Joint mechanism, dexterous hand finger, dexterous hand, and robot

Abstract

The application discloses a base joint mechanism, a dexterous hand finger, a dexterous hand and a robot, and relates to the technical field of dexterous hands. The base joint mechanism comprises two base joint driving structures, two base joint gear reversing structures, and a base joint gear differential structure. The input end of each base joint gear reversing structure is connected with the output end of the corresponding base joint driving structure. The base joint gear differential structure has two input ends, and the output end of each base joint gear reversing structure is connected with the input end of the corresponding base joint gear differential structure. The input ends of the base joint driving structure, the base joint gear reversing structure and the base joint differential structure are arranged in one-to-one correspondence. The technical scheme of the application reduces the volume of the dexterous hand.

Description

Technical Field

[0001] This invention relates to the field of dexterous hand technology, and more particularly to a basic joint mechanism, dexterous hand fingers, dexterous hand, and robot. Background Technology

[0002] With the continuous development of robotics technology, dexterous hands, as key actuators for human-computer interaction and precision operations, are widely used in service robots, industrial assembly, medical assistance, and special operations. Dexterous hands typically mimic the movement characteristics of human fingers, using multiple joints to achieve complex movements such as grasping, pinching, and rotating. Among these, the base joint is the crucial part connecting the fingers to the palm, bearing the important function of enabling the fingers to perform pitching, flexion, extension, and yaw movements relative to the palm.

[0003] Currently, the common driving method for the base joints of dexterous hands mainly involves using synchronous belt drive mechanisms or linear drive mechanisms to transmit the power of the motor to a differential mechanism, which then enables movement in two degrees of freedom. This requires reserving space for the linear motion of the synchronous belt or linear drive mechanism, increasing the overall size of the base joint and failing to meet the design requirements for miniaturization of the base joints in dexterous hands. Summary of the Invention

[0004] The main objective of this invention is to provide a basic joint mechanism, dexterous hand fingers, dexterous hand, and robot, aiming to solve at least one of the aforementioned technical problems.

[0005] To achieve the above objectives, embodiments of the present invention provide a base joint mechanism, the base joint mechanism comprising: Two base joint drive structures; Two base joint gear reversing structures are provided, with the input end of each base joint gear reversing structure connected to the output end of the corresponding base joint drive structure. A base joint gear differential structure has two input terminals. The output terminal of each base joint gear reversing structure is connected to the input terminal of the corresponding base joint gear differential structure. The input terminals of the base joint drive structure, the base joint gear reversing structure, and the base joint differential structure are configured in a one-to-one correspondence.

[0006] In one embodiment, the base joint mechanism further includes two sets of base joint gear transmission assemblies. Each base joint gear transmission assembly is connected to the output end of the corresponding base joint gear reversing structure and the input end of the corresponding base joint differential structure. The base joint gear transmission assembly, the base joint gear reversing structure, and the input end of the base joint gear differential structure are arranged in a one-to-one correspondence.

[0007] In one embodiment, the base joint gear reversing structure includes a first bevel gear and a second bevel gear, wherein the first bevel gear is coaxially connected to the base joint drive structure, and the second bevel gear meshes with the first bevel gear.

[0008] In one embodiment, the base joint gear reversing structure further includes a first rotating shaft that is rotatably disposed, and the second bevel gear is disposed at one end of the first rotating shaft. The base joint mechanism further includes a first angle measuring structure, which is disposed at the end of the first rotating shaft away from the second bevel gear.

[0009] In one embodiment, the first angle measuring structure includes a first magnetic element and a first magnetic encoder disposed opposite to each other. The first magnetic element is disposed at the end of the first rotating shaft away from the second bevel gear, and the first magnetic encoder is disposed on the extension line of the axis of the first rotating shaft.

[0010] In one embodiment, the base joint gear transmission assembly includes a first transmission wheel, a second transmission wheel, and a third transmission wheel. The first transmission wheel is coaxially arranged with the second bevel gear, the third transmission wheel is located at the input end of the base joint differential structure, and the second transmission wheel is located between the first transmission wheel and the third transmission wheel. Both the first transmission wheel and the third transmission wheel mesh with the second transmission wheel.

[0011] In one embodiment, the base joint mechanism further includes a second rotating shaft, which connects two second transmission wheels. The two second transmission wheels are disposed opposite to each other at both ends of the second rotating shaft, and both second rotating wheels are rotatably connected to the second rotating shaft.

[0012] In one embodiment, the base joint gear differential structure includes an elastic body, a third rotating shaft, and four third bevel gears arranged in a cross shape. The four third bevel gears mesh sequentially. Two of the third bevel gears are arranged opposite each other at both ends of the third rotating shaft, forming the input end of the base joint differential structure. Both of the third bevel gears are rotatably connected to the third rotating shaft. The other two third bevel gears are arranged opposite each other on both sides of the elastic body. The third transmission wheel is coaxially arranged with one of the third bevel gears on the third rotating shaft.

[0013] In one embodiment, the second bevel gear and the first transmission wheel form a first double gear, and the two third bevel gears disposed on the third rotating shaft respectively form a second double gear with the corresponding third transmission wheel.

[0014] In one embodiment, the two base joint drive structures are arranged side by side, and the center plane of the two base joint drive structures in the side-by-side direction is a first plane A. The line connecting the input ends of the two base joint differential structures is offset toward the palm side of the base joint mechanism facing the first plane A.

[0015] In one embodiment, the base joint mechanism further includes a base joint housing, the base joint drive structure and the base joint gear reversing structure are disposed inside the base joint housing, and the base joint gear differential structure is rotatably disposed inside the base joint housing.

[0016] To achieve the above objectives, embodiments of the present invention provide a dexterous hand finger, which includes a finger joint mechanism and the aforementioned base joint mechanism.

[0017] In one embodiment, the knuckle mechanism includes: The proximal phalanx is connected to the base joint gear differential structure. The knuckle input shaft is rotatably located inside the proximal phalanx; A transmission handle, which is connected to the input shaft of the finger joint; The middle finger joint has one end of the transmission handle extending into and connected to the middle finger joint. The distal phalanx, rotatably disposed on the side of the middle phalanx facing away from the proximal phalanx; and A knuckle drive gear assembly, wherein the knuckle drive gear assembly drives the knuckle input shaft and the distal knuckle.

[0018] In one embodiment, the knuckle drive gear assembly includes a knuckle drive wheel, a knuckle drive wheel assembly, and an output handle. The knuckle drive wheel is sleeved on the end of the knuckle input shaft and meshes with the knuckle drive wheel assembly. One end of the output handle is connected to the distal knuckle, and the other end of the output handle is connected to the knuckle drive wheel assembly.

[0019] In one embodiment, the knuckle drive wheel assembly includes at least three knuckle drive wheels, which are sequentially engaged. One of the knuckle drive wheels, located closer to the knuckle drive wheel, is engaged with the knuckle drive wheel, while the other knuckle drive wheel, located further away from the knuckle drive wheel, is connected to the output handle.

[0020] In one embodiment, the outer periphery of the knuckle drive wheel has a toothed area and a non-toothed area, and one of the knuckle transmission wheels near the knuckle drive wheel engages with the toothed area of ​​the knuckle drive wheel.

[0021] In one embodiment, the toothed area is less than or equal to half the outer periphery of the knuckle drive wheel.

[0022] In one embodiment, the knuckle mechanism further includes a second angle measuring structure, which is disposed at one end of the knuckle input shaft.

[0023] In one embodiment, the second angle measuring structure includes a second magnetic element and a second magnetic encoder. The second magnetic element is disposed on the knuckle input shaft and is disposed opposite to the second magnetic encoder, which is disposed on the proximal knuckle.

[0024] In one embodiment, the knuckle mechanism further includes a knuckle drive structure and a knuckle gear reversing structure connected to the knuckle drive structure, the knuckle gear reversing structure being connected to the knuckle input shaft.

[0025] In one embodiment, the knuckle gear reversing structure includes a first reversing bevel gear and a second reversing bevel gear. The first reversing bevel gear is connected to the knuckle drive structure, the second reversing bevel gear meshes with the first reversing bevel gear, and the second reversing bevel gear is coaxially connected to the knuckle input shaft.

[0026] To achieve the above objectives, embodiments of the present invention provide a dexterous hand, which includes the dexterous hand fingers described above.

[0027] To achieve the above objectives, embodiments of the present invention propose a robot, which includes the dexterous hand described above.

[0028] The technical solution of this application integrates the input ends of the base joint drive structure, the base joint gear reversing structure, and the base joint gear differential structure in a one-to-one correspondence. Power from the base joint drive structure is transmitted to the base joint gear differential structure via gear meshing. This eliminates the need for a tensioner required by the synchronous belt, and eliminates the need to reserve space for the linear travel of the synchronous belt or linear transmission mechanism, reducing the size of the base joint and making the overall structure more compact, which is beneficial for miniaturizing the design of dexterous hands. Furthermore, the gear meshing transmission method reduces or avoids the introduction of nonlinear problems, facilitates the establishment of a deterministic mapping relationship between the motor input and the base joint output, provides high torque transparency, simplifies the control model, and makes deployment easier. In addition, the gear meshing transmission uses fewer parts and has simpler assembly relationships, reducing assembly difficulty, improving long-term reliability, and reducing maintenance costs. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of an embodiment of the dexterous hand of the present invention; Figure 2 This is a schematic diagram of the structure of an embodiment of the base joint mechanism of the present invention. Figure 1 ; Figure 3 This is a schematic diagram of the structure of an embodiment of the base joint mechanism of the present invention. Figure 2 ; Figure 4 This is a schematic diagram of the base joint gear differential structure in an embodiment of the base joint mechanism of the present invention; Figure 5 This is a schematic diagram of the base joint gear reversing structure in an embodiment of the base joint mechanism of the present invention; Figure 6 This is an exploded structural diagram of the base joint gear reversing structure in an embodiment of the base joint mechanism of the present invention; Figure 7 This is a schematic diagram showing the offset setting of the connection between the two input ends of the base joint gear differential structure in an embodiment of the base joint mechanism of the present invention; Figure 8 This is a schematic diagram of the structure of an embodiment of the finger joint mechanism of the present invention. Figure 1 ; Figure 9 This is a schematic diagram of the structure of an embodiment of the finger joint mechanism of the present invention. Figure 2 ; Figure 10 This is a schematic diagram of the structure of an embodiment of the finger joint mechanism of the present invention. Figure 3 ; Figure 11 This is an exploded structural diagram of an embodiment of the dexterous hand of the present invention; Figure 12 This is a partial structural schematic diagram of an embodiment of the finger joint mechanism of the present invention; Figure 13 This is a schematic diagram of the structure of the finger joint drive wheel in an embodiment of the finger joint mechanism of the present invention; Figure 14 This is a schematic diagram of the output handle in an embodiment of the finger joint mechanism of the present invention.

[0031] Explanation of icon numbers: 100. Base joint mechanism; 110. Base joint drive structure; 120. Base joint gear reversing structure; 121. First bevel gear; 122. Second bevel gear; 123. First rotating shaft; 130. Base joint gear differential structure; 131. Elastomer; 132. Third bevel gear; 133. Third rotating shaft; 140. Base joint gear transmission assembly; 141. First transmission wheel; 142. Second transmission wheel; 143. Third transmission wheel; 144. Second rotating shaft; 150. Base joint housing; 160. First angle measuring structure; 161. First magnetic component; 162. First magnetic encoder; 200. Knuckle mechanism; 211. Proximal knuckle; 212. Middle knuckle; 2121. Slot; 213. Distal knuckle; 221. Knuckle input shaft; 222. Transmission handle; 230. Knuckle transmission gear assembly; 231. Knuckle drive wheel; 232. Knuckle transmission wheel set; 2321. Knuckle transmission wheel; 2322. Knuckle transmission shaft; 233. Output handle; 2331. Sleeve; 2332. Connecting part; 2333. Rod; 240. Knuckle drive structure; 250. Knuckle gear reversing structure; 251. First reversing bevel gear; 252. Second reversing bevel gear; 260. Rib; 270. Clearance recess; 280. Knuckle cover plate; 290. Second angle measuring structure; 291. Second magnetic component; 292. Second magnetic encoder; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the embodiments of the present invention.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0034] Furthermore, in the embodiments of this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of the embodiments of this invention, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0036] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the protection scope required by the embodiments of the present invention.

[0037] Currently, the common driving method for the base joints of dexterous hands mainly involves using synchronous belt drive mechanisms or linear drive mechanisms to transmit the power of the motor to a differential mechanism, which then enables movement in two degrees of freedom. This requires reserving space for the linear motion of the synchronous belt or linear drive mechanism, increasing the overall size of the base joint and failing to meet the design requirements for miniaturization of the base joints in dexterous hands.

[0038] In view of this, embodiments of the present invention provide a base joint mechanism, dexterous hand fingers, dexterous hand, and robot. By integrating the input ends of the base joint drive structure, base joint gear reversing structure, and base joint gear differential structure one-to-one, the power of the base joint drive structure is transmitted to the base joint gear differential structure by means of gear meshing. This eliminates the need for the tensioning pulley required by the synchronous belt, and there is no need to reserve space for the linear travel of the synchronous belt or linear transmission mechanism. This reduces the size of the base joint, and the overall structure is more compact, which is conducive to realizing the miniaturization design of the dexterous hand.

[0039] To better understand the above technical solution, the following detailed explanation is provided in conjunction with the accompanying drawings.

[0040] like Figure 1 and Figure 11As shown, this embodiment of the invention proposes a dexterous hand, which includes a shaped palm, a base joint mechanism 100, and finger joint mechanisms 200. The base joint mechanism 100 is disposed inside the shaped palm and is driven and connected to the finger joint mechanisms 200, enabling the finger joint mechanisms 200 to rotate relative to the shaped palm as a whole. It should be noted that the base joint mechanism 100 and the finger joint mechanisms 200 together form the fingers of the dexterous hand. In one embodiment, a dexterous hand includes five dexterous fingers.

[0041] In one embodiment, refer to Figure 2 and Figure 3 As shown, the base joint mechanism 100 includes: Optionally, both base joint drive structures 110 are used to provide the first rotational force. It is understood that the base joint drive structure 110 can be a rotary actuator such as a coreless motor, brushless DC motor, torque motor, brushed DC motor, or stepper motor. Two base joint gear reversing structures 120 are provided. The input end of each base joint gear reversing structure 120 is connected to the output end of the corresponding base joint drive structure 110. It is understood that the output end of the base joint drive structure 110 can provide power to the input end of the corresponding base joint gear reversing structure 120. Optionally, the base joint gear reversing structure 120 can convert a first rotational force into a second rotational force, the first and second rotational forces having different rotational directions. Specifically, the base joint gear reversing structure 120 can be used to change the rotational direction of the base joint drive structure 110 and transmit power.

[0042] The base joint gear differential structure 130 has two input ends. The output end of each base joint gear reversing structure 120 is connected to the corresponding input end of the base joint gear differential structure 130. The base joint drive structure 110, the base joint gear reversing structure 120, and the input ends are configured in a one-to-one correspondence. In other words, the base joint gear differential structure 130 has an output end and two input ends. Under the drive of the base joint gear reversing structure 120, the input ends of the two base joint gear differential structures 130 can move at the same speed and in the same direction or at the same speed and in opposite directions, thereby achieving two angles of movement at the output end, thus satisfying the pitch, flexion, extension, and yaw movements of the fingers relative to the palm. Specifically, the structural form and motion principle of the base joint gear differential structure 130 can refer to existing differential methods and will not be detailed further. In this embodiment, each base joint gear differential structure 130 has a corresponding base joint drive structure 110 and a base joint gear reversing structure 120 at its input end. That is, the base joint gear differential structure 130 is powered by two sets of base joint drive structures 110 and corresponding base joint reversing gears.

[0043] In this embodiment, the input ends of the base joint drive structure 110, the base joint gear reversing structure 120, and the base joint gear differential structure 130 are integrated one-to-one. Power is transmitted from the base joint drive structure 110 to the base joint gear differential structure 130 via gear meshing. This eliminates the need for a tensioner required by the synchronous belt, removes the need to reserve space for the linear travel of the synchronous belt or linear transmission mechanism, reduces the size of the base joint, and makes the overall structure more compact, which is beneficial for miniaturizing the dexterous hand design. Furthermore, the gear meshing transmission method reduces or avoids the introduction of nonlinear problems, facilitates the establishment of a deterministic mapping relationship between the motor input and the base joint output, provides high torque transparency, simplifies the control model, and makes deployment easier. In addition, the gear meshing transmission uses fewer parts and has simpler assembly relationships, reducing assembly difficulty, improving long-term reliability, and reducing maintenance costs.

[0044] In one embodiment of the present invention, reference is made to... Figure 2 The base joint mechanism 100 also includes two sets of base joint gear transmission assemblies 140. Each base joint gear transmission assembly 140 is connected to the output end of the corresponding base joint gear reversing structure 120 and the input end of the corresponding base joint gear differential structure 130. The base joint gear transmission assembly 140, the base joint gear reversing structure 120, and the base joint gear differential structure 130 are arranged in a one-to-one correspondence. Specifically, the base joint gear transmission assembly 140 can efficiently and directionally transmit the reversing rotational force to the input end of the corresponding base joint gear differential structure 130. Moreover, the two drive channels do not interfere with each other, which facilitates the standardized manufacturing of parts, simplifies the assembly and debugging process, and improves the efficiency of later maintenance. Optionally, the base joint gear transmission assembly 140 can be a rigid gear train or a shaft system, which can improve the transmission stiffness.

[0045] In one embodiment of the present invention, reference is made to... Figure 5 and Figure 6 The base joint gear reversing structure 120 includes a first bevel gear 121 and a second bevel gear 122. The first bevel gear 121 is coaxially connected to the base joint drive structure 110 and can rotate under the drive of the base joint drive structure 110. The second bevel gear 122 meshes with the first bevel gear 121. Specifically, the first bevel gear 121 rotates synchronously with the base joint drive structure 110 under its drive. Since the second bevel gear 122 meshes with the first bevel gear 121, the first bevel gear 121 drives the second bevel gear 122 to rotate. At the same time, the rotation axis of the first bevel gear 121 and the rotation axis of the second bevel gear 122 are perpendicular to each other, thereby changing the rotation direction of the output power of the base joint drive structure 110.

[0046] In one embodiment of the present invention, reference is made to... Figure 2 and Figure 3 The base joint gear reversing structure 120 also includes a first rotating shaft 123 rotatably mounted, with a second bevel gear 122 located at one end of the first rotating shaft 123. The base joint mechanism 100 also includes a first angle measuring structure 160, which is used to measure the rotation angle of the first rotating shaft 123. By configuring the first angle measuring structure 160 in conjunction with the angle measuring structure on the base joint drive structure 110, the control accuracy of the rotation angle of the base joint gear differential structure 130 can be improved. Optionally, the first angle measuring structure 160 can be a magnetic encoder, optical encoder, capacitive encoder, or other sensor type capable of detecting rotation angles; no limitation is made here. In one embodiment, the first angle measuring structure 160 is located at the end of the first rotating shaft 123 away from the second bevel gear 122, thus integrating the first angle measuring structure 160 onto the first rotating shaft 123 and reducing the overall size of the base joint.

[0047] In one embodiment of the present invention, reference is made to... Figure 6 The first angle measuring structure 160 includes a first magnetic element 161 and a first magnetic encoder 162 arranged opposite to each other. The first magnetic element 161 is disposed on the first rotating shaft 123 and is arranged opposite to the first magnetic encoder 162. It can be understood that in this embodiment, the first magnetic element 161 is disposed on the first rotating shaft 123, and the first magnetic encoder 162 is disposed opposite to it, forming a non-contact angle measurement method. This method can detect the rotation angle in real time and accurately, providing position feedback signals for pitch or yaw degrees of freedom. Moreover, in this embodiment, the first magnetic element 161 is directly integrated onto the first rotating shaft 123, reducing the cumulative error of the transmission chain, improving the control accuracy and response speed of the dexterous hand, and further reducing the overall size of the base joint.

[0048] In one embodiment of the present invention, a first magnetic component 161 is disposed at the end of the first rotating shaft 123 away from the second bevel gear 122, and a first magnetic encoder 162 is disposed on the extension line of the axis of the first rotating shaft 123. Thus, the first magnetic component 161 and the first magnetic encoder 162 are located away from the bevel gear meshing area, avoiding interference from metal debris or mechanical vibration generated in the gear meshing area, thereby improving the stability and anti-interference capability of the magnetic encoding signal. Furthermore, the first magnetic component 161 and the first encoder are axially aligned on the first rotating shaft 123, improving their concentricity and facilitating more accurate angle feedback. In addition, by utilizing the axial tail space of the first rotating shaft 123, the need for additional mounting bosses or brackets in the radial direction is avoided. Angle measurement functionality is integrated without increasing the radial profile of the base joint, making it particularly suitable for dexterity hand applications where the internal space of the palm is limited, further meeting the design requirements for product miniaturization.

[0049] In one embodiment of the present invention, reference is made to... Figure 2 , Figure 4 as well as Figure 5 The base joint gear transmission assembly 140 includes a first transmission wheel 141, a second transmission wheel 142, and a third transmission wheel 143. The first transmission wheel 141 is coaxially arranged with the second bevel gear 122. The third transmission wheel 143 is located at the input end of the base joint gear differential structure 130. The second transmission wheel 142 is located between the first transmission wheel 141 and the third transmission wheel 143, and both the first transmission wheel 141 and the third transmission wheel 143 mesh with the second transmission wheel 142. Specifically, driven by the second bevel gear 122, the first transmission wheel 141 and the second bevel gear 122 rotate synchronously. The second transmission wheel 142 rotates under the action of the first transmission wheel 141, and the third transmission wheel 143 rotates under the action of the second transmission wheel 142, thereby providing rotational power to the input end. By changing the rotational direction of the output power of the two sets of base joint drive structures 110, the two input ends can rotate in the same direction or in opposite directions, thereby realizing the movement of the base joint gear differential structure 130 at two angles. In this embodiment, the entire transmission path is a rigid gear meshing transmission, without intermediate transmission components that are easily deformed or worn, such as timing belts, chains, or flexible couplings. This improves the efficiency and precision of torque transmission, reduces the introduction of nonlinear problems, and facilitates the establishment of a deterministic mapping relationship between the input of the base joint drive structure 110 and the output of the base joint gear differential structure 130. It should be noted that in this embodiment, rotation in the same direction refers to both rotating clockwise or counterclockwise, while rotation in opposite directions refers to one rotating clockwise and the other counterclockwise.

[0050] In one embodiment of the present invention, the second bevel gear 122 and the first transmission wheel 141 form a first double gear. This embodiment integrates the second bevel gear 122 and the first transmission wheel 141 into a first double gear, eliminating the intermediate connecting component. This allows the two functional components to share a common axis of rotation on the same shaft segment, shortening the axial length of the transmission chain, reducing the space occupied by parts, and further compressing the overall volume of the base joint, which is beneficial for the miniaturization design of the dexterous hand. Furthermore, it eliminates the relative rotation and radial runout between the two, reducing cumulative errors. Optionally, the first double gear can be a double configuration of spur bevel gear and spur cylindrical gear, or a double configuration of helical bevel gear and spur cylindrical gear, or a double configuration of helical bevel gear and helical cylindrical gear; no limitation is made here.

[0051] In one embodiment of the present invention, reference is made to... Figure 2The base joint mechanism 100 also includes a second rotating shaft 144, with two second transmission wheels 142 positioned at both ends of the second rotating shaft 144, both rotatably connected to the second rotating shaft 144. Specifically, a single common second rotating shaft 144 simultaneously supports both second transmission wheels 142, and both second transmission wheels 142 are rotatably connected to the second rotating shaft 144. This eliminates the need for separate rotating shafts and bearing seats for each second transmission wheel 142, reducing the number of parts and the radial dimension, resulting in a more compact overall structure of the base joint, which is beneficial for integration into a small dexterous hand. Moreover, since both second transmission wheels 142 are mounted on the same second rotating shaft 144, during assembly, only the fitting accuracy between the second rotating shaft 144 and the housing, bearing holes, and other supporting components needs to be ensured to naturally guarantee the coaxiality between the two second transmission wheels 142. Simultaneously, it reduces accumulated assembly errors, resulting in smoother gear meshing and reduced transmission noise and vibration. In addition, the second shaft 144, as an independent support component, can be pre-assembled into a sub-module together with the two second transmission wheels 142, and then installed as a whole into the base joint housing 150, which simplifies the assembly process. Furthermore, when a transmission wheel is damaged, the second shaft 144 assembly can be removed as a whole for repair or replacement without having to disassemble the complex gear system one by one, thus improving maintainability.

[0052] In one embodiment of the present invention, reference is made to... Figure 4The base joint gear differential structure 130 includes an elastic body 131, a third rotating shaft 133, and four third bevel gears 132 whose rotation axes are arranged in a cross shape. The four third bevel gears 132 mesh sequentially. Two third bevel gears 132 are arranged opposite to each other at both ends of the third rotating shaft 133 and form the input end of the base joint gear differential structure 130. Both third bevel gears 132 are rotatably connected to the third rotating shaft 133. The other two third bevel gears 132 are arranged opposite to each other on both sides of the elastic body 131. The third transmission wheel 143 is coaxially arranged with one of the third bevel gears 132 on the third rotating shaft 133 to rotate synchronously. Specifically, the first and second third bevel gears 132 are arranged opposite to each other and rotatably mounted on the third shaft 133. This means the first and second third bevel gears 132 are located at opposite ends of the third shaft 133, while the third and fourth third bevel gears 132 are arranged opposite to each other on both sides of the elastic body 131 and are fixedly connected to it. When the first and second third bevel gears 132 rotate in the same direction, the elastic body 131 rotates around the axis of the third shaft 133; when the first and second third bevel gears 132 rotate in opposite directions, the elastic body 131 rotates around the axes of the third and fourth third bevel gears 132. In this embodiment, the two third bevel gears 132 at the input end are connected together by the third shaft 133, allowing them to share a single shaft for support. This eliminates the need for separate shafts and bearing seats, reducing the number of parts, minimizing the increase in radial dimensions, and making the overall structure of the base joint more compact.

[0053] In one embodiment of the present invention, two third bevel gears 132 disposed on the third rotating shaft 133 respectively form a second double gear with the corresponding third transmission wheel 143. This embodiment integrates the third bevel gears 132 and the third transmission wheel 143 into a second double gear, eliminating the intermediate connecting component. This allows the two functional components to share a common axis of rotation on the same shaft segment, reducing the space occupied by parts and further compressing the overall volume of the base joint, which is beneficial for the miniaturization design of the dexterous hand. Furthermore, it eliminates the relative rotation and radial runout between the two, reducing cumulative errors. Optionally, the second double gear can be a double configuration of spur bevel gear and spur cylindrical gear, or a double configuration of helical bevel gear and spur cylindrical gear, or a double configuration of helical bevel gear and helical cylindrical gear; no limitation is made here.

[0054] In one embodiment of the present invention, the two second bevel gears 122 are arranged in a centrally symmetrical manner. This facilitates the division of the base joint mechanism 100 into two identical functional modules, each of which includes a base joint drive structure 110, a base joint gear reversing structure 120, and a base joint gear transmission assembly 140, thereby achieving modular design and standardized production and improving maintenance convenience.

[0055] In one embodiment of the present invention, reference is made to... Figure 7 Two base joint drive structures 110 are arranged side by side, with their center planes in the side-by-side direction forming a first plane A. The line connecting the two input ends of the base joint gear differential structure 130 is offset towards the palm side of the base joint mechanism 100 on the first plane A. This allows the fingertips of the dexterous hand to better fit the lower part of the entire dexterous hand module and the palm surface of the dexterous hand, achieving a larger grasping envelope space with the same finger length. Optionally, the offset distance L can be 2 mm, 3 mm, 4 mm, etc., and is not limited here.

[0056] In one embodiment of the present invention, reference is made to... Figure 3 and Figure 7 The base joint mechanism 100 also includes a base joint housing 150, a base joint drive structure 110 and a base joint gear reversing structure 120 disposed inside the base joint housing 150, and a base joint gear differential structure 130 rotatably disposed inside the base joint housing 150. Specifically, the base joint housing 150 can partially or completely shield the various internal structures, improving external neatness and safety of use. In one embodiment, a first rotating shaft 123 is rotatably mounted in the base joint housing 150 via a bearing, and a first magnetic encoder 162 is embedded in the inner wall of the base joint housing 150. By embedding the first magnetic encoder 162 in the inner wall of the base joint housing 150, the space of the base joint housing 150 is fully utilized, further reducing the size of the base joint, making the overall structure more compact, and supporting the miniaturized design of the dexterous hand.

[0057] To achieve the above objectives, embodiments of the present invention propose a dexterous hand finger, referring to... Figure 1 The dexterous hand finger includes a finger joint mechanism 200 and a base joint mechanism 100. Specifically, the specific structure of the base joint mechanism 100 is as described in the above embodiments. Since this dexterous hand finger adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. Specifically, the elastic body 131 in the base joint mechanism 100 is fixedly connected to the finger joint mechanism 200, driving the finger joint mechanism 200 to achieve movement at two angles.

[0058] In one embodiment of the present invention, reference is made to... Figure 8 and Figure 9The knuckle mechanism 200 includes: The proximal phalanx 211 is connected to the base joint gear differential structure 130, which can drive the proximal phalanx 211 to rotate. The knuckle input shaft 221 is rotatably located inside the proximal knuckle 211; The transmission handle 222 is connected to the knuckle input shaft 221 and can rotate under the drive of the knuckle input shaft 221. The middle finger joint 212, one end of the transmission handle 222 extends into the interior of the middle finger joint 212 and is connected to the middle finger joint 212. It can be understood that the transmission handle 222 can drive the middle finger joint 212 to rotate synchronously with the input shaft. The distal phalanx 213 is rotatably disposed on the side of the middle phalanx 212 facing away from the proximal phalanx 211; and The knuckle transmission gear assembly 230 is a transmission connection between the knuckle input shaft 221 and the distal knuckle 213.

[0059] Specifically, the proximal phalanx 211 rotates under the drive of the base joint gear differential structure 130. When the phalanx input shaft 221 rotates under the action of rotational force, on the one hand, the transmission handle 222 rotates synchronously with the phalanx input shaft 221. Since the end of the transmission handle 222 away from the phalanx input shaft 221 is fixedly connected to the middle phalanx 212, it can drive the middle phalanx 212 to rotate synchronously. On the other hand, the phalanx transmission gear assembly 230 can transmit the rotational power of the phalanx input shaft 221 to the distal phalanx 213, thereby driving the distal phalanx 213 to rotate synchronously. It is understood that, through the coordinated operation of the transmission handle 222 and the knuckle transmission gear assembly 230, this embodiment can simultaneously achieve the rotation of the middle knuckle 212 and the distal knuckle 213 under the drive of the knuckle input shaft 221. This eliminates the need for separate drive structures for the middle knuckle 212 and the distal knuckle 213, reducing the number of drive structures used, lowering the complexity of the control system, resulting in a more compact structure, and reducing the size of the knuckle mechanism 200, thus meeting the design requirements for product miniaturization. Furthermore, compared to methods using hinges, flexible belts, or ropes, this embodiment uses a rigid gear connection, reducing accumulated errors and improving motion accuracy and system consistency.

[0060] In one embodiment, the drive handle 222 is detachably connected to the middle phalanx 212, thus enabling modular assembly and significantly reducing the difficulty of installation and maintenance. Specifically, when assembling a dexterous hand, the middle phalanx 212 can be assembled first and then connected and fixed to the drive handle 222 to complete modular installation. During maintenance, the connection between the drive handle 222 and the middle phalanx 212 can be released, allowing the middle phalanx 212 to be disassembled separately and decoupled from the finger structure. Optionally, refer to... Figure 11 The middle finger joint 212 has a slot 2121 inside, which is inclined. Pushing the middle finger joint 212 near the proximal finger joint 211 causes one end of the transmission handle 222 to be inserted into the slot 2121, thereby connecting and fixing the transmission handle 222 to the middle finger joint 212. Conversely, pulling the middle finger joint 212 away from the proximal finger joint 211 separates the transmission handle 222 from the middle finger joint 212.

[0061] In one embodiment of the present invention, reference is made to... Figure 8 and Figure 9 The knuckle drive gear assembly 230 includes a knuckle drive wheel 231, a knuckle drive wheel set 232, and an output handle 233. The knuckle drive wheel 231 is sleeved on the end of the knuckle input shaft 221 and meshes with the knuckle drive wheel set 232. One end of the output handle 233 is connected to the distal phalanx 213, and the other end is connected to the knuckle drive wheel set 232. Specifically, the knuckle drive wheel 231 and the knuckle drive wheel set 232 are connected by gear meshing. Compared with steel wire rope, flexible belt, or tendon rope transmission, this eliminates elastic deformation, slack, and slippage, and improves the stability of torque transmission. Optionally, the output handle 233 is fixedly connected to a gear in the knuckle drive wheel set 232 that is away from the knuckle drive wheel 231, so that it rotates synchronously with the gear, thereby driving the distal phalanx 213 and the middle phalanx 212 to rotate in the same direction.

[0062] In one embodiment of the present invention, reference is made to... Figure 8 and Figure 9 The knuckle drive wheel assembly 232 includes at least three knuckle drive wheels 2321, which mesh sequentially. One knuckle drive wheel 2321, closer to the knuckle drive wheel 231, meshes with and rotates circumferentially along the drive wheel 231. Another knuckle drive wheel, farther from the drive wheel 231, is fixedly connected to the output handle 233 to drive it to rotate synchronously. The remaining knuckle drive wheels 231 are rotatably disposed inside the middle knuckle 212. Thus, power can be transmitted to the output handle 233 via the knuckle drive wheels 2321. Furthermore, the transmission method is a rigid gear transmission, which can further reduce or avoid the introduction of nonlinear problems.

[0063] In one embodiment, the knuckle drive wheel 231 is fixedly connected to the proximal phalanx 211. The knuckle drive wheel 231 is rotatably sleeved on the outer periphery of the knuckle input shaft 221. It can be understood that the knuckle drive wheel 231, fixed to the proximal phalanx 211, is equivalent to a fixed external gear ring. When the knuckle input shaft 221 rotates, it drives the transmission handle 222 to drive the intermediate phalanx 212 to rotate. Simultaneously, since the knuckle drive wheel 231, sleeved on the outer periphery of the knuckle input shaft 221, is fixed, the knuckle transmission wheel 2321, directly meshing with the knuckle drive wheel 231, will revolve around and rotate on its own axis along the circumference of the knuckle drive wheel 231. Through the sequential meshing of at least a plurality of knuckle transmission wheels 2321, the output handle 233 is ultimately driven to drive the distal phalanx 213 to rotate.

[0064] In one embodiment of the present invention, the outer periphery of the knuckle drive wheel 231 has a toothed area and a non-toothed area, and a knuckle transmission wheel 2321 close to the knuckle drive wheel 231 meshes with the toothed area of ​​the knuckle drive wheel 231. Since the rotation angle of the distal phalanx 213 is less than 180 degrees, it is not necessary to provide teeth on the entire outer periphery of the knuckle drive wheel 231. In addition, when the internal space of a small phalanx is limited, machining a complete gear is prone to problems such as deformation and misalignment. However, this embodiment, through the partial toothed structure, not only reduces the amount of cutting and machining time, but also reduces the requirements for the internal installation space and process reference of the proximal phalanx 211, thereby improving the yield rate.

[0065] In one embodiment of the present invention, the toothed area is less than or equal to half of the outer circumference of the knuckle drive wheel 231. This avoids material waste and processing difficulties caused by full-circumference toothing, while providing a certain tolerance to ensure that the knuckle transmission wheel can rotate a preset angle along the outer circumference of the knuckle drive wheel 231.

[0066] In one embodiment of the present invention, reference is made to... Figure 8 The knuckle mechanism 200 also includes a second angle measuring structure 290, which is used to detect the rotation angle of the knuckle input shaft 221. This improves the control accuracy of the knuckle rotation angle. Optionally, the second angle measuring structure 290 can be a magnetic encoder, optical encoder, capacitive encoder, or other sensor type capable of detecting rotation angle; no limitation is made here. Furthermore, the second angle measuring structure 290 is located at one end of the knuckle input shaft 221, which can further reduce the overall size of the knuckle mechanism.

[0067] In one embodiment of the present invention, reference is made to... Figure 12The second angle measurement structure 290 includes a second magnetic element 291 and a second magnetic encoder 292. The second magnetic element 291 is disposed on the knuckle input shaft 221 and is opposite to the second magnetic encoder 292, which is disposed on the housing of the proximal knuckle 211. It can be understood that this embodiment provides a second magnetic element 291 on the knuckle input shaft 221 and a corresponding second magnetic encoder 292, forming a non-contact angle measurement method capable of real-time and accurate detection of rotation angles. Furthermore, this embodiment integrates the second magnetic element 291 directly onto the knuckle input shaft 221 and the second magnetic encoder 292 onto the housing of the proximal knuckle 221, reducing cumulative transmission chain errors, improving the control accuracy and response speed of the dexterous hand, and further reducing the overall size of the knuckle, especially the axial dimension. Furthermore, the second magnetic component 291 is disposed at the end of the knuckle input shaft 221, utilizing the axial tail space of the knuckle input shaft 221, avoiding the need to add additional mounting bosses or brackets in the radial direction, and integrating the angle measurement function without increasing the radial profile of the knuckle, further meeting the design requirements for product miniaturization.

[0068] In one embodiment of the present invention, reference is made to... Figure 11 and Figure 12 The knuckle mechanism 200 also includes a knuckle drive structure 240 and a knuckle gear reversing structure 250 connected to the knuckle drive structure 240. The knuckle gear reversing structure 250 is connected to the knuckle input shaft 221. It is understood that the knuckle drive structure 240 provides a third rotational force, and the knuckle gear reversing structure 250 converts the third rotational force into a fourth rotational force, with the third and fourth rotational forces having different rotational directions. Optionally, the knuckle drive structure 240 can be a coreless motor, brushless DC motor, torque motor, brushed DC motor, stepper motor, or other rotary actuator; the knuckle gear reversing structure 250 changes the rotational direction of the base joint drive structure 110 and transmits power. In this embodiment, the power of the knuckle drive structure 240 is transmitted to the knuckle input shaft 221 using gear meshing, eliminating the need for a tensioner required by the synchronous belt, and eliminating the need to reserve space for the linear travel of the synchronous belt or linear transmission mechanism. This reduces the size of the base joint, making the overall structure more compact and facilitating the miniaturization design of a dexterous hand. Furthermore, gear meshing transmission reduces or avoids the introduction of nonlinear problems, facilitates the establishment of a deterministic mapping relationship between the motor input and the finger joint output, provides high torque transparency, simplifies the control model, and makes deployment easier. In addition, gear meshing transmission uses fewer parts and has simpler assembly relationships, reducing assembly difficulty, improving long-term reliability, and reducing maintenance costs.

[0069] In one embodiment of the present invention, reference is made to... Figure 11and Figure 12 The knuckle gear reversing structure 250 includes a first reversing bevel gear 251 and a second reversing bevel gear 252. The first reversing bevel gear 251 is connected to the knuckle drive structure 240, and the second reversing bevel gear 252 meshes with the first reversing bevel gear 251 and is coaxially connected to the knuckle input shaft 221. Specifically, the first reversing bevel gear 251 rotates synchronously with the knuckle drive structure 240 under its drive. Since the second reversing bevel gear 252 meshes with the first reversing bevel gear 251, the first reversing bevel gear 251 drives the second reversing bevel gear 252 and the knuckle input shaft 221 to rotate synchronously. At the same time, the rotation axis of the first reversing bevel gear 251 and the rotation axis of the second reversing bevel gear 252 are perpendicular to each other, thereby changing the rotation direction of the output power of the knuckle drive structure 240.

[0070] In one embodiment of the present invention, reference is made to... Figure 14 The output handle 233 includes a rod portion 2333, a connecting portion 2322, and a sleeve portion 2331. The rod portion 2333 and the sleeve portion 2331 are spaced apart. The connecting portion 2322 is disposed between the rod portion 2333 and the sleeve portion 2331 and connects the rod portion 2333 and the sleeve portion 2331. The rod portion 2333 is connected to the distal knuckle 213. The sleeve portion 2331 is coaxially connected to a knuckle drive wheel 2321 that is away from the knuckle drive wheel 231. Specifically, the rod portion 2333 is used to fixally connect the distal phalanx 213, and the sleeve portion 2331 is used to fixally connect the knuckle drive wheel 2321 away from the knuckle drive wheel 231. It can be understood that the sleeve portion 2331 and the knuckle drive wheel 2321 share a common shaft. The connecting portion 2322 connects the rod portion 2333 and the sleeve portion 2331 into a single unit, thereby enabling the knuckle drive wheel assembly 232 to drive the distal phalanx 213. Optionally, the rod portion 2333, the connecting portion 2322, and the sleeve portion 2331 are integrally formed, which can improve the overall structural strength.

[0071] In one embodiment of the present invention, reference is made to... Figure 9 and Figure 10The knuckle drive wheel assembly 232 also includes a knuckle drive shaft 2322, which is coaxially connected to a knuckle drive wheel 2321 located away from the knuckle drive wheel 231. A sleeve portion 2331 is fitted onto the outer periphery of the knuckle drive shaft 2322. One of the sleeve portion 2331 and the knuckle drive shaft 2322 is provided with a protruding rib 260, which extends axially along the knuckle drive shaft 2322. The other of the sleeve portion 2331 and the knuckle drive shaft 2322 is provided with a groove, and the protruding rib 260 mates with the groove. Specifically, the protruding rib 260 and the groove extend axially and fit tightly together, forming a mechanically interlocked circumferential limiting structure, effectively preventing relative rotation or slight slippage between the sleeve portion 2331 and the knuckle drive shaft 2322. Compared with traditional interference fits, pin connections, or key connections, this increases the contact area and results in a more uniform stress distribution.

[0072] In one embodiment of the present invention, reference is made to... Figure 13 The proximal phalanx 211 has a relief recess 270 on its outer periphery, and one end of the distal phalanx 213 is rotatably disposed in the relief recess 270. In this way, the length of the distal phalanx 213 protruding from the proximal phalanx 211 can be reduced, further reducing the volume of the dexterous hand.

[0073] In one embodiment of the present invention, reference is made to... Figure 10 The proximal phalanx 211 is provided with a phalanx cover plate 280, which is used to cover the phalanx input shaft 221 and the phalanx reversing gear assembly, thereby improving the neatness of the appearance.

[0074] To achieve the above objectives, embodiments of the present invention provide a dexterous hand, wherein the dexterous hand fingers include those described above. Specifically, the specific structure of the dexterous hand fingers refers to the above embodiments. Since this dexterous hand adopts all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated further here.

[0075] To achieve the above objectives, this invention provides a robot comprising the dexterous hand described above. Specifically, the specific structure of the dexterous hand is as described in the above embodiments. Since this robot adopts all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0076] The above are merely exemplary embodiments of the present invention and are not intended to limit the scope of protection of the embodiments of the present invention. Any equivalent structural transformations made under the technical concept of the present invention using the description and drawings of the embodiments of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the embodiments of the present invention.

Claims

1. A base joint mechanism, characterized in that, The base joint mechanism includes: Two base joint drive structures; Two base joint gear reversing structures are provided, with the input end of each base joint gear reversing structure connected to the output end of the corresponding base joint drive structure. A base joint gear differential structure has two input terminals. The output terminal of each base joint gear reversing structure is connected to the input terminal of the corresponding base joint gear differential structure. The input terminals of the base joint drive structure, the base joint gear reversing structure, and the base joint gear differential structure are configured in a one-to-one correspondence.

2. The base joint mechanism as described in claim 1, characterized in that, The base joint mechanism further includes two sets of base joint gear transmission components. Each base joint gear transmission component is connected to the output end of the corresponding base joint gear reversing structure and the input end of the corresponding base joint gear differential structure. The base joint gear transmission components, the base joint gear reversing structure, and the input ends of the base joint gear differential structure are arranged in a one-to-one correspondence.

3. The base joint mechanism as described in claim 2, characterized in that, The base joint gear reversing structure includes a first bevel gear and a second bevel gear. The first bevel gear is coaxially connected to the base joint drive structure, and the second bevel gear meshes with the first bevel gear.

4. The base joint mechanism as described in claim 3, characterized in that, The base joint gear reversing structure further includes a first rotating shaft that is rotatably disposed, and the second bevel gear is disposed at one end of the first rotating shaft. The base joint mechanism further includes a first angle measuring structure, which is disposed at the end of the first rotating shaft away from the second bevel gear.

5. The base joint mechanism as described in claim 4, characterized in that, The first angle measuring structure includes a first magnetic element and a first magnetic encoder arranged opposite to each other. The first magnetic element is located at the end of the first rotating shaft away from the second bevel gear, and the first magnetic encoder is located on the extension line of the axis of the first rotating shaft.

6. The base joint mechanism as described in claim 3, characterized in that, The base joint gear transmission assembly includes a first transmission wheel, a second transmission wheel, and a third transmission wheel. The first transmission wheel is coaxially arranged with the second bevel gear. The third transmission wheel is located at the input end of the base joint gear differential structure. The second transmission wheel is located between the first transmission wheel and the third transmission wheel, and both the first transmission wheel and the third transmission wheel mesh with the second transmission wheel.

7. The base joint mechanism as described in claim 6, characterized in that, The base joint mechanism further includes a second rotating shaft, with two second transmission wheels disposed opposite each other at both ends of the second rotating shaft, and both second transmission wheels being rotatably connected to the second rotating shaft.

8. The base joint mechanism as described in claim 6, characterized in that, The base joint gear differential structure includes an elastic body, a third rotating shaft, and four third bevel gears arranged in a cross shape. The four third bevel gears mesh sequentially. Two of the third bevel gears are positioned opposite each other at both ends of the third rotating shaft, forming the input ends of the two base joint differential structures. Both of the third bevel gears are rotatably connected to the third rotating shaft. The other two third bevel gears are positioned opposite each other on both sides of the elastic body. The third transmission wheel is coaxially arranged with one of the third bevel gears on the third rotating shaft.

9. The base joint mechanism as described in claim 8, characterized in that, The second bevel gear and the first transmission wheel form a first double gear, and the two third bevel gears of the third shaft respectively form a second double gear with the corresponding third transmission wheel.

10. The base joint mechanism as described in claim 1, characterized in that, The two base joint drive structures are arranged side by side, and the center plane of the two base joint drive structures in the side-by-side direction is the first plane A. The line connecting the input ends of the two base joint differential structures is offset towards the palm side of the base joint mechanism facing the first plane A.

11. The base joint mechanism as described in any one of claims 1 to 10, characterized in that, The base joint mechanism further includes a base joint housing, the base joint drive structure and the base joint gear reversing structure are disposed inside the base joint housing, and the base joint gear differential structure is rotatably disposed inside the base joint housing.

12. A dexterous hand finger, characterized in that, The dexterous hand fingers include a finger joint mechanism and a base joint mechanism as described in any one of claims 1 to 14.

13. The dexterous hand finger as described in claim 12, characterized in that, The knuckle mechanism includes: The proximal phalanx is connected to the base joint gear differential structure. The knuckle input shaft is rotatably located inside the proximal phalanx; A transmission handle, which is connected to the input shaft of the finger joint; The middle finger joint has one end of the transmission handle extending into and connected to the middle finger joint. The distal phalanx, rotatably disposed on the side of the middle phalanx facing away from the proximal phalanx; and A knuckle drive gear assembly, wherein the knuckle drive gear assembly drives the knuckle input shaft and the distal knuckle.

14. The dexterous hand finger as described in claim 13, characterized in that, The knuckle transmission gear assembly includes a knuckle drive wheel, a knuckle transmission wheel set, and an output handle. The knuckle drive wheel is sleeved on the end of the knuckle input shaft and meshes with the knuckle transmission wheel set. One end of the output handle is connected to the distal knuckle, and the other end of the output handle is connected to the knuckle transmission wheel set.

15. The dexterous hand finger as described in claim 14, characterized in that, The knuckle drive wheel assembly includes at least three knuckle drive wheels, which are sequentially engaged. One of the knuckle drive wheels, which is closer to the knuckle drive wheel, is engaged with the knuckle drive wheel, and the other knuckle drive wheel, which is farther from the knuckle drive wheel, is connected to the output handle.

16. The dexterous hand finger as described in claim 15, characterized in that, The outer periphery of the knuckle drive wheel has a toothed area and a non-toothed area, and one of the knuckle transmission wheels near the knuckle drive wheel meshes with the toothed area of ​​the knuckle drive wheel.

17. The dexterous hand finger as described in claim 16, characterized in that, The toothed area is less than or equal to half the outer circumference of the finger joint drive wheel.

18. The dexterous hand finger as described in claim 12, characterized in that, The knuckle mechanism further includes a second angle measuring structure, which is located at one end of the knuckle input shaft.

19. The dexterous hand as described in claim 18, characterized in that, The second angle measuring structure includes a second magnetic element and a second magnetic encoder. The second magnetic element is disposed on the finger joint input shaft and is disposed opposite to the second magnetic encoder. The second magnetic encoder is disposed on the proximal finger joint.

20. The dexterous hand finger as described in claim 12, characterized in that, The finger joint mechanism further includes a finger joint driving structure and a finger joint gear reversing structure connected to the finger joint driving structure, wherein the finger joint gear reversing structure is connected to the finger joint input shaft.

21. The dexterous hand finger as described in claim 20, characterized in that, The finger joint gear reversing structure includes a first reversing bevel gear and a second reversing bevel gear. The first reversing bevel gear is connected to the finger joint drive structure, the second reversing bevel gear meshes with the first reversing bevel gear, and the second reversing bevel gear is coaxially connected to the finger joint input shaft.

22. A dexterous hand, characterized in that, The dexterous hand includes the dexterous hand fingers as described in any one of claims 12-21.

23. A robot, characterized in that, The robot includes the dexterous hand as described in claim 22.

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