Dexterous hand finger structure and dexterous hand

Abstract

The application discloses a dexterous hand finger structure and a dexterous hand, wherein the dexterous hand finger structure comprises a base, a proximal phalanx, a middle phalanx, a distal phalanx, a first driving assembly and a second driving assembly. The proximal phalanx is hinged to the base through a first joint shaft, and the middle phalanx and the distal phalanx are sequentially hinged. The first driving assembly drives the proximal phalanx to bend through a first tendon. The second driving assembly drives the middle phalanx and the distal phalanx to bend through a second tendon. The first joint shaft is fixed to the base, and a side wall of the first joint shaft is provided with a through hole. The transmission path of the second tendon is configured as follows: the second tendon is led out from a second driver, sequentially passes through the through hole on the base and the first joint shaft, and is fixed to the distal phalanx after passing around the second joint shaft and the third joint shaft. The design makes the tendon path for driving the middle phalanx and the distal phalanx pass through the fixed joint shaft center, effectively blocks the path length interference of the tendon for the middle phalanx and the distal phalanx caused by the movement of the proximal phalanx, realizes the complete decoupling and independent precise control of the movement of each joint, and is simple and reliable in structure and suitable for precise operation scenes.

Description

Technical Field

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

[0002] Cone actuation is widely used in dexterity hand design due to its compact structure, light weight, and ease of remote actuation. However, in existing chord actuation schemes, the chords used to drive the mid- and distal phalanges often pass through moving parts that rotate with the proximal phalanx. When the proximal phalanx bends independently, it alters the path length and tension of the chord, causing unintended passive movements in the mid- and distal phalanges, a phenomenon known as "coupling interference." This interference prevents independent and precise control of the joints, making it difficult to meet the high stability and accuracy requirements of precision assembly and delicate operations. Existing decoupling solutions using complex mechanisms or additional actuators often result in bulky structures and high costs. Summary of the Invention

[0003] The purpose of this application is to provide a dexterous hand finger structure and a dexterous hand to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this application provides the following technical solution: In a first aspect, this application provides a dexterous hand finger structure, including a first base, a proximal phalanx, a middle phalanx, a distal phalanx, a first driving component, and a second driving component; The proximal phalanx is hinged to the first base via a first joint axis; The middle phalanx is hinged to the proximal phalanx via a second joint axis; The distal phalanx is hinged to the middle phalanx via a third joint axis; The first drive assembly includes a first driver and a first tendon cord, one end of which is connected to the first driver and the other end is fixedly connected to the proximal phalanx; The second drive assembly includes a second driver and a second tendon cord, one end of which is connected to the second driver and the other end is fixedly connected to the distal phalanx; The first joint shaft is fixedly connected to the first base, and a through hole is provided on the side wall of the first joint shaft; The transmission path of the second tendon cord is configured to extend from the second driver, pass through the first base and the through hole, and be fixed to the distal phalanx after passing around the second joint axis and the third joint axis.

[0005] Furthermore, the centerline of the through hole intersects perpendicularly with the axis of the first joint shaft.

[0006] Furthermore, the transmission path of the first tendon cord is configured such that it is led out from the first driver, passes through the first base, and is fixed to the proximal phalanx.

[0007] Furthermore, the first base is provided with a fixed guide structure for guiding the first tendon cord, and the first tendon cord is connected to the proximal phalanx after changing direction through the fixed guide structure.

[0008] Furthermore, at least one freely rotatable guide is provided on the transmission path of both the first and second tendon cords to reduce sliding friction during tendon cord transmission. The guide is a guide pin mounted via a bearing.

[0009] Furthermore, both the first driver and the second driver include a drive motor and a transmission mechanism that converts the rotational motion of the motor into linear motion.

[0010] Furthermore, the transmission mechanism is a ball screw assembly, which includes a screw and a nut. The screw is connected to the output shaft of the drive motor, and the corresponding end of the first or second tendon rope is connected to the nut.

[0011] Furthermore, both ends of the lead screw are provided with limiting blocks.

[0012] Secondly, this application provides a dexterous hand, including a second base, a third base, a third drive component, and the aforementioned dexterous hand finger structure; The first base has a first rotating shaft and a second rotating shaft on its two sides, respectively. The second base is sleeved on the outer periphery of the first rotating shaft, and the third base is sleeved on the outer periphery of the second rotating shaft; The output end of the third drive component is connected to the first rotating shaft or the second rotating shaft to drive the first base to rotate relative to the second base and the third base.

[0013] Furthermore, the third drive assembly includes a third driver, a drive wheel, a driven wheel, and a belt; The drive wheel is connected to the output shaft of the third driver; The driven wheel is fixed coaxially with the first or second rotating shaft; The belt tensioning sleeve is installed on the driving pulley and the driven pulley.

[0014] The technical solutions provided in this application have the following advantages compared with the prior art: The dexterous hand finger structure provided in this application includes a first base, a proximal phalanx, a middle phalanx, a distal phalanx, a first drive assembly, and a second drive assembly. The proximal phalanx is hinged to the first base via a first joint axis, the middle phalanx is hinged to the proximal phalanx via a second joint axis, and the distal phalanx is hinged to the middle phalanx via a third joint axis. One end of the first tendon cord of the first drive assembly is connected to the first actuator, and the other end is fixed to the proximal phalanx. The first actuator pulls the first tendon cord to achieve actions such as bending of the proximal phalanx. One end of the second tendon cord of the second drive assembly is connected to the second actuator, and the other end is fixed to the distal phalanx. The second tendon cord extends from the second actuator, passes through a through hole in the side wall of the base and the first joint axis, bypasses the second joint axis and the third joint axis, and is fixed to the distal phalanx. The second actuator pulls the second tendon cord to achieve actions such as bending of the middle and distal phalanxes. The path of the second tendon cord does not pass through the moving parts that rotate with the proximal phalanx, avoiding coupling interference.

[0015] This design solves the problem in existing chord drive schemes where the chord path driving the middle and distal phalanges passes through a moving part that rotates with the proximal phalanx, causing unexpected passive movement (coupling interference) in the middle and distal phalanges when the proximal phalanx bends alone. This design allows each joint to be controlled independently and precisely, meeting the high requirements for stability and accuracy in scenarios such as precision assembly and delicate operation. At the same time, the structure is relatively simple, avoiding the problems of structural bulkiness and high cost caused by decoupling through complex mechanisms or adding actuators. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0019] Figure 1 This is a schematic diagram of the structure of a dexterous hand provided in an embodiment of this application.

[0020] Figure 2 This is a schematic diagram of the assembly of the proximal phalanx, middle phalanx, and distal phalanx provided in an embodiment of this application.

[0021] Figure 3for Figure 2 An enlarged schematic diagram of the structure of A in the diagram.

[0022] Figure 4 A schematic diagram showing the direction of the first and second tendon cords provided in the embodiments of this application.

[0023] Figure 5 This is a schematic diagram of the assembly of the third drive component and the second rotating shaft provided in an embodiment of this application.

[0024] Explanation of reference numerals in the attached figures: 100. Dexterous hand finger structure; 200. Dexterous hand; 1. First base; 101. Fixed guide structure; 102. First rotating shaft; 103. Second rotating shaft; 2. Proximal phalanx; 3. Middle phalanx; 4. Distal phalanx; 5. First drive assembly; 51. First driver; 511. Drive motor; 512. Lead screw; 513. Nut; 514. Limiting block; 515. Coupling; 52. First tendon rope; 6. Second drive assembly; 61. Second actuator; 62. Second tendon ligament; 7. First joint shaft; 71. Through hole; 8. Second joint axis; 9. Third joint axis; 10. First guide member; 11. Second guide member; 12. Elastic element; 13. Second base; 14. Third base; 15. Third drive assembly; 151. Third driver; 152. Drive wheel; 153. Driven wheel; 154. Belt; 155. Motor bracket. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0027] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0028] In existing tendon cord transmission schemes, the tendon cord path driving the middle and distal phalanges often passes through a moving part that rotates with the proximal phalanx. When the proximal phalanx bends alone, it will change the path length and tension of the tendon cord, causing unintended passive movement (coupling interference) in the middle and distal phalanges. In this structure, the second tendon cord 62 passes through the through hole 71 of the first joint shaft 7 fixed on the first base 1. Its transmission path does not pass through the moving part that rotates with the proximal phalanx 2, effectively avoiding this coupling interference. This allows each joint to be controlled independently and precisely, improving the accuracy and stability of finger movement.

[0029] For details, please refer to Figures 1 to 5 This application provides a dexterous hand finger structure 100, including a first base 1, a proximal phalanx 2, a middle phalanx 3, a distal phalanx 4, a first drive assembly 5, and a second drive assembly 6. The proximal phalanx 2 is hinged to the first base 1 via a first joint axis 7; the middle phalanx 3 is hinged to the proximal phalanx 2 via a second joint axis 8; and the distal phalanx 4 is hinged to the middle phalanx 3 via a third joint axis 9. It can be understood that this dexterous hand finger structure uses the first base 1 as a supporting foundation, with the proximal phalanx 2, middle phalanx 3, and distal phalanx 4 sequentially hinged via the first joint axis 7, the second joint axis 8, and the third joint axis 9, forming a joint connection similar to that of a human finger, enabling the finger to possess a basic framework for bending and extending movements.

[0030] The first drive assembly 5 includes a first actuator 51 and a first tendon cord 52. One end of the first tendon cord 52 is connected to the first actuator 51, and the other end is fixedly connected to the proximal phalanx 2. Specifically, the transmission path of the first tendon cord 52 is configured as follows: it is led out from the first actuator 51, passes through the first base 1, and is fixed to the proximal phalanx 2. Specifically, one end of the first tendon cord 52 is connected to the nut 513 of the first actuator 51, then passes through the guide channel provided inside the first base 1, and is finally fixed to a preset fixing point on the proximal phalanx 2. After the first actuator 51 is activated, it applies tension to the first tendon cord 52. Since one end of the first tendon cord 52 is connected to the first actuator 51 and the other end is fixedly connected to the proximal phalanx 2, under the action of tension, the proximal phalanx 2 will rotate relative to the first base 1 around the first joint axis 7, realizing the bending or extension movement of the proximal phalanx 2. Its rotation angle and speed depend on the magnitude and rate of change of the tension of the first actuator 51 on the first tendon cord 52.

[0031] The second drive assembly 6 includes a second driver 61 and a second tendon cord 62, one end of which is connected to the second driver 61 and the other end is fixedly connected to the distal phalanx 4.

[0032] The first joint shaft 7 is fixedly connected to the first base 1, and a through hole 71 is provided on the side wall of the first joint shaft 7.

[0033] The transmission path of the second tendon 62 is configured such that it is led out from the second driver 61, passes through the first base 1 and the through hole 71, and is fixed to the distal phalanx 4 after passing around the second joint axis 8 and the third joint axis 9.

[0034] When the second actuator 61 is activated, it pulls the second tendon cord 62. The second tendon cord 62 extends from the second actuator 61, passes sequentially through the through holes 71 on the sidewalls of the first base 1 and the first joint axis 7, then around the second joint axis 8 and the third joint axis 9, and finally is fixed to the distal phalanx 4. When the second actuator 61 pulls the second tendon cord 62, the second tendon cord 62 exerts a tension force on the distal phalanx 4, causing the distal phalanx 4 to rotate relative to the middle phalanx 3 around the third joint axis 9. Simultaneously, because the second tendon cord 62 passes around the second joint axis, the tension of the second tendon cord 62 is transmitted to the second joint axis 8 through friction or geometric constraints, thereby driving the middle phalanx 3 to rotate synchronously relative to the proximal phalanx 2 around the second joint axis 8. Thus, the second tendon cord 62 achieves coupled driving of the middle phalanx 3 and the distal phalanx 4, causing them to bend collaboratively under the action of the second actuator 61. This transmission path design avoids the second tendon rope 62 passing through the moving parts that rotate with the proximal phalanx 2, thereby reducing coupling interference; at the same time, by having the second tendon rope 62 pass around the second joint axis 8 and the third joint axis 9 in sequence, direct linkage between the middle phalanx 3 and the distal phalanx 4 is achieved, ensuring the coordination and consistency of the movement of the middle and distal phalanges.

[0035] like Figure 3As shown, in a preferred embodiment, the centerline of the through hole 71 intersects perpendicularly with the axis of the first joint shaft 7. Specifically, after the second tendon cord 62 is led out from the second actuator 61, it passes through the through hole 71 perpendicular to the axis of the first joint shaft 7. This design makes the path of the second tendon cord 62 smoother when passing through the first joint shaft 7. At the same time, the perpendicularly intersecting through hole 71 ensures that the second tendon cord 62 will not generate additional bending or twisting during the passage, reducing the friction between the second tendon cord 62 and the wall of the through hole 71, reducing energy loss, and improving the transmission efficiency of the second tendon cord 62. In addition, the design of the perpendicularly intersecting through hole 71 helps to ensure that the stability of the transmission path of the second tendon cord 62 is not affected by the rotation of the proximal phalanx 2 when pulling the distal phalanx 4. Because the vertical design of the through hole 71 makes the position of the second tendon cord 62 relatively fixed when passing through the first joint shaft 7, it will not change the initial transmission direction of the second tendon cord 62 due to the rotation of the proximal phalanx 2, thereby ensuring the coordination and independence of the joint movements.

[0036] In addition, at least one freely rotatable guide is provided on the transmission path of the first tendon rope 52 and the second tendon rope 62 to reduce sliding friction during tendon rope transmission.

[0037] In a preferred embodiment, the guide is typically a guide pin mounted via a bearing. When the first tendon cord 52 and the second tendon cord 62 wrap around and contact the guide pin during transmission, the guide pin can rotate freely under the drive of the tendon cord friction, converting the sliding friction between the tendon cord and the fixed structure into rolling friction with less resistance between the tendon cord and the rotatable pin. The coefficient of rolling friction is much lower than that of sliding friction, thereby significantly reducing the overall resistance of the transmission system. This allows the first actuator 51 and the second actuator 61 to control the tendon cord with less output torque and lower energy consumption, improving overall transmission efficiency.

[0038] Meanwhile, the guide design ensures more even force distribution on the first tendon cord 52 and the second tendon cord 62 during transmission. Without the guide, the first tendon cord 52 and the second tendon cord 62 might experience excessive tension in certain areas, leading to increased localized wear or unstable transmission. The guide distributes the tension of the first tendon cord 52 and the second tendon cord 62 over a larger contact area, reducing localized stress concentration and ensuring the smoothness and consistency of transmission between the first tendon cord 52 and the second tendon cord 62. This allows the finger joints to move accurately in the intended manner.

[0039] Specifically, such as Figure 4 As shown, in a preferred embodiment, two first guide members 10 are provided in the first base 1 along the transmission path of the first tendon 52. At least one second guide member 11 is provided in the first base 1, the proximal phalanx 2, and the middle phalanx along the transmission path of the second tendon 62.

[0040] Furthermore, the first base 1 is provided with a fixed guide structure 101 for guiding the first tendon cord 52. After the first tendon cord 52 changes direction through the fixed guide structure 101, it connects to the proximal phalanx 2. In one embodiment, the fixed guide structure 101 forms a smooth and stable guide surface away from the through hole 71, reducing the frictional resistance of the first tendon cord 52 during the direction change process. At the same time, the fixed guide structure 101 always confines the first tendon cord 52 to a predetermined path, preventing the first tendon cord 52 from deviating and tangling, ensuring the stability and reliability of finger movement, and reducing the probability of failure.

[0041] Please continue to refer to this. Figure 4 The first driver 51 and the second driver 61 of this application both include a drive motor 511 and a transmission mechanism that converts the rotational motion of the motor into linear motion.

[0042] In a preferred embodiment, taking the lead screw and nut mechanism as an example, the transmission mechanism is a ball screw pair, which includes a lead screw 512 and a nut 513. The lead screw 512 is connected to the output shaft of the drive motor 511, and the corresponding end of the first tendon rope 52 or the second tendon rope 62 is connected to the nut 513.

[0043] As a specific implementation, the lead screw 512 and the output shaft of the drive motor 511 can be connected by a coupling 515.

[0044] As another preferred embodiment, the lead screw 512 can be directly set as part of the output shaft of the drive motor 511, that is, the motor output shaft itself is the lead screw 512.

[0045] When the drive motor 511 starts, its output shaft begins to rotate, driving the lead screw 512, which is fixedly connected to it, to rotate synchronously. Since the nut 513 and the lead screw 512 form a rolling friction pair through balls, and the nut 513 is limited in the circumferential direction (such as by guide grooves or cooperation with other parts of the finger structure, so that it can only move axially and cannot rotate with the lead screw), when the lead screw 512 rotates, the nut 513 will move linearly along the axial direction of the lead screw 512.

[0046] During its linear motion, nut 513 drives the end of the first tendon cord 52 or the second tendon cord 62 connected to it to move together. The other end of the tendon cord is connected to the finger joint. When the tendon cord is pulled by nut 513, a tension is generated. This tension is transmitted to the finger joint through the tendon cord, driving the finger to perform actions such as bending or extending. For example, when nut 513 moves towards the drive motor 511, it pulls the tendon cord, causing the finger joint to bend; conversely, when nut 513 moves away from the drive motor 511, the tendon cord relaxes, and the finger joint extends under the action of elastic element 12 or other reset mechanism (in this application, the first joint shaft 7, the second joint shaft 8, and the third joint shaft 9 are all fitted with elastic element 12, and each elastic element acts on the finger joint connected to the corresponding joint shaft).

[0047] It should be noted that the rolling motion of the balls makes the movement between the lead screw 512 and the nut 513 very smooth, with almost no crawling. When the speed of the drive motor 511 changes or the load changes, the ball screw pair can respond quickly and maintain stable transmission, making finger movement smoother, avoiding vibration and impact caused by unstable movement, and improving the stability and reliability of finger operation.

[0048] In addition, limit blocks 514 are provided at both ends of the lead screw 512. The limit blocks 514 can be mechanical stops, inductive limiters, or integrally formed boss structures. When the nut 513 moves to either end of the lead screw 512, the limit blocks 514 will physically block it, limiting the movement range of the nut 513 within the designed stroke and preventing it from overtraveling.

[0049] This application also provides a dexterous hand 200; for details, please refer to [reference needed]. Figure 1 It includes a second base 13, a third base 14, a third drive assembly 15, and the aforementioned dexterous hand finger structure 100. A first rotating shaft 102 and a second rotating shaft 103 are respectively provided on both sides of the first base 1. The second base 13 is sleeved on the outer periphery of the first rotating shaft 102, and the third base 14 is sleeved on the outer periphery of the second rotating shaft 103. The output end of the third drive assembly 15 is connected to either the first rotating shaft 102 or the second rotating shaft 103 to drive the first base 1 to rotate relative to the second base 13 and the third base 14.

[0050] In a preferred embodiment of this application, the output end of the third drive component 15 is connected to the second rotating shaft 103. When the third drive component 15 is working, its power is directly transmitted to the second rotating shaft 103, driving the first base 1 to rotate around the common axis of the first rotating shaft 102 and the second rotating shaft 103, thereby realizing the lateral swing of the dexterous hand (i.e., palm-against / abduction movement).

[0051] The third drive assembly 15 can employ a compact and efficient belt drive system. For details, please refer to [link / reference needed]. Figure 1 The third drive assembly 15 includes a third driver 151 (such as a motor), a drive pulley 152, a driven pulley 153, and a belt 154. The third driver 151 is fixed to the motor bracket 155, and the drive pulley 152 is connected to the output shaft of the third driver 151. The driven pulley 153 is coaxially fixed to either the first shaft 102 or the second shaft 103 (in this application, the driven pulley 153 is fixedly sleeved on the outer circumference of the driven second shaft 103). The belt 154 is tensioned and sleeved on the drive pulley 152 and the driven pulley 153, transmitting the rotational motion of the third driver 151 to the second shaft 103. This transmission method has the advantages of low noise, shock absorption, and flexible arrangement, making it suitable for use inside a space-constrained dexterity hand.

[0052] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

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

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

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

[0056] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0057] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0058] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0059] The above description describes specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A dexterous hand finger structure, characterized in that, It includes a first base, a proximal phalanx, a middle phalanx, a distal phalanx, a first drive assembly, and a second drive assembly; The proximal phalanx is hinged to the first base via a first joint axis; The middle phalanx is hinged to the proximal phalanx via a second joint axis; The distal phalanx is hinged to the middle phalanx via a third joint axis; The first drive assembly includes a first driver and a first tendon cord, one end of which is connected to the first driver and the other end is fixedly connected to the proximal phalanx; The second drive assembly includes a second driver and a second tendon cord, one end of which is connected to the second driver and the other end is fixedly connected to the distal phalanx; The first joint shaft is fixedly connected to the first base, and a through hole is provided on the side wall of the first joint shaft; The transmission path of the second tendon cord is configured such that it is led out from the second driver, passes through the first base and the through hole, and is fixed to the distal phalanx after passing around the second joint axis and the third joint axis.

2. The dexterous hand finger structure according to claim 1, characterized in that, The centerline of the through hole intersects perpendicularly with the axis of the first joint shaft.

3. The dexterous hand finger structure according to claim 1, characterized in that, The transmission path of the first tendon cord is configured such that it is led out from the first driver, passes through the first base, and is fixed to the proximal phalanx.

4. The dexterous hand finger structure according to claim 3, characterized in that, The first base is provided with a fixed guide structure for guiding the first tendon cord, and the first tendon cord is connected to the proximal phalanx after changing direction through the fixed guide structure.

5. The dexterous hand finger structure according to claim 3, characterized in that, At least one freely rotatable guide is provided on the transmission path of both the first and second tendon cords to reduce sliding friction during tendon cord transmission. The guide is a guide pin mounted via a bearing.

6. The dexterous hand finger structure according to claim 1, characterized in that, Both the first driver and the second driver include a drive motor and a transmission mechanism that converts the rotational motion of the motor into linear motion.

7. The dexterous hand finger structure according to claim 6, characterized in that, The transmission mechanism is a ball screw assembly, which includes a screw and a nut. The screw is connected to the output shaft of the drive motor, and the corresponding end of the first or second tendon is connected to the nut.

8. The dexterous hand finger structure according to claim 7, characterized in that, Both ends of the lead screw are equipped with limit blocks.

9. A dexterous hand, characterized in that, Includes a second base, a third base, a third drive assembly, and a dexterous hand finger structure as described in any one of claims 1 to 8; The first base has a first rotating shaft and a second rotating shaft on its two sides, respectively. The second base is sleeved on the outer periphery of the first rotating shaft, and the third base is sleeved on the outer periphery of the second rotating shaft; The output end of the third drive component is connected to the first rotating shaft or the second rotating shaft to drive the first base to rotate relative to the second base and the third base.

10. The dexterous hand according to claim 9, characterized in that, The third drive assembly includes a third drive unit, a drive wheel, a driven wheel, and a belt; The drive wheel is connected to the output shaft of the third driver; The driven wheel is fixed coaxially with the first or second rotating shaft; The belt tensioning sleeve is installed on the driving pulley and the driven pulley.

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