with the first convex arc surface 214 tangentially, and the connecting bracket 222 forms a composite curved surface profile smoothly connected by two convex arc surfaces on the side of the finger 400 shell body facing the thumb mount 21. The tangential connection of the first convex arc surface 214 and the second convex arc surface 215 avoids the curvature mutation, ensures the smooth migration of the contact point during rotation, and reduces the friction fluctuation and vibration noise.

[0189] The concave arc surface 116 provided on the end of the finger 400 shell body facing the thumb mount 21 has a greater curvature radius, and the value is greater than the curvature radius of the first convex arc surface 214 and the second convex arc surface 215. This design enables the concave arc surface 116 to completely envelop the composite convex profile formed by the first convex arc surface 214 and the second convex arc surface 215, and always maintains inclusive contact in the entire flexion and extension range. When the proximal phalanx shell 12 rotates around the first axis, the concave arc surface 116 of the finger 400 shell body slides along the composite convex arc surface. Since the concave arc surface 116 has a greater curvature, the gap tolerance formed between them realizes smooth relative movement, allowing free rotation and effectively avoiding jamming or wear caused by structural interference.

[0190] In an embodiment, the rotating shaft 73, the base plate 212, and one of the connecting brackets 222 are formed integrally, and the other connecting bracket 222 is detachably connected with the base plate 212.

[0191] The rotating shaft 73, the base plate 212, and one of the connecting brackets 222 (on the side close to the rotating center of the rotating shaft 73 or provided with the avoiding slot) are formed into an integral component through injection molding, machining, or metal additive manufacturing process. The integrated design improves the structural rigidity and geometric precision of the core area of the thumb mount 21, avoids the cumulative tolerance, loosening risk, and stress concentration problems caused by multi-part assembly, and is particularly beneficial to ensuring that the spatial geometric relationship (such as acute angle offset) between the third axis and the first axis remains stable in long-term use.

[0192] Meanwhile, the other connecting bracket 222 (far from the rotation shaft 73, the side without the avoiding slot) is detachably connected with the base plate 212, for example, fixed to the corresponding position of the base plate 212 through screws, buckles, pins or quick-release clamping mechanisms. When the driving member, transmission mechanism or connecting shaft inside the proximal knuckle shell 12 needs to be repaired, replaced or debugged, only the connecting bracket 222 needs to be removed, and the proximal knuckle shell 12 can be quickly disassembled without disassembling the thumb mounting seat 21 as a whole, which greatly reduces the maintenance complexity and time cost. In addition, the detachable connecting bracket 222 is usually located on the non-main stress side or the non-main visual surface of the appearance, and the connection seam will not significantly affect the mechanical properties or the appearance of the bionic thumb 43.

[0193] Please refer to Figures 28-31 In an embodiment, the four-finger mounting seat 22 is also provided with a palm wire passage 221, which is coaxial with the second axis, or the axis of the palm wire passage 221 intersects with the second axis, and the intersection point is located at the end of the palm wire passage 221. In the four-finger mounting seat 22, the third extension section 303 of the conductive wire harness 300 extends from the top wire passage 15 and bends out of the fourth extension section 305 coaxially arranged with the palm wire passage 221, and the fourth extension section 305 is arranged in the palm wire passage 221. The palm wire passage 221 is coaxial with the second axis or intersects at the end, and when the four-finger mounting seat 22 swings around the second axis, the fourth extension section 305 does not change in length and is not twisted because it is at the center of rotation. Avoiding the stretching, bending, twisting and other stress forms of the conductive wire harness 300 during the swinging of the fingers 400 around the second axis, ensuring the long-term stability of the electrical connection. At the same time, the conductive wire harness 300 has no stretching and bending resistance, directly reducing the load of the fingers 400 swinging around the second axis, making the swinging action smoother, improving the motion flexibility and accuracy of the dexterous hand, and adapting to high-precision operation scenarios. In other embodiments, there is no swing driving member 64, and the four-finger mounting seat 22 does not have a palm wire passage 221, and the top wire passage 15 directly leads the conductive wire harness 300 into the palm 600.

[0194] In an embodiment, the palm 600 includes a palm shell 61, and the four-finger mounting seat 22 is arranged at the top of the palm shell 61. The palm shell 61 is provided with a palm space 62, and the swing driving member 64 is arranged in the palm space 62. The general control board is arranged in the palm space 62, and the conductive wire harness 300 sequentially passes through the four fingers 42, the four-finger mounting seat 22 and the palm shell 61 to electrically connect the general control board and the functional components 41.

[0195] The dexterous hand further comprises a driving connection between the output shaft of the swing driving member 64 and the speed reducer 500. The helical gear shaft 53 of the speed reducer 500 comprises a mounting portion 531 and a gear portion 532 arranged on the mounting portion 531. The gear portion 532 is in axial intersection with the worm 52. The wire passage 16 is arranged in the mounting portion 531 and penetrates through the opposite end faces of the mounting portion 531 along the axial direction of the gear portion 532. The four-finger mounting seat 22 is connected to the opposite ends of the mounting portion 531. The axial line of the wire passage 16 is coaxial with the axial line of the palm wire passage 221. The wire passage 16 is in communication with the palm wire passage 221. The worm 52 has the characteristics of large transmission ratio and good self-locking, which can effectively improve the stability of the swing of the four-finger mounting seat 22, avoid the deviation and swing of the four fingers 42 during swing, and prevent the wire harness from being bent and pulled due to unexpected movement of the four fingers 42. At the same time, the meshing transmission precision of the worm 52 and the gear portion 532 is high, which further improves the control precision of the swing of the four fingers 42. The coaxial wire passage 16 and the palm wire passage 221 are coaxial and communicate with each other, so that the conductive wire harness 300 extends along the second axis from the four-finger mounting seat 22 to the mounting portion 531, realizing coaxial continuous wiring. The four-finger mounting seat 22 is connected to the opposite ends of the mounting portion 531, which forms bilateral symmetric support for the four-finger mounting seat 22, improves the coaxiality of the four-finger mounting seat 22 during swing, ensures that the wire harness always rotates regularly around the second axis, and further reduces the uneven stress and wear risk of the conductive wire harness 300. The speed reducer 500 integrates the transmission function and the wire passing function, without the need for additional wire passing structure, which greatly saves the palm space 62 and meets the miniaturization design requirement of the dexterous hand. In other embodiments, the dexterous hand can not have a worm 52 transmission structure.

[0196] In an embodiment, the four-finger mounting seat 22 further comprises a top wire passage 15, which extends obliquely to one of the dorsal side and the palm side in the direction from the top to the bottom of the four-finger mounting seat 22. In the four-finger mounting seat 22, the conductive wire harness 300 passes through the top wire passage 15 and the palm wire passage 221 in sequence. The top wire passage 15 offsets the wire direction of the conductive wire harness 300 to the side of the speed reducer 500, so that the wire harness bypasses the outside of the speed reducer 500, realizes physical isolation from the speed reducer 500, and avoids interference of the conductive wire harness 300 with the speed reducer 500. In other embodiments, the top wire passage 15 can not be provided, and the conductive wire harness 300 extends from the outer wall of the four-finger mounting seat 22 to the palm wire passage 221.

[0197] In an embodiment, the palm wire passage 221 penetrates through the four-finger mounting base 22, and the top wire passage 15 extends obliquely to one of the dorsal side and the palmar side to communicate with the outside world. After the conductive wire harness 300 extends out from the finger root, it passes through the top wire passage 15 from the dorsal side or the palmar side, and extends obliquely to the palm wire passage 221, and then extends out from the four-finger mounting base 22 from the other side through the palm wire passage 221. The conductive wire harness 300 passes through the top wire passage 15 to the dorsal side or the palmar side, and then extends obliquely into the palm wire passage 221, avoiding the speed reducer 500 below the four-finger mounting base 22 throughout the way, completely eliminating the interference of the wire harness on the transmission components, and ensuring smooth transmission of the worm 52 without jamming. At the same time, the wire harness "side-out side-in" wiring method is a smooth oblique transition without any right-angle bending point. When the four fingers 42 swing, the wire harness only rotates regularly around the second axis, further reducing fatigue and wear; the through-type palm wire passage 221 allows the wire harness to freely pass out from both sides of the four-finger mounting base 22, which adapts to the layout of the speed reducer 500 in the palm space 62, making the overall structure more compact and adapting to the miniaturization requirement of the dexterous hand. In other embodiments, the palm wire passage 221 can not penetrate through the four-finger mounting base 22, and the top wire passage 15 can not extend out of the four-finger mounting base 22, that is, the top wire passage 15 intersects with the palm wire passage 221 in the four-finger mounting base 22, and is connected to each other, so that the conductive wire harness 300 can enter the palm wire passage 221 in the four-finger mounting base 22.

[0198] In an embodiment, the palm housing 61 is provided with a wire harness through hole 63, which is arranged close to the four-finger mounting base 22. After the conductive wire harness 300 passes out of the palm wire passage 221, it extends towards the wire harness through hole 63 and extends into the palm space 62 in the palm 600 through the wire harness through hole 63. After the conductive wire harness 300 passes out of the palm wire passage 221, it can directly and short-distance extend into the palm space 62 in the palm 600 through the wire harness through hole 63, avoiding the offset of the wire harness in the gap. Moreover, the arrangement of the wire harness through hole 63 close to the four-finger mounting base 22 greatly shortens the exposed length of the wire harness. At the same time, the fixed wiring path keeps the conductive wire harness 300 at a safe distance from the speed reducer 500, eliminating the risk of the wire harness winding around the transmission components, and ensuring the smoothness of the transmission of the worm 52 and the stability of the electrical connection. In other embodiments, the wire harness through hole 63 can be arranged close to the master control board, so that the conductive wire harness 300 can be accurately aligned with the master control board.

[0199] In an embodiment, the top of the four-finger mounting seat 22 is provided with two connecting brackets 222 opposite in the width direction of the palm 600, which are rotationally connected with the four fingers 42 around the second axis perpendicular to the second axis; the bottom of the four-finger mounting seat 22 is provided with two mounting brackets 225 opposite in the thickness direction of the palm 600, which are rotationally connected with the palm shell 61 around the second axis. The double mounting brackets 225 at the bottom symmetrically support the four-finger mounting seat 22, which can effectively ensure the coaxiality of the four-finger mounting seat 22 when it swings around the second axis, and avoid the four-finger mounting seat 22 from tilting or deviating. The double connecting brackets 222 at the top symmetrically support the four fingers 42, which can ensure the stability of the four fingers 42 when they flex and extend around the second axis, and also avoid the four fingers 42 from swinging and driving the wire harness to shake. In other embodiments, the mounting bracket 225 can also be omitted.

[0200] In an embodiment, the connecting bracket 222 is provided with an avoidance hole 224, the top wire passage 15 is in communication with the hole wall of the avoidance hole 224, and the axis of the avoidance hole 224 is configured as the same axis as the rotation axis of the finger root. The conductive wire harness 300 extends into the avoidance hole 224 along the axis direction of the avoidance hole 224 from the finger root, and extends into the top wire passage 15 in the avoidance hole 224. The avoidance hole 224 is coaxial with the second axis, and when the four fingers 42 flex and extend around the second axis, the wire harness will synchronously rotate with the four fingers 42 in the circumferential direction without stretching, bending or deviation, ensuring that the wire harness is always in the exclusive passage formed by the avoidance hole 224 and the top wire passage 15, and will not be stretched or stacked due to the flexing and extending of the four fingers 42. Moreover, the avoidance hole 224 forms a precise limiting action on the conductive wire harness 300, avoiding friction between the conductive wire harness 300 and the rotationally matched surface 18 of the connecting bracket 222, and protecting the insulating layer of the conductive wire harness 300. In addition, the communication design of the avoidance hole 224 and the top wire passage 15 makes the conductive wire harness 300 more regular, reduces the occupied space of the conductive wire harness 300 at the connecting bracket 222, and avoids secondary interference between the conductive wire harness 300 and the peripheral components of the connecting bracket 222, which not only ensures the smoothness of the transmission of the worm 52, but also prolongs the service life of the conductive wire harness 300. In other embodiments, the top wire passage 15 can not be in communication with the hole wall of the avoidance hole 224, and one end of the top wire passage 15 can be located on the side wall of the four-finger mounting seat 22 with the avoidance hole 224.

[0201] In an embodiment, the four-finger mounting base 22 comprises a first seat structure 226 and a second seat structure 227, the first seat structure 226 comprises a connecting bracket 222 and a mounting bracket 225, the second seat structure 227 comprises another connecting bracket 222 and another mounting bracket 225, and opposite sides of the first seat structure 226 and the second seat structure 227 are staggered with plug blocks 228 and plug slots 229 corresponding to the plug blocks 228. The split structure design facilitates the machining of the first seat and the second seat respectively, and simplifies the machining difficulty of the four-finger mounting base 22. The first seat and the second seat are spliced through the staggered plug blocks 228 and the plug slots 229, which can realize accurate positioning and ensure the coaxiality of the two seats after splicing. In addition, the splicing structure can also increase the strength of the four-finger mounting base 22, reduce the stress of the bolts when the mounting bracket 225 and the helical gear shaft 53 are fixedly connected through bolts and the connecting bracket 222 and the four fingers 42 are fixedly connected through bolts, and avoid loosening, deformation or deviation of the four-finger mounting base 22. In other embodiments, the four-finger mounting base 22 can also be an integrated structure.

[0202] In an embodiment, the speed reducer 500 further comprises a transmission housing 51, the transmission housing 51 is provided with a speed reduction mounting cavity 512 and two speed reduction avoiding holes 511 communicating with the speed reduction mounting cavity 512, the worm 52 and the helical gear shaft 53 are arranged in the speed reduction mounting cavity 512, and the mounting portion 531 is exposed to the two speed reduction avoiding holes 511, the mounting bracket 225 is fixedly connected with the mounting portion 531 through the speed reduction avoiding holes 511, and the transmission housing 51 is fixedly connected with the palm housing 61. The fixed connection of the transmission housing 51 and the palm housing 61 can firmly fix the position of the speed reducer 500, avoid deviation and movement of the transmission mechanism during operation, and prevent the transmission components from deviating and approaching the conductive wire harness 300, thereby further enhancing the anti-interference effect. The two speed reduction avoiding holes 511 on the transmission housing 51 accurately expose the mounting portion 531, so that the mounting bracket 225 can be accurately fixedly connected with the mounting portion 531 through the speed reduction avoiding holes 511, the coaxiality of the four-finger mounting base 22 and the mounting portion 531 is ensured, and the coaxiality of the palm wire passage 221 and the wire passage 16 is ensured, so that the wire of the conductive wire harness 300 always remains regular, and deviation of the conductive wire harness 300 caused by coaxiality deviation is avoided. In addition, the sealing structure of the transmission housing 51 can prevent dust and impurities from entering the transmission matching surface 18, thereby improving the stability and service life of the worm 52 transmission. At the same time, the transmission housing 51 itself can also provide additional physical protection for the conductive wire harness 300, avoid external force extruding the conductive wire harness 300 to cause deviation, further ensure the anti-interference effect and the stability of the electrical connection. In other embodiments, the transmission housing 51 can also not be provided.

[0203] Please refer to Figures 41-45In an embodiment, the functional assembly 41 comprises a rotating driving member 411, a sensor 412, an electric control board 413, and the finger pulp side of the knuckle shell 100 is provided with a sensing installation opening 111 in communication with the installation space 11; the rotating driving member 411 is arranged in the installation space 11 and used to drive the knuckle shell 100 of the current stage to rotate; the sensor 412 is arranged in the sensing installation opening 111; and the electric control board 413 is arranged in the installation space 11, and the rotating driving member 411 and the sensor 412 are electrically connected with the same electric control board 413.

[0204] In the technical scheme of the present application, the same electric control board 413 integrates the electric control connection functions of the rotating driving member 411 and the sensor 412, reduces the arrangement requirement of two groups of independent electrically conductive wire harnesses 300, and greatly compresses the space occupied by the electric control components and the lines. Only one group of electrically conductive wire harnesses 300 is needed to realize the connection of the rotating driving member 411, the sensor 412 and the same electric control board 413, realize the simplification of the assembly steps of the dexterous hand, and reduce the assembly difficulty. At the same time, the number of electrically conductive wire harnesses 300 is reduced, the probability of mutual friction between the electrically conductive wire harnesses 300 and the accumulation in the finger joints to hinder the movement of the knuckles is reduced, and the reliability and service life of the knuckle structure are improved.

[0205] Moreover, the rotating driving member 411 and the sensor 412 are directly connected to the same electric control board 413, and the signal transmission does not need to be relayed between multiple electric control units, the signal transmission path is shortened, and thus the defects such as signal transmission delay and low cooperative control precision are avoided, the instant response of the perception, control and driving triple system is realized, and the precision of the dexterous hand operation is improved. In other embodiments, the rotating driving member 411 can not be arranged in the installation space 11 of the knuckle shell 100 of the current stage.

[0206] It should be noted that the electric control board 413 of the driving motor and the sensor 412 cannot be shared, and one of the core reasons is that the communication protocols used by the two are different. For example, the driving motor commonly uses the PWM (pulse width modulation) protocol to transmit control instructions, while the sensor 412, such as the pressure sensor 412 and the displacement sensor 412, commonly uses the IC or SPI protocol to transmit sensing data. The signal processing requirements of different protocols are different, which leads to the need to use independent electric control boards 413 to adapt respectively in the traditional design.

[0207] Specifically, a micro control unit (MCU) integrated with a PWM controller and an IC / SPI interface can be selected as the core chip of the electric control board 413, and different types of signals can be adapted through a protocol conversion module inside the chip. Specifically, the sensor 412 (such as a pressure sensor 412) transmits sensing data to the MCU through an IC interface, and after the MCU internally completes data analysis, a driving instruction is generated through an integrated PWM module to directly drive the motor to operate; if the sensor 412 adopts an SPI protocol, it can be accessed through the multi-protocol compatible interface of the MCU without the need for an additional protocol conversion module. In addition, a power management module can also be integrated on the electric control board 413 to provide an adapted working voltage (such as providing a V voltage for the motor and a.V stabilized voltage for the sensor 412) for the driving motor and the sensor 412, further improving the integration level. This scheme can complete the whole process of sensing signal acquisition, protocol conversion, and driving instruction output through a single electric control board 413, without the need for a separate electric control unit.

[0208] In addition, the adoption of the IC bus architecture is also an efficient solution to realize the common use of the electric control board 413 by the rotating driving member 411 and the sensor 412. The core principle is that the IC (Improved Inter-Integrated Circuit) is the next generation of two-wire serial bus, which has the protocol unified compatibility feature, is downward compatible with the traditional IC sensor 412, and can adapt to the PWM control protocol commonly used by the rotating driving member 411 through the built-in mechanism without the need for additional protocol conversion modules. In addition, the two-wire architecture of SDA (data line) and SCL (clock line) is adopted, which supports the multi-master multi-slave mode, can realize the simultaneous transmission of the weak electric sensing signal of the sensor 412 and the strong electric control signal of the rotating driving member 411, and greatly simplifies the layout of the circuit. In terms of hardware architecture, the MCU (such as NXP MCX A, TI AMx) integrated with the IC host interface is selected as the core of the electric control board 413. The MCU has a built-in PWM driving module and a power management unit, which can directly complete signal analysis and driving instruction output. The intelligent servo motor with an IC slave interface is selected for the rotating driving member 411, and the IC native or IC compatible tactile / pressure sensor 412 (such as TDK IC tactile sensor 412) is selected for the sensor 412. The bus adopts double-core wire with double-layer shielding (inner aluminum foil shielding and outer woven copper mesh) to avoid signal interference. All components are connected to the same electric control board 413 through the two-wire IC bus without the need for independent electric control units. The working process is that the sensor 412 transmits the sensing data (such as contact pressure value) to the electric control board 413 MCU through the IC bus. The MCU processes the data internally and sends PWM control instructions to the intelligent motor through the IC bus. The IC slave controller built-in the motor converts the bus signal into driving signal to realize precise rotation. At the same time, the motor can feed back the position and speed information through the bus, and the sensor 412 can actively report abnormal signals through the IC in-band interrupt, forming a closed-loop link of "sensing, control, driving, and feedback". The response time is ≤ms, which improves the real-time control. In terms of application scenarios, this solution has high integration and strong signal stability, and is suitable for high-end dexterous hands, medical rehabilitation robots and other scenarios with extremely high requirements for control accuracy and reliability. If it is necessary to adapt to existing traditional rotating driving members 411 / sensors 412, an IC / SPI to IC bridge chip (such as TI TCA) can be added to the electric control board 413 to reduce the upgrade cost and meet the needs of inventory equipment modification.

[0209] In an embodiment, the proximal knuckle shell 12 comprises a main shell 121 and a sensing bracket 122, the mounting space 11 and the sensing mounting port 111 are arranged on the main shell 121, the sensing bracket 122 is mounted on the sensing mounting port 111 and is provided with a mounting surface 124 exposed on the finger pulp side, the sensor 412 is arranged on the mounting surface 124, the sensing bracket 122 is provided with a wire harness through hole 63, the knuckles of the fingers 400 of the dexterous hand further comprise a first wire harness passing through the wire harness through hole 63 and the sensing mounting port 111, and the sensor 412 is connected to the control panel 413 through the first wire harness.

[0210] At present, the sensor 412 on the dexterous hand is mostly arranged in the mounting space 11, and a soft material needs to be filled at the sensing mounting port 111 to transmit the pressure on the finger pulp side to the sensor 412 in the mounting space 11. This mode not only has the problem that the pressure transmission accuracy is easily affected by the deformation of the soft material, but also has the problems of complicated assembly and inconvenient disassembly and maintenance of the sensor 412. The present scheme integrates the sensor 412 on the sensing bracket 122 to realize that the sensor 412 is arranged outside the sensing mounting port 111 and is convenient to disassemble and connect.

[0211] Specifically, the sensing bracket 122 is specially adapted to the sensing mounting port 111 and provides an independent and flat mounting surface 124 for the sensor 412, which ensures that the sensor 412 can be stably fixed at the key contact position on the finger pulp side and avoids the problems of installation deviation and looseness that may occur when the sensor 412 is directly installed on the sensing mounting port 111, thereby ensuring the accuracy of the sensing data of the sensor 412. The wire harness through hole 63 provides a special passing channel for the first wire harness (the connecting wire harness of the sensor 412 and the control panel 413), so that the wire harness can pass through the sensing bracket 122 from the inside of the sensing mounting port 111 to the control panel 413, thereby avoiding the situation that the wire harness is randomly arranged in the mounting space 11 or exposed outside the proximal knuckle shell 12. At the same time, the wire harness is arranged along the through hole, which can avoid the key components of the knuckle movement and prevent the wire harness from being squeezed and entangled when the knuckle rotates, thereby further improving the safety and structural reliability of the circuit.

[0212] Of course, in other embodiments, the sensing mounting port 111 can not be provided, the sensor 412 can be attached to the finger pulp side of the proximal knuckle shell 12, and the wire harness through hole 63 can be arranged on the finger pulp side of the proximal knuckle shell 12.

[0213] In an embodiment, the sensing bracket 122 comprises a mounting plate 123 and a connecting plate 128 connected together, the mounting plate 123 is exposed outside the sensing mounting port 111 and is provided with a mounting surface 124, and the connecting plate 128 is clamped to the edge of the sensing mounting port 111, and the wire harness through hole 63 penetrates through the mounting plate 123 and the connecting plate 128. The clamping type connection does not require additional fasteners 65, and only needs to be clamped by aligning the connecting plate 128 with the edge of the sensing mounting port 111 to complete the fixation, which greatly simplifies the assembly steps and improves the assembly efficiency of the sensing bracket 122 compared with the traditional threaded connection. The clamping structure of the connecting plate 128 and the edge of the sensing mounting port 111 can form a circumferential limiting fixation, avoiding the displacement of the sensing bracket 122 forward and backward or left and right during the movement of the knuckle; at the same time, the mounting plate 123 is exposed outside the sensing mounting port 111 and bears the sensor 412, and the connecting plate 128 is hidden inside the sensing mounting port 111 to provide fixation support, forming a reasonable structure of "exposed bearing and hidden fixation", ensuring the stability of the installation position of the sensor 412 and protecting the sensing accuracy. In addition, the wire harness through hole 63 penetrates through the mounting plate 123 and the connecting plate 128, further ensuring the coherence and regularity of the wire harness. In other embodiments, the sensing bracket 122 can also have other structures.

[0214] In an embodiment, the edge of the mounting plate 123 extends towards the line of the rotation axis 73 of the proximal knuckle shell 12, and the proximal knuckle shell 12 further comprises a transmission shell 51 mounted along the length direction of the proximal knuckle shell 12 with the main shell 121, and the mounting plate 123 can shield the connection between the transmission shell 51 and the main shell 121, and the length direction of the proximal knuckle shell 12 is the direction from the fingertip to the finger root of the dexterous hand. When the main shell 121 and the transmission shell 51 are assembled along the direction from the fingertip to the finger root, there will be a small gap at the connection between the two, and dust and debris can easily enter the mounting space 11 through the gap, polluting the core components such as the rotary drive 411 and the electronic control board 413, and affecting their normal work. After the edge of the mounting plate 123 extends towards the line of the rotation axis 73, it can just shield the gap at the connection, forming a protective barrier to effectively block the invasion of dust and debris, prolonging the service life of the internal core components. In other embodiments, the proximal knuckle shell 12 can be provided with a shielding block, and the shielding block is bonded at the connection between the transmission shell 51 and the main shell 121 by point bonding or other fixing methods.

[0215] In an embodiment, the mounting plate 123 comprises a first plate segment 125, a second plate segment 126 and a third plate segment 127 connected in sequence along the length direction of the proximal knuckle shell 12, the first plate segment 125 corresponds to the outside of the sensor mounting port 111, the second plate segment 126 is arranged on the side of the sensor mounting port 111 close to the rotation axis 73 line of the proximal knuckle shell 12, the sensor 412 is arranged at least in the first plate segment 125 and the second plate segment 126, and the third plate segment 127 shields the connection between the transmission shell 51 and the main shell 121. The first plate segment 125 corresponds to the outside of the sensor mounting port 111 (the main contact area on the palm side), the second plate segment 126 is close to the rotation axis 73 line of the knuckle (the edge contact area on the palm side), and the sensor 412 is arranged in these two plate segments, which can cover the main contact area from the center to the edge on the palm side, help to significantly increase the sensing range of the sensor 412, comprehensively collect contact information, and greatly improve the sensing accuracy. In other embodiments, the sensor 412 can also be arranged only in the first plate segment 125, or in the first plate segment 125, the second plate segment 126 and the third plate segment 127.

[0216] In an embodiment, the edge of the connecting plate 128 is clamped in the edge of the sensor mounting port 111 and is fixed again by an adhesive. During the operation of the dexterous hand, the knuckle needs to be frequently rotated and subjected to contact impact force. Only relying on the clamping structure, after long-term use, the clamping position may be worn and loose, causing the sensor support 122 to be offset or fall off, and then affecting the sensing accuracy of the sensor 412. The adhesive can fill the small gap between the connecting plate 128 and the edge of the sensor mounting port 111, so that the two form an integrated connection structure, which not only enhances the connection strength, but also can absorb part of the vibration energy, and improves the anti-vibration and anti-impact ability of the sensor support 122. The secondary fixing method forms a double protection of "mechanical clamping and chemical bonding", which ensures the stability of the sensor support 122 during long-term use, and avoids the problems of sensor 412 failure or wire harness damage caused by support loosening. In other embodiments, the adhesive can also not be used for secondary fixing.

[0217] In an embodiment, the electric control board 413 is arranged between the rotating driving member 411 and the sensor 412, and the electric control board 413 is arranged corresponding to the sensing installation opening 111. The electric connection line between the rotating driving member 411 and the electric control board 413 is the second wire harness. When the electric control board 413 is arranged between the rotating driving member 411 and the sensor 412, and arranged corresponding to the sensing installation opening 111 (the installation position of the sensor 412), the lengths of the first wire harness and the second wire harness can be the shortest, so as to minimize the installation space 11 occupied by the first wire harness and the second wire harness, and further improve the utilization rate of the internal space of the knuckle. Moreover, the shortening of the lengths of the first wire harness and the second wire harness can reduce the loss in the signal transmission process, and improve the stability of the signal transmission. At the same time, the shortest transmission path further shortens the signal delay time, so that the electric control board 413 can more quickly convert the sensing signal of the sensor 412 into a driving instruction, improve the response speed of “sensing and driving”, and further optimize the operation accuracy of the dexterous hand. In other embodiments, the electric control board 413 can also be arranged on the other side of the rotating driving member 411.

[0218] In an embodiment, the conductive wire harness 300 is arranged in the installation space 11 of the plurality of fingers 400 knuckles to electrically connect the plurality of electric control boards 413. The conductive wire harness 300 connects the plurality of knuckles in series to enable the sensor 412 signals of each knuckle to be transmitted in a centralized manner and the driving instructions to be distributed uniformly, thereby realizing cooperative motion control of the plurality of knuckles. The conductive wire harness 300 is arranged in the installation space 11 of each knuckle in a centralized manner, which avoids the wire harness from being exposed outside the knuckle, reduces the friction and collision between the wire harness and the external environment, and reduces the probability of damage to the wire harness. At the same time, the centralized wiring manner makes the overall wire harness layout more regular, which facilitates line troubleshooting during later maintenance. In other embodiments, the dexterous hand can be provided with a master control board at the palm 600, and the conductive wire harness 300 is used to electrically connect the electric control board 413 in the proximal knuckle shell 12 and the master control board.

[0219] In an embodiment, the proximal knuckle shell 12 further includes a transmission shell 51 of a speed reducer 500 drivingly connected with the rotating driving member 411 of the proximal knuckle shell 12. The transmission shell 51 is provided with a threading passage 16 extending along the width direction of the proximal knuckle shell 12 and communicating with the bottom threading passage 14 of the transmission shell 51 and the top threading passage 15 of the next-level finger 400 knuckle. In the proximal knuckle shell 12, the threading passage 16 provides a closed threading space for the conductive wire harness 300, which can prevent dust and sundries from entering the installation space 11 from the connection between adjacent fingers 400 knuckles, and further improves the protection effect of the internal components. At the same time, the closed threading passage 16 enhances the sealing performance of the connection between the plurality of knuckles, and meets the use requirements in complex working environments (such as dust environments in industrial assembly and clean environments in medical rehabilitation).

[0220] In an embodiment, the top wire passage 15 and the bottom wire passage 14 are arranged near the opposite sides of the proximal knuckle shell 12 in the width direction, and the conductive wire harness 300 in the installation space 11 includes a first section 307 extending from the top wire passage 15 to the palm side, a second section 308 extending from the end of the first section 307 to the other side of the proximal knuckle shell 12 in the width direction, a third end extending from the end of the second section 308 to the control panel 413, a fourth section 310 extending from the control panel 413 in a direction away from the top wire passage 15, a fifth section 311 extending from the end of the fourth section 310 to the bottom wire passage 14, the end of the third end being electrically connected to the control panel 413, and the head of the fourth section 310 being electrically connected to the control panel 413. The arrangement of the top wire passage 15 and the bottom wire passage 14 near the opposite sides in the width direction, combined with the five-section wire layout, forms a closed-loop regular path, avoiding the problem of the conductive wire harness 300 randomly shuttling in the installation space 11 and crossing and winding with the first wire harness and the second wire harness. At the same time, this layout conforms to the internal profile of the proximal knuckle shell 12 and the installation position of the control panel 413, maximally shortening the invalid arrangement length of the wire harness, avoiding the redundant space occupation of the wire harness, and further improving the utilization rate of the limited installation space 11 in the knuckle, providing more sufficient space for the installation of core components such as the rotary driving member 411 and the control panel 413. The five-section layout makes the wire harness enter from the top wire passage 15 and gradually extend to the bottom wire passage 14 along a gentle path, avoiding the sharp bending of the wire harness in the installation space 11, reducing the fatigue damage of the wire harness; at the same time, this layout precisely connects the connection nodes of the first and bottom wire passages 14 and the control panel 413, ensuring the continuity of the wire harness in the adjacent knuckles, the knuckle installation space 11, and the control panel 413. In other embodiments, the wire layout can also be without the five-section layout.

[0221] In an embodiment, a plurality of third fixing members are arranged in the mounting space 11, and the third fixing members respectively fix opposite ends of the first segment 307, the second segment 308, the third segment 309, the fourth segment 310, and the fifth segment 311. The third fixing members correspondingly fix opposite ends of the five segments of the wire harness, forming a “multi-point, full-path” fixing structure, which firmly constrains the conductive wire harness 300 on the preset wire harness path, avoiding the problem of displacement and shaking of the conductive wire harness 300 when the finger joint 400 is frequently rotated and subjected to impact. At the same time, the fixing of the two ends of each segment of the conductive wire harness 300 can avoid the overall movement of the conductive wire harness 300, ensuring that the connection nodes of the conductive wire harness 300 and the electric control board 413, the top wire passage 15, and the bottom wire passage 14 always remain accurately aligned, preventing loose connection caused by displacement of the conductive wire harness 300. The fixed conductive wire harness 300 maintains a stable safety distance from the surrounding components, avoiding friction and wear of the conductive wire harness 300 with the proximal joint shell 12, the rotating drive member 411, and other components caused by shaking, reducing the probability of line faults such as damage to the insulation layer and breakage of the core wire of the conductive wire harness 300 from the structure, and further prolonging the service life of the conductive wire harness 300.

[0222] The plurality of third fixing members provide a clear positioning reference for the assembly of the conductive wire harness 300, and during assembly, each segment of the wire harness can be gradually laid and fixed according to the position of the fixing member, greatly improving the accuracy and efficiency of the assembly of the conductive wire harness 300, and adapting to the needs of large-scale production. At the same time, the full-path fixing structure makes the layout of the conductive wire harness 300 more regular, and during later maintenance, the direction and connection nodes of each segment of the conductive wire harness 300 can be quickly located, facilitating fault diagnosis and replacement of the conductive wire harness 300. Further, the third fixing member is a fixing buckle or a dispensing member. Of course, in other embodiments, the third fixing member can be a fixing tube that is sleeved on the conductive wire harness 300.

[0223] Please refer to Figures 46-49In an embodiment, the proximal knuckle shell 12 comprises a transmission shell 51 and a main shell 121 of a speed reducer 500, and the speed reducer 500 is drivingly connected with the rotation driving member 411 of the proximal knuckle shell 12. Specifically, the proximal knuckle shell 12 comprises the main shell 121 and the transmission shell 51 distributed along the length direction of the proximal knuckle shell 12, the main shell 121 has the installation space 11 and the splicing interface 112 communicating with the installation space 11, and the transmission shell 51 is installed in the splicing interface 112; the transmission shell 51 has the speed reduction installation cavity 512 and the driving positioning interface 515 communicating with the speed reduction installation cavity 512, the driving positioning interface 515 communicates with the splicing interface 112; the worm 52 and the helical gear shaft 53 of the speed reducer 500 are arranged in the speed reduction installation cavity 512, the helical gear shaft 53 extends along the width direction of the proximal knuckle shell 12, and is used for being fixedly connected with the connecting bracket 222, the length direction of the proximal knuckle shell 12 intersects with the width direction of the proximal knuckle shell 12; the rotation driving member 411 is arranged in the installation space 11, the output shaft of the rotation driving member 411 passes through the driving positioning interface 515 along the length direction of the proximal knuckle shell 12, and is drivingly connected with the speed reducer 500, so that the proximal knuckle shell 12 can rotate around the width direction of the proximal knuckle shell 12.

[0224] Specifically, the proximal phalanx housing 12 adopts a split design, comprising a main housing 121 and a transmission housing 51 connected to each other along its length. The main housing 121 has an internal mounting space 11 for accommodating a rotary drive component 411 (such as a micro motor or servo motor). The main housing 121 has a splicing interface 112 on one side along its length. The transmission housing 51 is mounted at the splicing interface 112, forming a tight structural connection with the main housing 121. The transmission housing 51 has an internal reduction mounting cavity 512 for accommodating a reducer 500, and a drive positioning port 515 communicating with the reduction mounting cavity 512. The drive positioning port 515 communicates with the splicing interface 112 of the main housing 121, thus forming a continuous internal channel along the length of the proximal phalanx housing 12 between the main housing 121 and the transmission housing 51. The rotary drive component 411 is housed within the mounting space 11 of the main housing 121, while the reducer 500 is integrally housed within the reduction mounting cavity 512. By arranging the main housing 121 and the transmission housing 51 in segments along the length of the proximal phalanx housing 12, and by spatially separating the rotary drive component 411 (which has a driving function) from the reducer 500 (which has a transmission function), the radial expansion caused by stacking multiple components in a single, narrow cavity, as in traditional solutions, is avoided. Furthermore, the output shaft of the rotary drive component 411 passes through the transmission area along the length of the proximal phalanx housing 12, resulting in a short power transmission path without directional bends. This not only improves transmission efficiency but also avoids the volume increase and motion backlash introduced by using couplings or corner transmission mechanisms.

[0225] The helical gear shaft 53 of the reducer 500 extends along the width of the proximal phalanx housing 12 and passes through both sides of the transmission housing 51. The helical gear shaft 53 and the transmission housing 51 are rotatably connected through bearings or bore-shaft mating. The opposite ends of the helical gear shaft 53 are used to be fixedly connected to the connecting bracket 222 (such as adjacent phalanges, metacarpophalangeal joints, or the skeleton of the hand 600). That is, the helical gear shaft 53 itself does not rotate with the proximal phalanx housing 12, but serves as a fulcrum for the phalanx to rotate around it. By directly integrating the helical gear shaft 53 into the transmission housing 51 and using it as a rotational fulcrum fixed to the external structure, the transmission housing 51 simultaneously assumes the dual role of transmission carrier and structural support, eliminating the need for additional bearing seats or brackets, and further reducing the number of parts and assembly complexity.

[0226] The output shaft of the rotary driving member 411 extends along the length direction of the proximal phalangeal shell 12, passes through the splicing interface 112 of the main shell 121 and the driving positioning port 515 of the transmission shell 51 in sequence, and extends into the speed reducer installation cavity 512 to be directly coupled or engaged with the input end (such as the gear part 532, the worm 52 or the harmonic flexspline, etc.) of the speed reducer 500. When the rotary driving member 411 works, the output shaft transmits the rotary power to the speed reducer 500, and after being decelerated or torque amplified, drives the entire proximal phalangeal shell 12 (i.e. the main shell 121 and the transmission shell 51 as a whole) to rotate around the axis of the helical gear shaft 53 (i.e. the width direction of the proximal phalangeal shell 12), so as to realize the bending or lateral swing movement of the phalange. In an embodiment, the length direction of the proximal phalangeal shell 12 is the axial direction of the finger 400, and the width direction of the proximal phalangeal shell 12 is the extension direction of the flexion and extension axis of the phalange of the finger 400.

[0227] The technical scheme of the present application divides the proximal phalangeal shell 12 into the main shell 121 and the transmission shell 51 along the length direction of the proximal phalangeal shell 12, and sets the communicating splicing interface 112 and the driving positioning port 515 therebetween, realizes the functional partition arrangement of the rotary driving member 411 and the speed reducer 500 in space, effectively avoids the stacking of functional components in a single cavity, thereby improving the space utilization rate inside the proximal phalangeal shell 12, and being conducive to realizing the miniaturization of the phalange of the finger 400; at the same time, by integrating the helical gear shaft 53 extending along the width direction of the proximal phalangeal shell 12 in the transmission shell 51 and relatively fixedly connecting the helical gear shaft 53 with the connecting bracket 222, the helical gear shaft 53 simultaneously assumes the dual functions of the rotary fulcrum and the transmission carrier, and the independent bearing seat or support bracket in the traditional structure is omitted, the number of parts is reduced, and the assembly structure is simplified; in addition, the output shaft of the rotary driving member 411 linearly passes through the driving positioning port 515 along the length direction of the proximal phalangeal shell 12 and is directly coupled with the speed reducer 500, a short-path and low-loss power transmission channel is constructed, the transmission efficiency is improved, and the volume increase caused by the direction conversion mechanism is avoided.

[0228] When the rotary driving member 411 works, the output shaft drives the worm 52 to rotate around the length direction of the proximal phalangeal shell 12. The worm 52 transmits the power to the gear part 532 through the tooth surface engagement. Since the two ends of the mounting part 531 have been fixedly connected to the connecting bracket 222, the helical gear shaft 53 itself remains stationary during the movement and does not rotate. Therefore, the worm 52 drives the proximal phalangeal shell 12 to rotate around the outer periphery of the gear part 532, thereby exhibiting that the worm 52 drives the proximal phalangeal shell 12 to rotate around the axial direction of the helical gear shaft 53 (i.e. the width direction of the proximal phalangeal shell 12) relative to the connecting bracket 222, thereby realizing the flexion and extension action of the phalange of the finger 400.

[0229] The worm 52 and the gear portion 532 have the advantages of compact structure, large reduction ratio, smooth operation and self-locking capability. The worm 52 extends linearly along the length direction of the proximal phalangeal shell 12 and is coaxially arranged with the output shaft of the rotary driving member 411, without the need for an additional steering mechanism, effectively shortening the transmission chain and saving horizontal space; at the same time, the gear portion 532 is directly integrated on the bevel gear shaft 53 as a rotation fulcrum, so that the bevel gear shaft 53 has the functions of support and transmission output, avoiding the addition of an independent output shaft or an intermediate transmission member, and further improving the integration degree. In addition, the self-locking characteristic of the worm 52 transmission helps to maintain the phalangeal posture in the power-off or static gripping state, improving the operation safety and energy efficiency of the dexterous hand.

[0230] In other embodiments, the speed reducer 500 can also adopt other types of speed reduction or transmission mechanisms to adapt to different performance requirements. For example, in another embodiment, the speed reducer 500 can include a planetary gear reducer, wherein the sun gear is connected with the output shaft of the rotary driving member 411, the planet carrier is fixed with the bevel gear shaft 53, and the inner ring is fixed to the inner wall of the transmission shell 51, and high reduction ratio and high torque output are achieved through the planetary gear train.

[0231] The second chamber 514 in the transmission shell 51 extends along the length direction of the proximal phalangeal shell 12, one end of which is communicated with the driving positioning port 515 on the side of the main shell 121, and the other end is communicated with the first chamber 513, forming an L-shaped or T-shaped internal passage structure; the worm 52 is installed in the second chamber 514, and the axis thereof is arranged along the length direction of the proximal phalangeal shell 12, one end of which extends into the first chamber 513 and engages with the gear portion 532, and the other end penetrates through the driving positioning port 515 and is drivingly connected with the output shaft of the rotary driving member 411 in the main shell 121.

[0232] The first chamber 513 is dedicated to arranging the bevel gear shaft 53 and the gear portion 532, ensuring the installation stiffness and centering accuracy thereof; the second chamber 514 provides independent axial installation space 11 for the worm 52 and is aligned with the driving positioning port 515, facilitating the linear penetration of the driving shaft and avoiding interference with other components. The communication layout of the two chambers not only realizes functional partitioning, but also maintains a compact overall appearance, effectively improving the space utilization and assembly operability inside the transmission shell 51.

[0233] In other embodiments, the speed reduction installation cavity 512 can also adopt different internal cavity configurations to adapt to different types of speed reducers 500. For example, in the embodiment adopting a planetary reducer, the speed reduction installation cavity 512 can be designed as a single cylindrical chamber, the inner wall of which is integrated with an inner ring, and the center is arranged with a sun gear shaft, and the planet carrier is directly fixed with the bevel gear shaft 53, at this time, there is no need to strictly distinguish between axial and radial chambers, but to realize multi-stage transmission through coaxial nesting.

[0234] In an embodiment, the main housing 121 and the transmission housing 51 are detachably connected by fasteners 65.

[0235] The main housing 121 and the transmission housing 51 are detachably connected by fasteners 65, so that the main housing 121 containing the rotary drive 411 and the transmission housing 51 containing the speed reducer 500 become two independent modules. This not only facilitates precision machining and independent debugging of each module, but also allows replacement of a specific module without scrapping the entire module during production assembly and subsequent maintenance, improving production efficiency and resource utilization. Second, when the rotary drive 411 or the speed reducer 500 needs to be repaired, replaced, or parameter adjusted, the main housing 121 and the transmission housing 51 can be separated by simply unscrewing the fasteners 65, allowing direct operation of the target module, effectively reducing the complexity and time cost of maintenance, and ensuring the long-term stable operation of the dexterous hand.

[0236] In other embodiments, the main housing 121 and the transmission housing 51 can also be detachably connected using a buckle structure, a resilient pin connection, or a magnetic attraction, to meet the needs of assembly efficiency, protection level, or number of repeated disassembly and assembly in different use environments. In addition, the main housing 121 and the transmission housing 51 can also be connected by adhesion or welding.

[0237] In an embodiment, the transmission housing 51 has a connecting block 516 protruding from the side facing the main housing 121, and the connecting block 516 has a first mounting hole 517. The main housing 121 has a mounting plane on the side of the finger web, and the mounting plane has a mounting recess 113 formed at one end near the splicing interface 112. The mounting recess 113 extends through the side of the main housing 121 facing the transmission housing 51 along the length direction of the proximal phalanx shell 12, and the connecting block 516 is accommodated in the mounting recess 113. The bottom of the mounting recess 113 has a second mounting hole 114 corresponding to the first mounting hole 517, and the first mounting hole 517 and the second mounting hole 114 are connected by the fasteners 65.

[0238] The main housing 121 and the transmission housing 51 are detachably connected by a fitting structure, the transmission housing 51 has a connecting block 516 protruding from the side facing the main housing 121, and the connecting block 516 can be a local boss, an annular flange, or a columnar extension structure, etc. The connecting block 516 has at least one first mounting hole 517. Correspondingly, the main housing 121 has a mounting recess 113 formed on the side of the finger web near the splicing interface 112. The mounting recess 113 extends along the length direction of the proximal phalanx shell 12 and penetrates the end face of the main housing 121 facing the transmission housing 51, forming an inner recessed accommodation space.

[0239] Furthermore, the bottom of the mounting groove 113 corresponds to the position of the first mounting hole 517 on the connecting block 516, and a second mounting hole 114 is provided aligned with it. The fastener 65 passes through the first mounting hole 517 and the second mounting hole 114 in sequence, firmly fixing the transmission housing 51 to the main housing 121. In this way, the enveloping fit of the mounting groove 113 on the connecting block 516 effectively restricts the micro-movement or deflection of the transmission housing 51 during the force process, improving the stability of joint movement and repeatability accuracy; secondly, the fastener 65 is installed from the fingertip side, avoiding exposure on the back of the finger or the outer contour surface.

[0240] In other embodiments, different mating methods can be used to achieve a detachable connection between the main housing 121 and the transmission housing 51. For example, the connecting block 516 can be designed as a plug-in post with a guide bevel, and the inner wall of the mounting groove 113 can be provided with an elastic buckle to achieve a screwless connection through a push-in quick-release mechanism; alternatively, the connecting block 516 can be configured as multiple independent lugs distributed circumferentially, and multiple sets of mounting holes 5314 can be provided in the mounting groove 113 of the main housing 121 to enhance the torsional resistance of the connection.

[0241] In one embodiment, the mounting plane has a sensor mounting port 111 that communicates with the mounting space 11. The sensor 412 can be a force-sensitive resistor, a capacitive tactile sensor 412, or a flexible strain gauge, etc. The sensor 412 is mounted on the mounting plane and covers the sensor mounting port 111, so that its sensing surface faces outward to contact external objects, thereby realizing real-time sensing of physical quantities such as grasping force, contact state, or deformation. The electronic control board 413 is arranged in the mounting space 11, located between the sensor 412 and the rotation drive component 411. The electronic control board 413 integrates electronic components such as signal conditioning circuit, microcontroller, and drive interface.

[0242] In other embodiments, the configuration of the electronic modules can be adjusted according to functional requirements. For example, the rotation drive 411 and the sensor 412 are electrically connected to their respective dedicated electronic control board 413; or, in a multimodal sensing scenario, multiple different types of sensors 412 (such as temperature and pressure arrays) can be arranged on the mounting plane, sharing the same sensing mounting port 111 or having multiple independent openings, with the electronic control board 413 correspondingly integrating a multi-channel acquisition circuit.

[0243] In one embodiment, the main housing 121 has two positioning protrusions 115 on the side facing the transmission housing 51. The two positioning protrusions 115 are respectively located on opposite sides of the splice interface 112 along the width direction of the proximal phalanx housing 12. The transmission housing 51 is sandwiched between the two positioning protrusions 115. The transmission housing 51 has a third mounting hole 518. The positioning protrusions 115 have a fourth mounting hole 117 corresponding to the third mounting hole 518. The third mounting hole 518 and the fourth mounting hole 117 are connected by fasteners 65.

[0244] The main housing 121 is provided with two positioning protrusions 115 on the side facing the transmission housing 51, which are arranged on the opposite sides of the splicing interface 112 along the width direction of the proximal knuckle housing 12. The transmission housing 51 is clamped between the two positioning protrusions 115 during assembly, forming a transverse limiting structure along the width direction of the proximal knuckle housing 12, effectively preventing the transmission housing 51 from deviating, twisting or axially moving during work due to stress, thereby improving the stability and structural rigidity of the joint movement.

[0245] Further, the transmission housing 51 is provided with at least one third mounting hole 518, usually located at a position corresponding to the positioning protrusion 115 on the outer side wall or end thereof; correspondingly, each positioning protrusion 115 is provided with a fourth mounting hole 117 corresponding thereto. The fastener 65 passes through the third mounting hole 518 and the fourth mounting hole 117 in sequence to firmly fix the transmission housing 51 between the two positioning protrusions 115. This connection method not only realizes reliable mechanical connection between the main housing 121 and the transmission housing 51, but also improves the assembly centering accuracy of the main housing 121 and the transmission housing 51 through clamping positioning. In addition, the third mounting hole 518 and the fourth mounting hole 117 can also be matched with threaded blind holes to avoid exposure of the fastener 65.

[0246] It is worth mentioning that the fastener 65 passing through the third mounting hole 518 and the fourth mounting hole 117 locks and fixes the main housing 121 and the transmission housing 51 in the width direction of the proximal knuckle housing 12, and the fastener 65 passing through the first mounting hole 517 and the second mounting hole 114 locks and fixes the main housing 121 and the transmission housing 51 in the direction perpendicular to the length direction of the proximal knuckle housing 12 and the width direction of the proximal knuckle housing 12 (i.e. the thickness direction of the knuckle or the direction from the back of the finger to the palm), thereby forming multidirectional constraint in two mutually orthogonal directions, effectively limiting the translational and rotational degrees of freedom of the transmission housing 51 relative to the main housing 121 in space. This double fastening structure not only significantly improves the overall rigidity and torsional resistance of the connection between the main housing 121 and the transmission housing 51, but also effectively resists the complex load (such as bending moment, shear force and impact force) generated during the gripping and flexing of the knuckle, prevents the increase of transmission gap, meshing failure or structural abnormal noise caused by loosening or micro-displacement, and thus ensures the stability and precision of the dexterous hand during long-term operation. At the same time, the multidirectional locking layout makes the assembly stress distribution more uniform, which helps to improve the consistency and reliability in batch production.

[0247] In an embodiment, the connecting bracket 222 has a convex arc surface in the circumferential direction around the width direction of the proximal knuckle housing 12, and the positioning protrusion 115 is provided with a concave arc surface 116 rotatingly matched with the convex arc surface.

[0248] The connecting bracket 222 is provided with a convex arc surface in the circumferential direction around the width direction of the proximal knuckle housing 12. Correspondingly, the two positioning protrusions 115 provided on the main housing 121 are provided with concave arc surfaces 116 on the side facing the connecting bracket 222, which match the convex arc surface. After assembly, the convex arc surface and the concave arc surface 116 are matched with each other and form a rotating fit relationship, so that the entire finger knuckle 400 can stably rotate relative to the connecting bracket 222 with the width direction of the proximal knuckle housing 12 as the axis. The arc surface matching structure not only constitutes the rotating pair of the knuckle, but also bears part of the load transmission function. Since the contact surface is a continuous curved surface, compared with the traditional pin-shaft-hole matching, the effective contact area is larger, the stress distribution is more uniform, which helps to reduce local wear and tear, improve joint durability, and to a certain extent, compensate for the slight angular deviation caused during manufacturing or assembly, and improve the smoothness of movement. At the same time, the bevel gear shaft 53 provides an accurate rotation center and torque transmission path, and the arc surface matching between the positioning protrusion 115 and the connecting bracket 222 provides auxiliary support and radial limiting, which together ensures the stable operation of the knuckle during flexion and extension without shaking.

[0249] In an embodiment, the bevel gear shaft 53 is provided with a threading passage 16 penetrating through the opposite ends thereof in the width direction of the proximal knuckle housing 12, and at least one positioning protrusion 115 is provided with a bottom wire passage 14 communicating with the mounting space 11. The bottom wire passage 14 is arranged in the positioning protrusion 115, the path is short and protected by the structure of the main housing 121, which can effectively prevent the conductive wire harness 300 from being squeezed, bent or worn during movement. In other embodiments, the layout of the threading passage 16 and the bottom wire passage 14 can be adjusted according to the actual wiring requirements. For example, both positioning protrusions 115 can be provided with a bottom wire passage 14 to support dual-redundancy wiring or separate power and signal lines.

[0250] In an embodiment, the main housing 121 includes two shell portions 129 that are spliced together, and the two shell portions 129 are distributed in the width direction of the proximal knuckle housing 12.

[0251] The main housing 121 is composed of two housing parts 129 which are connected by the mating surfaces and form a mounting space 11 for accommodating the rotary driving member 411, the electric control board 413 and other internal components. The mating surfaces of the two housing parts 129 can be designed as flat surfaces, stepped surfaces or mating surfaces with positioning convex-concave structures to ensure that the main housing 121 has good centering property and structural rigidity after splicing. The two housing parts 129 can be fixed by fasteners 65 (such as screws), buckles, ultrasonic welding or adhesion. This split type structure significantly improves the assembly accessibility of internal components. During assembly, the rotary driving member 411, the electric control board 413 and the sensor 412 can be sequentially installed in one of the housing parts 129, and then the other housing part 129 is covered and fixed, avoiding the operation difficulty or damage risk caused by forcibly inserting the components from a small opening.

[0252] In other embodiments, the split type of the two housing parts 129 can be optimized according to functional requirements. For example, the split surface can be designed as an asymmetric layout, so that one housing part 129 bears the main structural support function and the other housing part 129 serves as a detachable cover plate.

[0253] Please refer to Figures 50-54 In an embodiment, the end knuckle housing 13 includes a fingertip housing part 131 and a fingertip sensing frame 132, the fingertip housing part 131 is used to connect the knuckles of the fingers 400 of the dexterous hand, and the mounting space 11 is enclosed between the fingertip housing part 131 and the fingertip sensing frame 132, the fingertip sensing frame 132 is arranged on the palm side of the end knuckle housing 13; the rotary driving member 411 is arranged in the mounting space 11 and used to drive the rotation of the end knuckle housing 13 relative to the knuckles of the fingers 400, and the electric control board 413 is also arranged in the mounting space 11; the sensor 412 is arranged on the outer side of the fingertip sensing frame 132, and the rotary driving member 411 and the sensor 412 are electrically connected with the same electric control board 413.

[0254] It should be noted that in the human hand, the knuckles at the end of the fingers 400 are commonly referred to as finger tips, and the end knuckle shell 13 adopts a split structure of a finger tip shell part 131 and a finger tip sensing frame 132, and the finger tip sensing frame 132 is arranged on the palm side, which provides a closed mounting space 11 for the rotating drive member 411 and the control panel 413, and also simplifies the assembly process of internal components through modular design, that is, compared with the integrated shell which needs to accommodate the built-in sensor 412, the internal components can be assembled first and then the finger tip sensing frame 132 is closed, which is more convenient to disassemble and assemble, avoids damage to the shell caused by repeated disassembly and assembly, and reduces maintenance costs. The rotating drive member 411 and the control panel 413 are integrated in the mounting space 11, and the control panel 413 realizes integrated design of driving and control, which greatly reduces the volume and weight of the end knuckle shell 13, avoids the bulging of the finger tip caused by external components, and ensures the flexibility of the dexterous hand operation. The sensor 412 is arranged on the outer side of the finger tip sensing frame 132, directly contacts the object to be grabbed, which helps to improve the collection accuracy of data such as pressure and contact position, and the external sensor 412 is convenient for separate disassembly and calibration, which further optimizes the maintenance convenience. In addition, the sensor 412 and the control panel 413 can be connected in close proximity, that is, the electric connection line between the sensor 412 and the control panel 413 is shortened, the signal transmission path is shortened, the interference is reduced, the real-time performance of the control command is ensured, and it is suitable for high-precision scenes such as precision assembly and medical operation.

[0255] It should be noted that the same control panel 413 integrates the electric control connection function of the rotating drive member 411 and the sensor 412, reduces the arrangement requirement of two groups of independent electrically conductive wire bundles 300, and greatly compresses the space occupied by the electric control components and the lines. Only one group of electrically conductive wire bundles 300 is needed to realize the connection of the rotating drive member 411, the sensor 412 and the same control panel 413, to realize the simplification of the assembly steps of the dexterous hand, and to reduce the assembly difficulty. At the same time, the number of electrically conductive wire bundles 300 is reduced, the probability of mutual friction between the electrically conductive wire bundles 300 and the accumulation in the knuckle joints to hinder the movement of the knuckles is reduced during the movement of the knuckles, and the reliability and service life of the knuckle structure are improved.

[0256] And the rotating drive member 411 and the sensor 412 are directly connected to the same control panel 413, and the signal transmission does not need to be transferred between multiple electric control units, which shortens the signal transmission path, avoids signal transmission delay, low coordination control accuracy and other defects, realizes the instant response of the perception, control and driving triple system, and improves the precision of the dexterous hand operation.

[0257] In an embodiment, the terminal knuckle shell 13 further comprises a transmission shell 51 of a speed reducer 500 drivingly connected with the rotation driving member 411 inside the terminal knuckle shell 13, the transmission shell 51 is rotationally connected with the proximal knuckle shell 12, the transmission shell 51 encloses a transmission cavity, the terminal knuckle shell 13 further comprises a transmission assembly, the transmission assembly is arranged in the transmission cavity, the output shaft of the rotation driving member 411 extends into the transmission cavity and is drivingly connected with the transmission assembly, and the rotation axis 73 of the transmission assembly is perpendicular to the output shaft. The transmission cavity provides an independent closed space for the transmission assembly, which can effectively isolate dust and impurities, avoid wear and jam of transmission components, and prolong the service life of the components. Secondly, the transmission assembly realizes vertical conversion of the power direction, so that the rotation driving member 411 can be arranged along the direction in which the fingertips extend, the installation space 11 is reasonably utilized, the volume of the fingertips is further compressed, and the demand for miniaturization of the dexterous hand is met. That is, if the output shaft of the rotation driving member 411 directly drives the fingertips to rotate, the rotation driving member 411 needs to be arranged horizontally, which is easy to cause the fingertips to have an excessively large radial size, and the vertical transmission layout can optimize the space utilization rate. At the same time, the arrangement of the transmission assembly makes the power transmission of the rotation driving member 411 more stable and accurate, avoids damage caused by direct stress on the output shaft of the rotation driving member 411, and can adjust the rotation speed and torque through transmission structures such as gears and worms 52, so that the fingertips rotate more smoothly and are suitable for scenarios such as fragile product grabbing. In addition, the transmission shell 51 is rotationally connected with the proximal knuckle shell 12 and is driven by the rotation driving member 411, so that the rotational movement of the fingertips is more stable and avoids shaking and deviation, thereby improving the movement accuracy. In other embodiments, the transmission shell 51 can also not be arranged.

[0258] In an embodiment, the lower edge of the fingertip sensing frame 132 extends to the line of the rotation axis 73 of the distal phalangeal shell 13 at the palmar side of the distal phalangeal shell 13 to cover the joint between the transmission shell 51 and the fingertip shell 131. The covering effect of the fingertip sensing frame 132 can form a sealing barrier to prevent impurities such as dust, water vapor, etc. from entering the transmission cavity and the installation space 11, avoiding the contamination and corrosion of the precise components such as the transmission assembly, the rotary driving member 411, the electronic control board 413, etc., and further prolonging the service life of the equipment. At the same time, the joint is usually a structural weak point, and the force is easily concentrated at the gap when grabbing objects, causing the shell to deform and loosen, and the covering of the fingertip sensing frame 132 can strengthen the structural integrity of the joint, disperse the force, improve the impact resistance and deformation resistance of the distal phalangeal shell 13, and avoid damage to the joint when grabbing heavy objects or frequent operation. In addition, covering the joint with the fingertip sensing frame 132 can optimize the appearance of the fingertip, prevent the internal structure from being exposed, and prevent wiring and transmission components from being hooked by external objects, ensuring the safety of operation. This design does not need to add additional sealing members, and the protection function is achieved by using the structure of the fingertip sensing frame 132 itself, taking into account the structural simplicity and practicality, and without increasing the volume and weight, it makes up for the protection shortcomings of the joint of the split shell. In other embodiments, the lower edge of the fingertip sensing frame 132 can not have a structure extending to the line of the rotation axis 73 of the distal phalangeal shell 13 at the palmar side of the distal phalangeal shell 13.

[0259] In an embodiment, the fingertip sensing frame 132 includes an outer convex curved surface segment 133 and a straight line segment 134 arranged along the extension direction of the distal phalangeal shell 13, the sensor 412 is arranged on the outer convex curved surface segment 133, and the straight line segment 134 extends along the extension direction of the distal phalangeal shell 13 to cover the joint between the transmission shell 51 and the fingertip shell 131. The outer convex curved surface segment 133 fits the physiological structure of the palm of the artificial finger 400, and the straight line segment 134 is specially used to cover the joint. Compared with the overall arc-shaped fingertip sensing frame 132, the straight line segment 134 can more accurately fit the structural profile of the joint, and the sealing and protection effect is better, while reducing the processing difficulty of the fingertip sensing frame 132. In addition, the segmented design makes the force on the fingertip sensing frame 132 more reasonable, the outer convex curved surface segment 133 bears the grabbing pressure, and the straight line segment 134 bears the joint stress, avoiding deformation caused by excessive local stress, ensuring the reliability of the fingertip sensing frame 132 during long-term use, and facilitating the installation and calibration of the sensor 412, improving the assembly efficiency. Further, the material of the outer convex curved surface segment 133 is configured as a wear-resistant material, and the material of the straight line segment 134 is configured as a high-strength material. In other embodiments, only the outer convex curved surface segment 133 can be provided.

[0260] In an embodiment, the fingertip sensing frame 132 and the fingertip shell 131 are detachably connected through the fingertip connecting assembly 135. When the rotating drive 411, the electric control board 413 fails or the sensor 412 needs to be calibrated or replaced, the fingertip sensing frame 132 can be directly detached without disassembling the entire distal phalange shell 13 or the proximal phalange shell 12, greatly shortening the maintenance time, reducing the maintenance cost, and avoiding irreversible damage to the shell structure caused by repeated disassembly and assembly. Secondly, the detachable connection realizes the modular replacement of the fingertip sensing frame 132. If the fingertip sensing frame 132 is damaged due to grabbing wear or collision, the fingertip sensing frame 132 can be replaced individually without replacing the entire distal phalange shell 13, saving material costs. In other embodiments, the fingertip sensing frame 132 and the fingertip shell 131 can also be welded when assembled.

[0261] In an embodiment, the outer convex arc segment 133 is provided with a positioning connecting block 136 on the side close to the fingertip shell 131, and the fingertip connecting assembly 135 is arranged on the positioning connecting block 136. The outer convex arc segment 133 is adapted to grab objects with a generally thin thickness. Directly arranging the fingertip connecting assembly 135 can easily cause local stress concentration and deformation of the fingertip sensing frame 132. The positioning connecting block 136 can thicken the structural strength of the connection part, provide a stable installation basis for the fingertip connecting assembly 135, avoid loosening or breaking of the connection part under grabbing stress, ensure the firmness of the connection between the fingertip sensing frame 132 and the fingertip shell 131, and solve the possible structural weakness problem of detachable connection. Secondly, the positioning connecting block 136 is arranged on the side of the outer convex arc segment 133 close to the fingertip shell 131, away from the sensor 412 installation area and the grabbing contact area, which does not interfere with the signal collection of the sensor 412 and does not affect the adhesion of the fingertip sensing frame 132 to the object, realizing the spatial isolation of the connection function and the sensing function, and optimizing the structural layout. In addition, the positioning connecting block 136 can be integrally formed with the fingertip sensing frame 132, improving the structural integrity and avoiding the precision deviation caused by additional assembly of the positioning connecting block 136. At the same time, the positioning connecting block 136 can increase the contact area of the fingertip connecting assembly 135, disperse the fastening force, further improve the connection stability, and make the fingertip sensing frame 132 always remain reliably fixed in frequent grabbing and rotating operations, ensuring the overall operation stability of the distal phalange shell 13. In other embodiments, the positioning connecting block 136 can not be provided, and the fingertip connecting assembly 135 can be configured as a glue layer.

[0262] In an embodiment, the fingertip connecting assembly 135 includes fasteners 65 and fixing holes provided on the positioning connecting block 136. The fasteners 65 (such as screws, bolts) are connected with the fixing holes in high connection stability, which can withstand the impact force, pressure and vibration in the process of grabbing, avoid loosening and falling of the fingertip sensing frame 132 in heavy load or frequent operation, and ensure the structural stability. In addition, the fingertip connecting assembly 135 has strong universality, and different specifications of fasteners 65 (such as high-strength screws, anti-loosening screws) can be selected according to actual needs to adapt to different strength and environmental requirements; the fixing holes have mature processing technology, which can be processed synchronously with the positioning connecting block 136 to ensure accuracy and avoid loosening of the fingertip sensing frame 132 caused by misplacement of the fingertip connecting assembly 135, thereby further improving the overall reliability. In other embodiments, the fingertip connecting assembly 135 can include a buckle hole provided on the positioning connecting block 136 and a buckle provided on the fingertip shell 131.

[0263] In an embodiment, the conductive wire bundle 300 extends from the mounting space 11 to the proximal phalange shell 12 to electrically connect the electric control panel 413 and the proximal phalange shell 12. The conductive wire bundle 300 connects the electric control panel 413 and the electric control panel 413 of the proximal phalange shell 12 to realize integrated transmission of power transmission and signal feedback, avoid interference caused by dispersed arrangement of lines, ensure accurate transmission of control signals of the rotary driving member 411 and collected signals of the sensor 412, reduce signal loss or delay, and improve the synchronization of fingertip movement and perception. In other embodiments, the conductive wire bundle 300 is not connected with the next level proximal phalange shell 12, and the conductive wire bundle 300 extends through the proximal phalange shell 12 to the palm 600 of the dexterous hand to be electrically connected with the master control panel at the palm 600.

[0264] In an embodiment, a wire passage is provided on one side of the fingertip shell 131 close to the proximal phalange shell 12, and the mounting space 11 in the distal phalange shell 13 and the mounting space 11 in the proximal phalange shell 12 are connected through the wire passage, and the conductive wire bundle 300 is arranged in the wire passage. The wire passage provides a dedicated accommodation space for the conductive wire bundle 300, so that the wire bundle is completely isolated from the moving parts such as the rotary driving member 411 and the transmission assembly, avoids extrusion and entanglement of the wire bundle by the moving parts during movement, completely solves the hidden danger of wire wear and short circuit, and ensures the continuity of signal and power transmission. At the same time, the passage can play a positioning role to prevent the wire bundle from moving during movement, thereby further improving the stability of signal transmission. In other embodiments, the conductive wire bundle 300 extends from the outside of the distal phalange shell 13 to the proximal phalange shell 12.

[0265] In an embodiment, the transmission housing 51 is provided with a threading channel 16 extending along the width direction of the knuckle housing 100, the bottom wall of the mounting space 11 in the terminal knuckle housing 13 is provided with a second wire hole, the top wall of the mounting space 11 in the proximal knuckle housing 12 connected to the fingertip of the finger 400 is provided with a first wire hole 743, and the wire hole channel includes the second wire hole, the threading channel 16 and the first wire hole 743 in sequence. The bottom wall of the mounting space 11 in the proximal knuckle housing 12 is provided with a second wire hole to communicate with the first wire hole 743 of the next level proximal knuckle housing 12. The threading channel 16 allows the conductive wire harness 300 to extend along a gentle path from the second wire hole of the threading channel 16 to the first wire hole 743 of the next level knuckle, avoiding excessive bending of the wire harness at the connection between adjacent knuckles, reducing fatigue damage of the conductive wire harness 300, and prolonging the service life of the conductive wire harness 300. The threading channel 16 provides a closed threading space for the wire harness, which can prevent dust and debris from entering the mounting space 11 from the connection between adjacent proximal knuckle housings 12, further improving the protection effect of the internal components; at the same time, the closed threading channel 16 enhances the sealing of the connection of the multi-level proximal knuckle housing 12, and meets the use requirements in complex working environments (such as dust environment in industrial assembly and clean environment in medical rehabilitation). In other embodiments, the threading channel 16 can also not be provided.

[0266] In an embodiment, the bottom of the terminal knuckle housing 13 is provided with a first limiting structure 101 and a third limiting structure 103, the first limiting structure 101 is arranged close to the palm side, and the third limiting structure 103 is arranged close to the back side of the finger, the top of the proximal knuckle housing 12 is provided with a second limiting structure 105 and a fourth limiting structure 107, the second limiting structure 105 is arranged close to the palm side, and the fourth limiting structure 107 is arranged close to the back side of the finger, the fingertip of the finger 400 has an open position and a holding position, in the open position, the fourth limiting structure 107 abuts against the third limiting structure 103, and in the holding position, the first limiting structure 101 abuts against the second limiting structure 105. The fourth limiting structure 107 abuts against the third limiting structure 103 in the open position, and the first limiting structure 101 abuts against the second limiting structure 105 in the holding position, forming a bidirectional angle constraint, accurately limiting the movement range of the fingertip, avoiding damage to the rotation driving member 411, the transmission assembly and the wire harness caused by excessive rotation, prolonging the service life of the core components and reducing the failure probability. Secondly, the limiting structure makes the open and holding postures of the fingertip more stable and uniform, improving the operation repeatability and accuracy. In other embodiments, the first limiting structure 101, the second limiting structure 105, the third limiting structure 103 and the fourth limiting structure 107 can also not be provided.

[0267] In an embodiment, the top of the knuckle shell 100 is opposite to two connecting brackets 222, the connecting brackets 222 are rotationally connected with the end knuckle shell 13, and the second limiting structure 105 and the fourth limiting structure 107 are both arranged on the connecting brackets 222. The connecting brackets 222 are rotationally connected with the fingertips of the fingers 400, and the second limiting structure 105 and the fourth limiting structure 107 are integrated on the connecting brackets 222, so that the rotation connection and the limiting function are concentrated on the same component, the structure design is simplified, the assembly process is reduced, and the stress during limiting can be uniformly transmitted through the connecting brackets 222, so as to avoid local stress concentration. Through the simplified structure and reduced assembly cost, the stability of the limiting structure is improved, and the synchronous reliability of the rotation and limiting actions is ensured. In other embodiments, the connecting brackets 222 can also be not arranged.

[0268] In an embodiment, the second limiting structure 105 includes a limiting groove 106 arranged on one side of the connecting bracket 222 close to the finger web side, and the first limiting structure 101 includes a limiting protrusion 102. During the rotation of the fingertips of the fingers 400, the limiting protrusion 102 moves around the circumferential side of the connecting bracket 222, and in the holding position, the limiting protrusion 102 abuts against the groove bottom wall of the limiting groove 106. The limiting groove 106 structure can form circumferential constraint on the limiting protrusion 102, avoid slipping, and the abutting surface is the groove bottom wall, the contact area is stable, the limiting precision is higher, and the limiting protrusion 102 moves around the circumferential side of the connecting bracket 222, without affecting the normal rotation of the fingertips of the fingers 400. It is beneficial to ensure the accurate positioning of the holding action, improve the grabbing stability, avoid the material falling off, and adapt to the precise grabbing scene. In other embodiments, the second limiting structure 105 and the first limiting structure 101 can be respectively abutting protrusions on the finger web side of the fingertips of the fingers 400 and the next end knuckle shell 12, and in the holding position, the two abutting protrusions abut against each other.

[0269] In an embodiment, the bottom of the end knuckle shell 13 is provided with a connecting groove 118, the groove bottom wall of the connecting groove 118 is rotationally connected with the connecting support 222, the third limiting structure 103 includes a first abutting surface 104 provided on the side wall of the connecting groove 118, and the fourth limiting structure 107 includes a second abutting surface 108 provided on the top wall of the connecting support 222. In the open position, the first abutting surface 104 and the second abutting surface 108 abut, the limiting contact area is increased, the stress is dispersed, and local wear is avoided. At the same time, the groove bottom wall of the connecting groove 118 is rotationally connected with the connecting support 222, so that the rotational connection and the open limiting structure are integrated, and the layout is simplified. This helps to improve the stability and durability of the open position limiting, avoids limiting failure, optimizes the compactness of the rotational connection, and reduces the structure occupied space. In other embodiments, the first limiting structure 101 and the second limiting structure 105 can be respectively an abutting protrusion provided on the dorsal side of the fingertip of the finger 400 and extending towards the heel direction, and a groove provided on the dorsal side of the next proximal knuckle shell 12 and capable of abutting with the abutting protrusion.

[0270] In an embodiment, the limiting protrusion 102 and the side wall of the connecting groove 118 are configured as the same structure, and the limiting protrusion 102 extends along the circumference of the connecting support 222. This helps to reduce the number of independent parts, simplify processing and assembly, and at the same time, the circumferentially extending structure can make the force more uniform when holding and limiting, and improve the limiting stability. In other embodiments, the limiting protrusion 102 and the side wall of the connecting groove 118 can be configured as different structures.

[0271] Please refer to Figures 55-60 In an embodiment, the top of the proximal knuckle shell 12 is provided with a material guiding surface 17, and the top of the end knuckle shell 13 is not provided with a material guiding surface 17. The material guiding surface 17 is divided and arranged on opposite sides of the knuckle of the finger 400 in the width direction. The bottom of the proximal knuckle shell 12 and the end knuckle shell 13 is provided with a matching surface 18 corresponding to the material guiding surface 17. In the direction of the rotation axis 73 of the knuckle shell 100, the gap between the material guiding surface 17 of the proximal knuckle shell 12 of the present knuckle and the matching surface 18 of the last knuckle shell 100 gradually increases from inside to outside.

[0272] The technical scheme of the present application sets the material guiding surface 17 on both sides of the top of the proximal knuckle shell 12, and makes the gap between the material guiding surface 17 of the present knuckle and the matching surface 18 of the last knuckle gradually increase from inside to outside along the direction of the rotation axis 73. The change of the matching gap forms a lateral material guiding channel. When the material is stuck in the gap, the force generated by the rotation of the knuckle and the guiding effect of the gradually increasing matching gap can guide the material out from the outside along the material guiding surface 17. At the same time, a reasonable gap gradient avoids the interference or precision problem that may occur with uniform gap. This effectively reduces the wear of the matching surface 18, improves the environmental adaptability and service life of the dexterous hand in a multi-material scene, and at the same time ensures the smoothness of the rotation of the knuckle of the finger 400.

[0273] In an embodiment, in the length direction of the proximal knuckle shell 12, the matching gap between the material guiding surface 17 of the proximal knuckle shell 12 and the matching surface 18 of the last knuckle shell 100 gradually increases. The length direction of the knuckle shell 100 is the direction from the palm side to the back side of the knuckle of the finger 400. The palm side is the main force side of the dexterous hand when grabbing the material, and the smaller gap on this side can ensure the matching accuracy and stability during grabbing, avoiding positioning deviation. The gap gradually increases on the back side, which can strengthen the material guiding ability and make the clamped material more easily guided to the back side, without sacrificing the grabbing accuracy to achieve the anti-clamping function. The balance between grabbing accuracy and anti-clamping is achieved, and the reliability of the dexterous hand operation is improved. In other embodiments, the gap may not gradually increase in the length direction of the proximal knuckle shell 12.

[0274] In an embodiment, in the length direction of the proximal knuckle shell 12, the material guiding surface 17 has a plurality of material guiding sections extending in the second direction, and the shape of the material guiding section is configured as an outward convex arc. In the length direction of the proximal knuckle shell 12, the diameters of the shapes of the sequentially arranged material guiding sections gradually increase. The second direction is the direction from the fingertip to the finger base. The outward convex arc can reduce the contact area between the material and the material guiding surface 17, reduce the frictional resistance, and avoid material adsorption or jamming. The diameter of the section gradually increases along the length direction of the proximal knuckle shell 12, so that the matching gap gradually increases, forming a continuous arc-shaped material guiding track, so that the material can smoothly slide along the arc when the knuckle rotates, significantly improving the material guiding efficiency, reducing the interference of the material with the knuckle movement, and reducing the wear between the material and the material guiding surface 17, protecting the small material (such as chips, bolts) from damage. In other embodiments, the shape of the material guiding section is configured as a material guiding inclined surface inclined toward the finger base.

[0275] In an embodiment, the centers of the material guiding sections sequentially arranged along the length direction of the proximal knuckle shell 12 are located on the same straight line, and the straight line is parallel to the top side of the knuckle of the finger 400. This can make the material guiding surface 17 form a regular arc-shaped curved surface, ensure that the gap gradually and uniformly changes along the length direction of the proximal knuckle shell 12, and make the material guiding surface 17 and the knuckle top side maintain structural coordination, avoiding sudden changes in the gap or surface distortion in the width direction. It can also cooperate with the design of the gradually increasing diameter of the material guiding section to build a smooth and consistent arc-shaped material guiding channel, while ensuring that the contact state between the material guiding surface 17 and the matching surface 18 of the last knuckle shell 18 is uniform and stable in the width direction during knuckle rotation, without local stress concentration and movement interference. This can further optimize the material guiding smoothness, prevent the material from being retained in the uneven gap, and maintain the rotation accuracy and stability of the knuckle. The regular and directionally controllable arc-shaped curved surface can reduce the processing difficulty and improve the structural consistency during batch production. In other embodiments, the straight line may also extend toward the finger base in the length direction of the proximal knuckle shell 12.

[0276] In an embodiment, the fitting surface 18 has a first fitting section 181 close to the palm side and a second fitting section 182 close to the back side of the finger in the length direction of the knuckle shell 100, and the fitting surface 18 has a plurality of fitting sections extending in the second direction in the length direction of the knuckle shell 100, the shape of the fitting section is configured as a convex arc, the diameters of the fitting sections are consistent on the first fitting section 181, and the diameters of the fitting sections gradually increase in the length direction of the knuckle shell 100 on the second fitting section 182. The diameters of the fitting sections of the first fitting section 181 are consistent, which can provide a stable fitting surface 18 when grabbing force is applied, ensure the carrying precision and structural rigidity, and avoid stress deformation; the diameters of the fitting sections of the second fitting section 182 gradually increase in the length direction of the knuckle shell 100, which matches the change of the material guiding section, further optimizes the fitting gap gradient, strengthens the material guiding ability of the back side of the finger, and makes the fitting surface 18 and the material guiding surface 17 form a synergistic effect. In other embodiments, the diameters of all the fitting sections in the length direction of the knuckle shell 100 can be consistent. In other embodiments, the shape of the fitting section can be configured as a straight line extending obliquely to the fingertip.

[0277] In an embodiment, the material guiding surface 17 is arranged on the top of the connecting bracket 222 and is connected with the second abutting surface 108. This prevents the material from being retained at the connection, makes the material guiding track and the fourth limiting structure 107 smoothly transition, and strengthens the synergy of material guiding and limiting. This is beneficial to reduce the processing and assembly cost, improve the structural integrity, optimize the material guiding effect, and avoid the jamming problem caused by material retention. It should be noted that the material guiding surface 17 is arranged on the four-finger mounting seat 22 and the thumb mounting seat 21.

[0278] Please refer to Figures 1-60The present application also provides a dexterous hand, which comprises a palm 600, a finger 400 and a conductive wire bundle 300. The specific structure of the finger 400 of the dexterous hand is referred to the above-mentioned embodiments. Since the dexterous hand adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here. The palm 600 comprises a palm shell 61, the palm shell 61 is provided with a palm space 62, the palm space 62 is provided with a swing driving member 64, a thumb driving module 700 and a master control panel; the finger 400 is divided into four fingers 42 and a thumb 43, the four fingers 42 are connected with the palm 600 through a four-finger mounting seat 22, the thumb 43 is connected with the palm 600 through a thumb mounting seat 21, the four-finger mounting seat 22 rotates around the second axis under the driving of the swing driving member, the thumb mounting seat 21 rotates around the third axis under the driving of the thumb driving module 700; the third extension section 303 of the conductive wire bundle 300 in the four fingers 42 extends out from the top of the four-finger mounting seat 22 through the wire passage 15 and then bends to form a fourth extension section 305, the fourth extension section 305 is coaxial with the second axis or intersects with the second axis, and the intersection point is located at the end of the fourth extension section 305, the fourth extension section 305 penetrates into the palm space 62 through the four-finger mounting seat 22 to electrically connect the master control panel; the third extension section 303 of the conductive wire bundle 300 in the thumb 43 extends out from the top of the thumb mounting seat 21 through the wire passage 15 and then bends to form a fifth extension section 306 which is coaxial with the third axis, the fifth extension section 306 penetrates into the palm space 62 through the thumb mounting seat 21 to electrically connect the master control panel. For the swing movement of the four fingers 42, the fourth extension section 305 of the conductive wire bundle 300 is coaxial with the swing axis (the second axis) or intersects with the swing axis at the end (the intersection point is fixed at the end of the mounting seat 200), when the four-finger mounting seat 22 swings around the second axis under the driving of the swing driving member 64, the coaxial design makes the wire bundle have no length change at the rotation center, and the end intersection design anchors the dynamic bending point at a fixed position to avoid the wire bundle being repeatedly pulled during the swing process; for the palm rotation of the thumb 43, the fifth extension section 306 is strictly coaxial with the rotation axis (the third axis) of the thumb 43 and passes through the rotation shaft wire passage 731, when the thumb mounting seat 21 rotates around the third axis, the wire bundle has no relative displacement, which completely eliminates the winding and torsional stress of the traditional external cable in the 130° large-angle rotation. The design extends the “coaxial wire passage” concept from a single finger joint to the palm 600-finger 400 connection pair, so that the conductive wire bundle 300 keeps the path stable and the bending radius controllable in all movement modes (finger joint flexion and extension, four-finger 42 lateral swing, thumb 43 palm rotation, thumb 43 finger joint flexion and extension) of the dexterous hand, which significantly reduces the risk of insulation layer wear and tear and the probability of signal interruption; at the same time, it reduces the interference of the wire bundle reaction force on the driving system, improves the joint response speed and force control accuracy.

[0279] Please refer toFigures 32-40 In an embodiment, the palm shell 61 is provided with a wire protection groove 66 on the outer side wall of the palm side, and a wire harness through hole 63 is arranged at one end of the wire protection groove 66 close to the middle of the palm shell 61; the conductive wire harness 300 is electrically connected to the functional assembly 41 at one end, and the other end protrudes from the side wall of the four-finger mounting seat 22 close to the palm, is arranged in the wire protection groove 66, extends along the extension direction of the wire protection groove 66, and extends into the palm space 62 to be electrically connected to the master control board through the wire harness through hole 63.

[0280] In the technical scheme of the application, the palm shell 61 is provided with a palm space 62 for accommodating the master control board and the swing driving member 64, so that the core components are integrated and carried; meanwhile, the wire protection groove 66 and the wire harness through hole 63 are arranged on the outer side wall of the palm side, so as to provide a special arrangement channel and a protection structure for the conductive wire harness 300. One end of the conductive wire harness 300 is connected to the functional assembly 41 in the four fingers 42, and the other end enters the palm space 62 to be connected to the master control board through the four-finger mounting seat 22, the wire protection groove 66, the conductive wire harness 300 through hole, forming a closed and orderly wire passing path of the four fingers 42, the four-finger mounting seat 22, the wire protection groove 66, the wire harness through hole 63 and the master control board. Among them, the wire protection groove 66 limits the conductive wire harness 300 in the special groove, so that the conductive wire harness 300 is not exposed to the surface of the palm side, when taking an object, the object only contacts the outer side wall of the palm shell 61, and cannot directly contact the conductive wire harness 300, so as to prevent the friction and extrusion of the conductive wire harness 300 and the object; the wire harness through hole 63 realizes the orderly transition of the conductive wire harness 300 from the wire protection groove 66 to the palm space 62, avoids the self-friction or force pulling caused by the disorderly winding of the conductive wire harness 300, and further protects the conductive wire harness 300.

[0281] It should be noted that all speed reducers 500 used in the dexterous hand, wherein the worm 52 can be an envelope worm 521 or a cylindrical worm 522, which is adjusted according to actual needs, and is not limited here.

[0282] In an embodiment, the groove side wall of the wire protection groove 66 has a protruding structure protruding from the outer side wall of the palm shell 61 in the depth direction of the wire protection groove 66. The protruding structure forms a stop edge at the groove opening of the wire protection groove 66, which can limit the position of the conductive wire harness 300 from both sides of the groove opening, and firmly limit the wire harness inside the wire protection groove 66, effectively preventing the wire harness from coming out of the wire protection groove 66 due to vibration, stress or pulling of the four-finger swing. At the same time, the protruding structure increases the thickness of the groove side wall of the wire protection groove 66, improves the structural strength of the wire protection groove 66, avoids the wear and deformation of the groove side wall after long-term use, and further prolongs the service life of the palm shell 61, indirectly ensures the stability of the protection of the conductive wire harness 300. In other embodiments, there can be no protruding structure, or a protruding block is provided on the palm shell 61, and the wire protection groove 66 is formed in the protruding block.

[0283] In an embodiment, the transition slope 661 is provided between the convex structure and the outer side wall of the palm shell 61, and is arranged around the circumference of the wire protection groove 66 and extends to the middle of the wire protection groove 66 in the palm back to palm center direction. The design of the transition slope 661 first eliminates the sharp corners at the connection between the convex structure and the palm shell 61, so that the conductive wire bundle 300 will not be scratched by the sharp corners when it is embedded in the wire protection groove 66, further protecting the wire bundle. Secondly, the transition slope 661 makes the outer side of the convex structure in a smooth transition state, so that when the dexterous hand holds an object, the object is prevented from being scratched. The transition slope 661 increases the connection area between the convex structure and the outer side wall of the palm shell 61, enhances the connection strength of the two, prevents the convex structure from falling off or breaking due to long-term stress, and ensures the stability of the protection structure. In other embodiments, the transition slope 661 can also not be provided.

[0284] In an embodiment, the wire bundle through hole 63 is provided in the wire protection groove 66 and located at the groove bottom wall of the wire protection groove 66. After the conductive wire bundle 300 is drawn out from the four-finger mounting seat 22, it can smoothly extend along the groove bottom wall of the wire protection groove 66 and directly enter the wire bundle through hole 63. In other embodiments, the wire bundle through hole 63 can also be provided outside the groove side wall of the wire protection groove 66, and the bottom of the groove side wall of the wire protection groove 66 is provided with a through hole for the conductive wire bundle 300 to pass through.

[0285] In an embodiment, the top of the palm shell 61 is provided with a mounting notch 67, and the four-finger mounting seat 22 is arranged in the mounting notch 67 and swings in the mounting notch 67. The mounting notch 67 has two opposite side edges, and at least one side edge constitutes a swing limiting structure 671 which can abut against the side wall of the four-finger mounting seat 22 in the width direction of the palm 600. The mounting notch 67 provides a dedicated swing space for the four-finger mounting seat 22, making the swing of the four-finger mounting seat 22 more smooth, avoiding interference with other parts of the palm shell 61, and ensuring the normal swing of the four fingers 42. Further, the swing limiting structure 671 can effectively limit the swing angle of the four-finger mounting seat 22 by abutting against the side wall of the four-finger mounting seat 22, preventing the four-finger mounting seat 22 from swinging excessively. Further, the output end of the swing driving member 64 is drivingly connected with the four-finger mounting seat 22 through a worm 52 transmission mechanism, and the worm 52 transmission mechanism includes a transmission housing 51, a worm 52 and a helical gear shaft 53 arranged in the transmission housing 51. The worm 52 is engaged with the helical gear shaft 53, and the helical gear shaft 53 can rotate relative to the transmission housing 51. The transmission housing 51 is fixedly connected with the palm shell 61 at the mounting notch 67, and the four-finger mounting seat 22 is fixedly connected with the helical gear shaft 53, so that the four-finger mounting seat 22 can rotate around the first axis. In other embodiments, the mounting notch 67 can also not be provided, and the top of the palm shell 61 is hingedly connected with the four-finger mounting seat 22.

[0286] In an embodiment, the side edge constituting the swing limiting structure 671 has an angle of 20° to 30° with the height direction of the palm 600. The angle of 20° to 30° can provide sufficient limiting resistance, effectively limit the excessive swing of the four-finger mounting seat 22, avoid pulling the wire harness, protect the safety of the wire harness, and ensure the stability of the electrical connection. On the other hand, the angle will not excessively limit the swing range of the four-finger mounting seat 22, and can ensure that the four fingers 42 have sufficient swing space to meet the needs of fine operation of the dexterous hand, such as grasping and pinching. In other embodiments, the swing limiting structure 671 can also be an abutting block provided on the mounting gap 67.

[0287] In an embodiment, only one side edge of the mounting gap 67 constitutes the swing limiting structure 671, and the angle between the other side edge and the height direction of the palm 600 is greater than the angle between the swing limiting structure 671 and the height direction of the palm 600. When the mounting gap 67 is limited on one side only, the other side is limited by the abutment of the adjacent four fingers 42 during the swing. Further, the side edge opposite to the swing limiting structure 671 on the mounting gap 67 constitutes a weight reduction structure 672, and the side edge constituting the weight reduction structure 672 has an angle of 70° to 80° with the height direction of the palm 600. The structure thickness of the side edge is greatly reduced, which can effectively remove the redundant material of the palm shell 61, reduce the overall weight of the palm 600, and reduce the load of the dexterous hand. Not only does this improve the operation flexibility, but it also reduces power consumption and improves the endurance of the dexterous hand. On the other hand, the angle design can ensure that the side edge still has sufficient structure thickness and connection area, and will not reduce the overall strength of the palm shell 61 due to weight reduction. In other embodiments, the weight reduction structure 672 can also not be provided, that is, the side edge opposite to the swing limiting structure 671 on the mounting gap 67 has an angle of 30° to 60° with the height direction of the palm 600.

[0288] In an embodiment, the dexterous hand is provided with four four-fingered hands 42 corresponding to the index finger, middle finger, ring finger and little finger 43 of the human body, and the four four-fingered hands 42 are one-to-one corresponding to the four four-fingered hand mounting seats 22 and mounting gaps 67. Each four-fingered hand 42 corresponds to an independent four-fingered hand mounting seat 22 and mounting gap 67, which can realize independent swinging of the four four-fingered hands 42 without interference, so that the dexterous hand can complete more delicate operations (such as individually controlling the action of a four-fingered hand 42 or cooperating with multiple four-fingered hands 42), and improve the flexibility and accuracy of operation. The wire harness 300 of each four-fingered hand 42 can correspond to an independent wire protection groove 66 and wire harness via hole 63, realize independent arrangement of the wire harness, avoid entanglement and friction of multiple wire harnesses, further reduce the risk of wire harness damage, ensure the stability of the electrical connection between the functional components 41 of each four-fingered hand 42 and the master control board, and ensure that the four four-fingered hands 42 can work normally. Further, the limiting swing structure on the mounting gap 67 corresponding to the little finger is arranged on the side of the mounting gap 67 close to the thumb 43, and the limiting swing structure on the mounting gap 67 corresponding to the index finger, middle finger and ring finger is arranged on the side of the mounting gap 67 away from the thumb 43.

[0289] In an embodiment, the palm shell 61 includes a palm side shell 68 arranged close to the palm side and a palm back shell 69 arranged close to the palm back side, and the top of the palm side shell 68 and the palm back shell 69 is provided with a mounting gap 67. That is, the palm shell 61 is a split structure, which can be processed and assembled separately, facilitating the placement of internal components such as the master control board and swing driving member 64 into the palm space 62, and facilitating later maintenance and repair (such as replacing the wire harness and repairing the driving member), reducing assembly and maintenance difficulty. The split design makes the wire protection groove 66, wire harness via hole 63 and other structures can be processed on the palm side shell 68, reducing the processing difficulty, improving the processing precision, improving the overall assembly efficiency, and optimizing the production process. In other embodiments, the palm shell 61 can not be a split structure.

[0290] The above description is only an exemplary embodiment of the present application, and does not limit the protection scope of the present application. Any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the protection scope of the present application.

Claims

1. A finger of a dexterous hand, said finger being mounted on the palm, characterized in that, The fingers include: At least one level of knuckle housing, wherein the knuckle housing has an installation space, wherein the installation space has a functional component, the knuckle housing is rotatable about a first axis, the first axis passes through the lower end of the knuckle housing, the lower end of the knuckle housing has a bottom wire passage channel and a wire threading channel, and the knuckle housing includes a proximal knuckle housing and / or a distal knuckle housing; Mounting base, the mounting base is used to connect the knuckle housing and the palm, and the top of the mounting base and the top of the proximal knuckle housing are both provided with top wire passages; A conductive wire harness for supplying power to the functional components includes a first extension segment, a second extension segment, and a third extension segment connected in sequence. The first and third extension segments extend vertically along the knuckle housing. The first extension segment is electrically connected to the functional component within the knuckle housing of its current level, and the third extension segment is electrically connected to the functional component within the knuckle housing of the next level or to the palm. The second extension segment is coaxially arranged with the first axis. The first extension segment passes through the bottom wiring channel, the second extension segment passes through the wiring channel, and the third extension segment passes through the top wiring channel. The top of the proximal knuckle housing is provided with a clearance channel, which connects the bottom wire passage channel and the wire threading channel, and the clearance channel extends circumferentially along the first axis. The top of the proximal knuckle housing and the top of the mounting base are each provided with two connecting brackets opposite to each other. The connecting brackets are rotatably connected to the knuckle housing of the previous stage. The top wire passage channel and the clearance channel are both provided on the connecting brackets. The connecting brackets also include clearance holes. The axis of the clearance holes is coaxial with the first axis. The two clearance holes respectively connect the top wire passage channel and the clearance channel, and the two clearance holes are connected through the wire threading channel.

2. The fingers of a dexterous hand as described in claim 1, characterized in that, The functional component includes a rotation drive and a helical gear shaft that is driven to be connected to the output shaft of the rotation drive. The helical gear shaft is connected to the connecting bracket, and the rotation axis of the helical gear shaft is coaxial with the first axis. The threading channel is formed on the helical gear shaft.

3. The fingers of a dexterous hand as described in claim 1, characterized in that, The top wire passage extends obliquely from the clearance hole toward the outer palm of the dexterous hand in the extension direction of the knuckle housing and communicates directly with the mounting space. A clearance area is formed below the top wire passage on the connecting bracket.

4. The fingers of a dexterous hand as described in claim 3, characterized in that, The connecting bracket has a limiting groove on one side near the palm of the dexterous hand. The limiting groove is located in the avoidance area. The bottom of the knuckle shell has a limiting protrusion. The knuckle shell has a gripping position and an open position in the circumferential direction of the first axis. In the open position, the extension direction of the knuckle shell is consistent with the extension direction of the palm or the next level knuckle shell. In the gripping position, the knuckle shell rotates around the first axis until the limiting protrusion abuts against the limiting groove.

5. The fingers of a dexterous hand as described in claim 1, characterized in that, The fingers are divided into a thumb and four fingers. The thumb includes a proximal phalanx housing and a distal phalanx housing. The four fingers include two proximal phalanx housings and a distal phalanx housing. The mounting base includes a thumb mounting base connected to the thumb and a four-finger mounting base connected to the four fingers. The palm is provided with multiple swinging drive components and a thumb drive module. The swinging drive components are arranged one-to-one with the four fingers and are driven connected to the four-finger mounting base to swing around a second axis in the width direction of the palm. The thumb drive module is driven connected to the thumb mounting base to rotate around a third axis. The top of both the four-finger mounting base and the thumb mounting base is provided with a top wire passage.

6. The fingers of a dexterous hand as described in claim 5, characterized in that, The four-finger mounting base is also provided with a palm wire passage. The palm wire passage is coaxial with the second axis, or the axis of the palm wire passage intersects with the second axis, and the intersection point is located at the end of the palm wire passage. In the four-finger mounting base, the third extension of the conductive wire bundle extends out from the top wire passage and bends out to form a fourth extension coaxial with the palm wire passage. The fourth extension passes through the palm wire passage.

7. The fingers of a dexterous hand as described in claim 6, characterized in that, The thumb drive module includes a rotating shaft rotatably disposed within the palm about the third axis. One end of the rotating shaft away from the palm is connected to the thumb mounting base, and the rotating shaft is provided with a rotating shaft wire passage. The rotating shaft wire passage runs through the rotating shaft along the third axis. The thumb mounting base is also provided with a seat wire passage connected to the rotating shaft wire passage. In the thumb mounting base, the third extension of the conductive wire bundle extends out from the top wire passage and bends to form a fifth extension coaxial with the third axis. The fifth extension passes through the seat wire passage and the rotating shaft wire passage in sequence.

8. A dexterous hand, characterized in that, include: The palm includes a palm shell, a palm space is provided inside the palm shell, and a swing drive, a thumb drive module and a main control board are provided inside the palm space; The finger as described in any one of claims 1 to 7, wherein the finger is divided into four fingers and a thumb, the four fingers are connected to the palm via a four-finger mounting seat, the thumb is connected to the palm via a thumb mounting seat, the four-finger mounting seat rotates about a second axis under the drive of the swing drive member, and the thumb mounting seat rotates about a third axis under the drive of the thumb drive module. The conductive wire harness has a third extension segment extending from the top wire passage of the four-finger mounting base and then bending into a fourth extension segment. The fourth extension segment is coaxial with the second axis, or intersects the second axis with the intersection point located at the end of the fourth extension segment. The fourth extension segment passes through the four-finger mounting base and extends into the palm space to electrically connect to the main control board. The conductive wire harness has a third extension segment extending from the top wire passage of the thumb mounting base and then bending into a fifth extension segment coaxial with the third axis. The fifth extension segment passes through the thumb mounting base and extends into the palm space to electrically connect to the main control board.

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