Finger mechanism and dexterous hand

Abstract

The utility model provides a finger mechanism. The finger mechanism comprises a first knuckle, a second knuckle and a harmonic reducer. The second knuckles are rotatably connected with the first knuckles; the harmonic reducer is arranged on the first knuckle, and an output shaft of the harmonic reducer is used for driving the second knuckle to rotate relative to the first knuckle; the harmonic reducer comprises a rigid gear, a flexible gear, a wave generator and an output shaft. The rigid wheel is fixed on the first knuckle; the flexible gear is fixedly connected with the output shaft; the output shaft is rotatably arranged on the rigid wheel; the wave generator is used for receiving the driving force and generating rotation, so that the rigid gear and the flexible gear are matched through the rotation action generated by the wave generator, and the harmonic reducer outwards outputs the decelerated driving force through the output shaft. The utility model further provides the dexterous hand.

Description

Technical Field

[0001] The present disclosure relates to a finger mechanism and a dexterous hand, belonging to the technical field of robotic dexterous hands. Background Art

[0002] With the development of humanoid robots, dexterous hands, as an important part of them, are also developing rapidly. In order to enable them to play an important role in various application scenarios, requirements such as small size, high electrical integration, a large number of degrees of freedom, and large grasping force are put forward for dexterous hands.

[0003] To achieve this goal, using a speed reducer with a large reduction ratio and small size will be one of the achievable solutions.

[0004] At present, harmonic speed reducers have been widely used in industries such as robotics. Compared with other types of speed reducers, harmonic speed reducers have the advantages of small size, light weight, simple structure, and high precision, so they are widely used in robot structures. Most of the existing harmonic speed reducers in the market are applicable to traditional robotic arm joints and flexible robotic arm joints, and their volume often matches the robotic arm joints relatively large. Therefore, the mainstream harmonic speed reducers cannot meet the requirements of small size and high integration of dexterous hands. Utility Model Content

[0005] To solve one of the above technical problems, the present disclosure provides a finger mechanism and a dexterous hand.

[0006] According to one aspect of the present disclosure, a finger mechanism is provided, which includes:

[0007] A first finger joint;

[0008] A second finger joint, the second finger joint being rotatably connected to the first finger joint; and

[0009] A harmonic speed reducer, the harmonic speed reducer being disposed on the first finger joint, and an output shaft of the harmonic speed reducer being used to drive the second finger joint to rotate relative to the first finger joint;

[0010] Wherein, the harmonic speed reducer includes a rigid gear, a flexible gear, a wave generator, and an output shaft; the rigid gear is fixed to the first finger joint; the flexible gear is fixedly connected to the output shaft; the output shaft is rotatably disposed in the rigid gear; the wave generator is used to receive a driving force and generate rotation, so that through the rotational movement generated by the wave generator, the rigid gear and the flexible gear cooperate, and the harmonic speed reducer outputs the decelerated driving force outward through the output shaft.

[0011] The finger mechanism according to at least one embodiment of the present disclosure further includes:

[0012] A driving component, the driving component being fixed to the first finger joint.

[0013] For a finger mechanism according to at least one embodiment of the present disclosure, the rigid gear of the harmonic reducer is integrally formed with the driving component.

[0014] For a finger mechanism according to at least one embodiment of the present disclosure, it further includes a third finger joint, and the third finger joint is rotatably connected to the second finger joint.

[0015] For a finger mechanism according to at least one embodiment of the present disclosure, a rotating shaft is fixed on the third finger joint; wherein, the rotating shaft is arranged to be able to rotate relative to the second finger joint; a driven component is fixedly arranged on the rotating shaft; and the driving component is in transmission connection with the driven component.

[0016] For a finger mechanism according to at least one embodiment of the present disclosure, the driving component and the driven component are gears; and the driving component and the driven component are in transmission connection through more than two idler gears.

[0017] For a finger mechanism according to at least one embodiment of the present disclosure, the flexible gear is fixed to the fixed sleeve, and the fixed sleeve is used to rotatably support the input shaft.

[0018] For a finger mechanism according to at least one embodiment of the present disclosure, the wave generator is in transmission connection with the input shaft, one end of the input shaft is rotatably supported by the fixed sleeve through a bearing, and the other end of the input shaft is rotatably supported by the first finger joint through a bearing.

[0019] For a finger mechanism according to at least one embodiment of the present disclosure, an input component is fixed on the input shaft.

[0020] For a finger mechanism according to at least one embodiment of the present disclosure, the input shaft and the input component are integrally formed into a shaft structure; an installation hole is formed on the shaft structure, a bearing is arranged in the installation hole, the first finger joint is provided with a shaft component, and the shaft component is rotatably arranged in the installation hole through the bearing.

[0021] According to another aspect of the present disclosure, there is provided a dexterous hand, which includes the above-mentioned finger mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, are used to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure, and the drawings are included in this specification and form a part of this specification.

[0023] Figure 1 It is a schematic structural diagram of a finger mechanism according to an embodiment of the present disclosure.

[0024] Figure 2Schematic structural diagram of a harmonic reducer according to the first embodiment of the present disclosure.

[0025] Figure 3 Schematic structural diagram of a harmonic reducer from another angle according to the first embodiment of the present disclosure.

[0026] Figure 4 Schematic sectional view of a harmonic reducer according to the first embodiment of the present disclosure.

[0027] Figure 5 Schematic sectional view of a harmonic reducer according to the second embodiment of the present disclosure.

[0028] Figure 6 Schematic structural diagram of a harmonic reducer according to the third embodiment of the present disclosure.

[0029] Figure 7 Schematic structural diagram of a harmonic reducer from another angle according to the third embodiment of the present disclosure.

[0030] Figure 8 Schematic sectional view of a harmonic reducer according to the third embodiment of the present disclosure.

[0031] Figure 9 Schematic structural diagram of a harmonic reducer according to the fourth embodiment of the present disclosure.

[0032] Figure 10 Schematic structural diagram of a harmonic reducer from another angle according to the fourth embodiment of the present disclosure.

[0033] Figure 11 Schematic sectional view of a harmonic reducer according to the fourth embodiment of the present disclosure.

[0034] Specifically, the reference numerals in the figure are as follows:

[0035] 100 First phalanx

[0036] 200 Second phalanx

[0037] 300 Third phalanx

[0038] 310 Driven component

[0039] 320 Idler gear

[0040] 400 Harmonic reducer

[0041] 401 Rigid gear

[0042] 402 Flexspline

[0043] 403 Wave generator

[0044] 404 Output Shaft

[0045] 405 Input Shaft

[0046] 406 Input Component

[0047] 407 Fixed Sleeve

[0048] 408 Four-Point Bearing

[0049] 409 Shaft Structure

[0050] 410 Driving Component. Detailed Implementation Manner

[0051] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and the implementation manner. It can be understood that the specific implementation manner described herein is only used to explain the relevant content and does not limit the present disclosure. Additionally, it should be noted that for the sake of convenience of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0052] It should be noted that, without conflict, the implementation manners and the features in the implementation manners in the present disclosure can be combined with each other. The technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the implementation manner.

[0053] Unless otherwise specified, the exemplary implementation manners / embodiments shown will be understood to provide exemplary features of various details of some ways that can implement the technical concept of the present disclosure in practice. Therefore, unless otherwise specified, without departing from the technical concept of the present disclosure, the features of various implementation manners / embodiments can be additionally combined, separated, interchanged, and / or rearranged.

[0054] In the accompanying drawings, cross-hatching and / or shading are generally used to make the boundaries between adjacent components clear. Thus, unless stated otherwise, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonality between the shown components, and / or any other characteristics, attributes, properties, etc. of the components. Additionally, in the accompanying drawings, for the purpose of clarity and / or description, the dimensions and relative dimensions of the components may be exaggerated. When the exemplary embodiments can be implemented differently, the specific process sequences can be performed in an order different from that described. For example, two consecutively described processes can be performed substantially simultaneously or in an order opposite to that described. Moreover, the same reference numerals represent the same components.

[0055] When a component is referred to as being “on” or “above” another component, “connected to” or “coupled to” another component, it can be directly on the other component, directly connected to or directly coupled to the other component, or there may be intervening components. However, when a component is referred to as being “directly on” another component, “directly connected to” or “directly coupled to” another component, there are no intervening components. For this reason, the term “connected” can refer to physical connection, electrical connection, etc., and can have or not have intervening components.

[0056] For descriptive purposes, the present disclosure may use spatial relative terms such as “beneath,” “below,” “under,” “lower,” “above,” “upper,” “on,” “over,” “higher,” and “side (e.g., as in “sidewall”)” etc., so as to describe the relationship of one component to another (other) component as shown in the drawings. In addition to the orientation depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacturing. For example, if the device in the drawings is flipped, a component described as “beneath” or “below” another component or feature will then be positioned “above” the other component or feature. Thus, the exemplary term “beneath” can encompass both an “above” and a “below” orientation. Additionally, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations), and accordingly, the spatial relative descriptors used herein are to be interpreted.

[0057] The terms used herein are for the purpose of describing particular embodiments and are not intended to be limiting. As used herein, unless the context clearly dictates otherwise, the singular forms “a,” “an,” and “the” are also intended to include the plural forms. Additionally, when the terms “comprise” and / or “include” and their variations are used in this specification, it is stated that there are the stated features, integers, steps, operations, components, assemblies, and / or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, assemblies, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms and not as terms of degree, so they are used to explain the inherent deviations of measured, calculated, and / or provided values that would be recognized by a person of ordinary skill in the art.

[0058] Figure 1 is a schematic structural view of a finger mechanism according to an embodiment of the present disclosure.

[0059] As Figure 1As shown, the finger mechanism of the present disclosure may include multiple phalanges. In one embodiment, there may be two phalanges, and these two phalanges form the two phalanges at the end of the dexterous hand. At this time, the finger mechanism includes components such as a first phalanx 100, a second phalanx 200, and a harmonic reducer 400; in another embodiment, as Figure 1 shown, there may be three phalanges, that is, the finger mechanism includes components such as a first phalanx 100, a second phalanx 200, a third phalanx 300, and a harmonic reducer 400. The first phalanx 100 may also be referred to as the proximal phalanx; the second phalanx 200 may be referred to as the middle phalanx; the third phalanx 300 may be referred to as the distal phalanx.

[0060] Of course, the finger mechanism of the present disclosure may also have other numbers of phalanges according to design requirements.

[0061] In the present disclosure, the first phalanx 100, the second phalanx 200, and the third phalanx 300 are all formed as link structures. Accordingly, the second phalanx 200 is rotatably connected to the first phalanx 100; and the third phalanx 300 is also rotatably connected to the second phalanx 200. That is to say, the first phalanx 100 of the present disclosure is rotatably connected to one end of the second phalanx 200 and has a first pivot axis; the third phalanx 300 is rotatably provided at the other end of the second phalanx 200 and has a second pivot axis. In the present disclosure, the first pivot axis and the second pivot axis are parallel.

[0062] In one embodiment, the first phalanx 100, the second phalanx 200, and the third phalanx 300 are coupled and driven; in another embodiment, the rotation between the first phalanx 100 and the second phalanx 200, and the rotation of the third phalanx 300 relative to the second phalanx 200 are independently driven. That is to say, at this time, the first phalanx 100, the second phalanx 200, and the third phalanx 300 are not coupled and driven.

[0063] The harmonic reducer 400 is provided on the first phalanx 100, and the output shaft 404 of the harmonic reducer 400 is used to drive the second phalanx 200 to rotate relative to the first phalanx 100; that is to say, the harmonic reducer 400 of the present disclosure can form a joint structure between the first phalanx 100 and the second phalanx 200.

[0064] The structure of the harmonic reducer used in different situations will be described below.

[0065] In one embodiment, when the number of phalanges of the finger mechanism is two (i.e., including the first phalanx 100 and the second phalanx 200), or even when the number of phalanges of the finger mechanism is three (i.e., including the first phalanx 100, the second phalanx 200, and the third phalanx 300), but the three phalanges are not coupled and driven, the harmonic reducer 400 may adopt Figures 2 to 5The structure is implemented in .

[0066] Figure 2 It is a schematic structural diagram of a harmonic reducer according to the first embodiment of the present disclosure. Figure 3 It is a schematic structural diagram of the harmonic reducer according to the first embodiment of the present disclosure from another angle. Figure 4 It is a schematic cross-sectional structural diagram of a harmonic reducer according to the first embodiment of the present disclosure.

[0067] like Figures 2 to 4 As shown, in the present disclosure, the harmonic reducer 400 includes components such as a rigid wheel 401 , a flexible wheel 402 , a wave generator 403 and an output shaft 404 .

[0068] The rigid wheel 401 is fixed to the first knuckle 100; the flexible wheel 402 is fixedly connected to the output shaft 404; the output shaft 404 is rotatably disposed on the rigid wheel 401, and the output shaft 404 can be fixedly connected to the second knuckle 200, so that when the output shaft 404 rotates, it can drive the second knuckle 200 to rotate relative to the first knuckle 100.

[0069] The wave generator 403 is used to receive driving force and generate rotation, so that the rigid wheel 401 and the flexible wheel 402 cooperate with each other through the rotation generated by the wave generator 403 .

[0070] In the present disclosure, the wave generator 403 is connected to the input shaft 405 in a transmission manner, and one end of the input shaft 405 is rotatably supported on the output shaft 404 through a bearing; the other end of the input shaft 405 is rotatably supported on the first knuckle 100 through a bearing; and an input component 406 is provided on the input shaft 405, and the input component 406 is connected to the input shaft 405 in a transmission manner to receive a driving force through the input component 406, and the driving force can be transmitted through the input shaft 405, so that the wave generator 403 generates a rotational motion. Further, through the rotational motion of the wave generator 403, the flexible wheel 402 and the rigid wheel 401 cooperate, and a speed reduction output is achieved.

[0071] In a preferred embodiment, the output shaft 404 is connected to a fixing sleeve 407, and the flexible wheel 402 can be fixed between the output shaft 404 and the fixing sleeve 407. Moreover, one end of the input shaft 405 can be rotatably supported on the fixing sleeve 407; thus, through the support of the fixing sleeve 407 on the input shaft 405, the harmonic reducer of the present disclosure has a reasonable structure and can be miniaturized, so that the harmonic reducer 400 can be applied to structures such as fingers.

[0072] In the present disclosure, the output shaft 404 can be rotatably supported in the inner hole of the rigid gear 401 by a four-point bearing 408. Correspondingly, through the arrangement of the four-point bearing 408, the output shaft 404 can stably rotate about its central axis; in other words, through the supporting action of the four-point bearing 408, the output shaft 404 can bear a certain radial load and can bear a certain degree of overturning moment and axial load.

[0073] In some embodiments, the output shaft 404 has a flat interface. Thus, the output shaft 404 can be in driving connection with the second finger joint 200 through this flat interface. That is to say, when the output shaft 404 rotates, it can drive the second finger joint 200 to rotate relative to the first finger joint 100.

[0074] In a preferred embodiment, threaded holes can be provided in the rigid gear 401 of the present disclosure, whereby the rigid gear 401 can be conveniently fixed to the first finger joint 100 through these threaded holes.

[0075] Figure 5 It is a schematic cross-sectional structure view of a harmonic reducer according to the second embodiment of the present disclosure.

[0076] As Figure 5 shown, the difference between the harmonic reducer of the second embodiment of the present disclosure and that of the first embodiment lies in that in this harmonic reducer, the input shaft 405 and the input component 406 are integrally formed, and this integrally formed input shaft 405 and input component 406 can be referred to as a shaft structure 409; mounting holes are provided in the shaft structure 409, bearings are arranged in the mounting holes, and the first finger joint 100 is provided with a shaft component, and the shaft component is rotatably arranged in the mounting hole through the bearings; thus, the rotatable support at one end of the shaft structure 409 is realized.

[0077] On the other hand, the shaft structure 409 is also rotatably supported by a fixed sleeve 407; this structure has been described in detail above and will not be elaborated here one by one.

[0078] By integrally designing the input shaft 405 and the input component 406, the structure of the harmonic reducer can be further simplified, the number of structural parts can be reduced, and the manufacturing cost of the harmonic reducer can be lowered.

[0079] In addition, the input shaft 405 and the input component 406 of the present disclosure can be separately formed and assembled together.

[0080] In another embodiment, when the number of finger joints of the finger mechanism is three (i.e., including the first finger joint 100, the second finger joint 200, and the third finger joint 300), and these three finger joints are coupled and driven, the harmonic reducer 400 can adopt Figures 6 to 11 the structure therein to realize.

[0081] Figure 6 It is a schematic structural view of a harmonic reducer according to the third embodiment of the present disclosure. Figure 7 It is a schematic structural view of the harmonic reducer according to the third embodiment of the present disclosure from another angle. Figure 8 It is a sectional structural view of the harmonic reducer according to the third embodiment of the present disclosure.

[0082] As Figures 6 to 8 shown, the difference between the harmonic reducer according to the second embodiment of the present disclosure and the harmonic reducer according to the first embodiment is that the harmonic reducer 400 (or the finger mechanism) further includes a driving component 410; the driving component 410 is fixed to the first finger joint 100. In a preferred embodiment, the rigid gear 401 of the harmonic reducer 400 is integrally formed with the driving component 410. Thus, through the integrated design of the rigid gear 401 and the driving component 410 of the harmonic reducer 400, the size of the harmonic reducer 400 is reduced, making the harmonic reducer particularly suitable for finger mechanisms that require coupled driving.

[0083] Figure 9 It is a schematic structural view of a harmonic reducer according to the fourth embodiment of the present disclosure. Figure 10 It is a schematic structural view of the harmonic reducer according to the fourth embodiment of the present disclosure from another angle. Figure 11 It is a sectional structural view of the harmonic reducer according to the fourth embodiment of the present disclosure.

[0084] As Figures 9 to 11 shown, the difference between the harmonic reducer according to the fourth embodiment of the present disclosure and the harmonic reducer according to the second embodiment is that the harmonic reducer 400 (or the finger mechanism) further includes a driving component 410; the driving component 410 is fixed to the first finger joint 100. In a preferred embodiment, the rigid gear 401 of the harmonic reducer 400 is integrally formed with the driving component 410. Thus, through the integrated design of the rigid gear 401 and the driving component 410 of the harmonic reducer 400, the size of the harmonic reducer 400 is reduced, making the harmonic reducer particularly suitable for finger mechanisms that require coupled driving.

[0085] In addition, the driving component 410 of the present disclosure can also be fixedly connected to the rigid gear 401 by screws, or by means of adhesives and welding.

[0086] Referring again to Figure 1, in the present disclosure, a rotating shaft is fixed on the third phalanx 300; wherein, the rotating shaft is arranged to be rotatable relative to the second phalanx; a driven component 310 is fixedly arranged on the rotating shaft; the driving component 410 and the driven component 310 are drivingly connected through two idler wheels 320 (when both the driving component 410 and the driven component 310 are gears). Thus, the third phalanx 300 of the present disclosure can be coupled and driven, and the rotation direction of the second phalanx 200 of the present disclosure relative to the first phalanx 100 is the same as the rotation direction of the third phalanx 300 relative to the second phalanx 200.

[0087] In the finger mechanism of the present disclosure, through the integrated design of the driving component 410 and the rigid gear 401 of the harmonic reducer 400, the volume of the harmonic reducer can be reduced. At the same time, the harmonic reducer 400 also integrates an input component 406, making the structure of the harmonic reducer 400 more compact. At the same time, the driving component 410 is integrated with the main support structure to achieve the coupled driving of the finger mechanism of the dexterous hand.

[0088] In the present disclosure, the driving component 410 can be a gear, such as an involute spur gear, an arc tooth profile gear, a helical gear, a herringbone gear, etc., or can be a non-circular gear or a crown gear; it can also be a component such as a flat belt pulley, a synchronous belt pulley, a rope pulley, a ratchet wheel, a sprocket wheel, etc.

[0089] In addition, the driven component 310 is formed into a shape adapted to the driving component 410. Specifically, the driven component 310 can also be a gear, such as an involute spur gear, an arc tooth profile gear, a helical gear, a herringbone gear, etc., or can be a non-circular gear or a crown gear; it can also be a component such as a flat belt pulley, a synchronous belt pulley, a rope pulley, a ratchet wheel, a sprocket wheel, etc.

[0090] In the present disclosure, the idler wheel can be an involute spur gear, an arc tooth profile gear, a helical gear, a herringbone gear, etc., or can be a non-circular gear or a crown gear.

[0091] In addition, the input component 406 of the present disclosure can be a gear, such as an involute spur gear, an arc tooth profile gear, a helical gear, a herringbone gear, etc., or can be a non-circular gear or a crown gear; it can also be a component such as a flat belt pulley, a synchronous belt pulley, a rope pulley, a ratchet wheel, a sprocket wheel, etc.

[0092] In the description of this specification, the description referring to terms such as "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with that embodiment / way or example are included in at least one embodiment / way or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments / ways or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments / ways or examples described in this specification and the features of different embodiments / ways or examples.

[0093] In addition, the terms "first" and "second" are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0094] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present disclosure and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications can be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A finger mechanism, characterized in that, Comprising: The first phalanx; The second phalanx, which is rotatably connected to the first phalanx; And A harmonic reducer, which is arranged on the first phalanx, and the output shaft of the harmonic reducer is used to drive the second phalanx to rotate relative to the first phalanx; Wherein, the harmonic reducer includes a rigid gear, a flexible gear, a wave generator and an output shaft; the rigid gear is fixed to the first phalanx; the flexible gear is fixedly connected to the output shaft; the output shaft is rotatably arranged in the rigid gear; the wave generator is used to receive a driving force and generate rotation, so that through the rotational movement generated by the wave generator, the rigid gear and the flexible gear cooperate, and the harmonic reducer outputs the decelerated driving force outward through the output shaft.

2. The finger mechanism according to claim 1, wherein Further comprising: A driving component, which is fixed to the first phalanx.

3. The finger mechanism according to claim 2, wherein, The rigid gear of the harmonic reducer is integrally formed with the driving component.

4. The finger mechanism according to claim 2, wherein Further comprising a third phalanx, which is rotatably connected to the second phalanx.

5. The finger mechanism according to claim 4, characterized in that A rotating shaft is fixed on the third phalanx; wherein, the rotating shaft is arranged to be able to rotate relative to the second phalanx; a driven component is fixedly arranged on the rotating shaft; and the driving component and the driven component are in transmission connection.

6. The finger mechanism according to claim 5, wherein, The driving component and the driven component are gears; and the driving component and the driven component are in transmission connection through more than two idler gears.

7. The finger mechanism according to claim 1, characterized in that, The output shaft is connected with a fixed sleeve, the flexible gear is fixed to the fixed sleeve, and the fixed sleeve is used to rotatably support the input shaft.

8. The finger mechanism according to claim 7, wherein, The wave generator is in transmission connection with the input shaft, one end of the input shaft is rotatably supported by the fixed sleeve through a bearing, and the other end of the input shaft is rotatably supported by the first phalanx through a bearing.

9. The finger mechanism according to claim 8, characterized in that, An input component is fixed on the input shaft.

10. The finger mechanism according to claim 9, characterized in that, The input shaft and the input component are integrally formed into a shaft structure; an installation hole is formed in the shaft structure, a bearing is arranged in the installation hole, and the first phalanx is provided with a shaft component, and the shaft component is rotatably arranged in the installation hole through the bearing.

11. A dexterous hand, characterized in that, Comprising the finger mechanism according to any one of claims 1-10.

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