Finger mechanism, hand structure and robot

Abstract

The utility model discloses a finger mechanism, a hand structure and a robot. The finger mechanism comprises a first finger section and a second finger section, the second finger section is rotationally connected with the first finger section, and a first through hole is formed in the second finger section; the driving assembly comprises a rope, and the rope comprises a first connecting end; the adjusting assembly comprises an adjusting piece and a connecting piece, the connecting piece is arranged in the first through hole and connected with the first connecting end, the adjusting piece is arranged in the first through hole, and the adjusting piece can move in the axial direction of the first through hole so as to adjust the position of the connecting piece in the first through hole. According to the technical scheme, the pre-tightening force of the rope can be adjusted through the adjusting assembly, so that the problem that the rope is lengthened due to rope wriggling is solved, and the accuracy and stability of action of the finger mechanism are ensured.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a finger mechanism, a hand structure and a robot. BACKGROUND

[0002] In the technical field of robots, the design of fingers is crucial for achieving complex and delicate operations. The flexibility of fingers can be improved by driving with ropes.

[0003] In the related art, the ropes will exhibit a creeping phenomenon in the long-term use, that is, in the process of alternating continuous stress and relaxation, the shape and length of the ropes will gradually change, thereby causing changes in the initial calibration and position of the finger mechanism. The creeping of the ropes leads to inaccurate force control, so that the finger mechanism cannot accurately perform the predetermined actions and tasks, and therefore the overall operation performance of the robot is affected. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the embodiments of the application is to provide a finger mechanism, a hand structure and a robot.

[0005] According to a first aspect of the embodiments of the application, a finger mechanism is provided, comprising:

[0006] a first finger segment;

[0007] a second finger segment, which is rotationally connected with the first finger segment, and which is provided with a first through hole;

[0008] a driving assembly, which comprises a rope, and the rope comprises a first connecting end;

[0009] an adjusting assembly, which comprises an adjusting member and a connecting member, the connecting member is arranged in the first through hole and connected with the first connecting end, and the adjusting member is arranged in the first through hole, and the adjusting member can move along the axial direction of the first through hole to adjust the position of the connecting member in the first through hole.

[0010] Optionally, the inner wall of the first through hole is at least partially provided with a thread, the adjusting member is a screw rod, and the screw rod is matched with the thread.

[0011] Optionally, the adjusting assembly further comprises an elastic member, the elastic member is arranged in the first through hole, and the connecting member is located between the elastic member and the adjusting member.

[0012] Optionally, the first through hole is provided with a first rope sleeve at the end away from the adjusting member, and the elastic member is located between the first rope sleeve and the connecting member.

[0013] Optionally, the second finger segment comprises a first sub-finger segment and a second sub-finger segment, one end of the first sub-finger segment is rotationally connected with the first finger segment, and the other end of the first sub-finger segment is rotationally connected with the second sub-finger segment.

[0014] The first through hole is arranged in the second sub-finger segment.

[0015] Optionally, a first torsional spring is arranged at the connection between the first finger segment and the first sub-finger segment; and / or

[0016] A second torsional spring is arranged at the connection between the second sub-finger segment and the first sub-finger segment.

[0017] Optionally, the first sub-finger segment is arranged with a second through hole, and the rope is arranged in the second through hole.

[0018] Optionally, a second rope sleeve is arranged in the second through hole.

[0019] Optionally, the rope is made of polyacrylonitrile-based carbon fiber material.

[0020] Optionally, the driving assembly comprises a motor, a first gear, a second gear and a receiving disc, the first gear is connected with the output shaft of the motor, the first gear is engaged with the second gear, the receiving disc is coaxially arranged with the second gear, and the rope comprises a second connecting end, and the second connecting end is arranged in the receiving disc.

[0021] According to a second aspect of the embodiment of the present application, a hand structure is provided, comprising a plurality of the above-mentioned finger mechanisms.

[0022] According to a third aspect of the embodiment of the present application, a robot is provided, comprising:

[0023] a plurality of the above-mentioned finger mechanisms; or

[0024] the above-mentioned hand structure.

[0025] One technical effect of the embodiment of the present application is that the pre-tightening force of the rope can be adjusted by the adjusting assembly, so as to solve the problem of lengthening of the rope caused by the creep of the rope, and ensure the accuracy and stability of the action of the finger mechanism.

[0026] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the present application and, together with the description, serve to explain the principles of the application.

[0028] Figure 1Fig. 1 is a structural schematic diagram of a finger mechanism in an embodiment of the present application;

[0029] Figure 2 Fig. 2 is a sectional view at A-A in Fig. 1; Figure 1

[0030] Figure 3 Fig. 3 is a structural schematic diagram of a finger mechanism in an embodiment of the present application;

[0031] Figure 4 Fig. 4 is a structural schematic diagram of a finger mechanism in an embodiment of the present application;

[0032] Figure 5 Fig. 5 is a structural schematic diagram of a driving assembly in an embodiment of the present application.

[0033] Reference signs: finger mechanism 100; first finger segment 1; first connecting plate 11; second connecting plate 12; second finger segment 2; first sub finger segment 21; second through hole 211; third connecting plate 212; fourth connecting plate 213; fifth connecting plate 214; sixth connecting plate 215; second sub finger segment 22; first through hole 221; first end 221a; second end 221b; seventh connecting plate 222; eighth connecting plate 223; adjusting assembly 3; adjusting member 31; connecting member 32; elastic member 33; driving assembly 4; rope 41; first connecting end 411; second connecting end 412; motor 42; first gear 43; second gear 44; accommodating disc 45; first rope sleeve 5; first hole 51; second rope sleeve 6; second hole 61; first torsional spring 7; second torsional spring 8; first rotating shaft A; second rotating shaft B; third rotating shaft C. DETAILED DESCRIPTION

[0034] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. If it is so desired, the relative arrangement of the components and steps set forth in the embodiments, numerical expressions, and numerical values should not limit the scope of the present application.

[0035] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the scope of the application, its application, or uses.

[0036] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, the techniques, methods, and devices should be considered part of the specification, if appropriate.

[0037] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0038] ​It should be noted that like reference numerals and characters refer to like items throughout the attached drawings and alternative embodiments thereof, noting that discussion of one item in a drawing does not preclude the discussion of another, whether or not like reference numerals and characters are used to designate it.

[0039] As shown in Figures 1-5 According to a first aspect of the embodiments of the present application, a finger mechanism 100 is provided, comprising a first finger segment 1, a second finger segment 2, a driving assembly 4 and an adjusting assembly 3; the second finger segment 2 is rotationally connected with the first finger segment 1, and the second finger segment 2 is provided with a first through hole 221; the driving assembly 4 comprises a rope 41, and the rope 41 comprises a first connecting end 411; the adjusting assembly 3 comprises an adjusting member 31 and a connecting member 32, the connecting member 32 is arranged in the first through hole 221 and connected with the first connecting end 411, and the adjusting member 31 is arranged in the first through hole 221 and can move along the axial direction of the first through hole 221 to adjust the position of the connecting member 32 in the first through hole 221.

[0040] As shown in Figure 1 and Figure 2 The finger mechanism 100 comprises a first finger segment 1, a second finger segment 2, a driving assembly 4 and an adjusting assembly 3; wherein the first finger segment 1 is rotationally connected with the second finger segment 2, and the connection between the first finger segment 1 and the second finger segment 2 is a joint, and the angle between the first finger segment 1 and the second finger segment 2 is adjusted by the relative rotation of the first finger segment 1 and the second finger segment 2, so that the first finger segment 1 and the second finger segment 2 cooperate to grasp or operate.

[0041] Further, the driving assembly 4 comprises a rope 41, and the rope 41 comprises a first connecting end 411, which can be connected with the second finger segment 2, and the driving assembly 4 can drive the second finger segment 2 to rotate relative to the first finger segment 1 by driving the rope 41, so as to grasp or operate.

[0042] In the related art, the rope 41 will exhibit a creeping phenomenon during long-term use, that is, the shape and length of the rope 41 will gradually change in the process of alternating between continuous stress and relaxation, thereby causing changes in the initial calibration and position of the finger mechanism 100, and the creeping of the rope 41 leads to inaccurate force control, so that the finger mechanism 100 cannot accurately perform the predetermined actions and tasks, thereby affecting the overall operation performance of the robot.

[0043] Further, as shown in Figure 2As shown, the second finger segment 2 is provided with a first through hole 221, and the adjusting assembly 3 comprises an adjusting member 31 and a connecting member 32; wherein the adjusting member 31 and the connecting member 32 are both arranged in the first through hole 221, the first connecting end 411 is connected with the connecting member 32, the adjusting member 31 can move axially relative to the first through hole 221, and the position of the adjusting member 31 in the first through hole 221 can be adjusted by moving the adjusting member 31 axially along the first through hole 221, and then the position of the connecting member 32 in the first through hole 221 is adjusted, since the first connecting end 411 of the rope 41 is connected with the connecting member 32, the position of the first connecting end 411 in the first through hole 221 can be adjusted, that is, the pre-tightening force of the rope 41 is adjusted; when the rope 41 is in the process of alternating between continuous stress and relaxation, if the shape and length will gradually change, the initial position of the finger mechanism 100 is corrected by adjusting the pre-tightening force of the rope 41, so as to ensure the accuracy of the action of the finger mechanism 100 and avoid affecting the overall operation performance of the robot.

[0044] Therefore, the finger mechanism 100 in the embodiment of the present application can adjust the pre-tightening force of the rope 41 through the adjusting assembly 3 when the rope 41 has peristalsis in long-term use, that is, the problem of lengthening of the rope 41 caused by peristalsis of the rope 41 is solved, and the accuracy and stability of the action of the finger mechanism 100 are ensured.

[0045] In a specific embodiment, the adjusting member 31 comprises a driving member and an adjusting block, the adjusting block is connected with the driving end of the driving member, and the driving member can drive the adjusting block to move axially along the first through hole 221, and the position of the connecting member 32 in the first through hole 221 is adjusted by adjusting the position of the adjusting block in the first through hole 221. Wherein, the driving member can adopt a pneumatic cylinder, a linear motor 42 or a hydraulic cylinder.

[0046] In another specific embodiment, the inner wall of the first through hole 221 is at least partially provided with threads, the adjusting member 31 is a screw rod, and the screw rod cooperates with the threads.

[0047] As shown in the figure, Figure 2 As shown, the first through hole 221 comprises a first end 221a and a second end 221b, the second end 221b is closer to the first finger segment 1 relative to the first end 221a, and the rope 41 enters the first through hole 221 from the second end 221b of the first through hole 221.

[0048] In an embodiment, the inner wall of the first through hole 221 is partially provided with threads, that is, the part of the inner wall of the first through hole 221 close to the first end 221a is provided with threads; the adjusting member 31 is a screw rod, the screw rod extends into the first through hole 221 from the first end 221a and cooperates with the threads, and the size of the screw rod extending into the first through hole 221 can be adjusted by screwing the screw rod, so that the position of the connecting member 32 can be adjusted.

[0049] In another embodiment, the inner wall of the first through hole 221 is provided with threads all over, that is, the threads of the inner wall of the first through hole 221 extend from the first end 221a to the second end 221b; the adjusting member 31 is a screw rod, the screw rod extends into the first through hole 221 from the first end 221a and cooperates with the threads, by screwing the screw rod, the size of the screw rod extending into the first through hole 221 can be adjusted, so that the position of the connecting member 32 can be adjusted.

[0050] In a specific embodiment, the connecting member 32 is connected with the adjusting member 31, by driving the adjusting member 31 in the first through hole 221, the position of the connecting member 32 in the first through hole 221 is adjusted, so as to realize the adjustment of the pre-tightening force of the rope 41.

[0051] In another alternative embodiment, the adjusting assembly 3 further comprises an elastic member 33, the elastic member 33 is arranged in the first through hole 221, and the connecting member 32 is located between the elastic member 33 and the adjusting member 31.

[0052] As shown in Figure 2 The adjusting assembly 3 further comprises an elastic member 33, the elastic member 33 is arranged in the first through hole 221, and the connecting member 32 is located between the elastic member 33 and the adjusting member 31; that is, the first through hole 221 is sequentially provided with the elastic member 33, the connecting member 32 and the adjusting member 31 from the second end 221b to the first end 221a, the connecting member 32 and the adjusting member 31 are separately arranged, the first connecting end 411 of the rope 41 is connected with the connecting member 32, driving the rope 41 can compress the elastic member 33 through the connecting member 32, so as to effectively realize the shock absorption and stability of the finger mechanism 100, thereby preventing the finger mechanism 100 from shaking.

[0053] Among them, the elastic member 33 can adopt a spiral spring or a rubber spring.

[0054] In an alternative embodiment, the first end of the first through hole 221 away from the adjusting member 31 is provided with a first rope sleeve 5, and the elastic member 33 is located between the first rope sleeve 5 and the connecting member 32.

[0055] As shown in Figure 2As shown, the finger mechanism 100 further comprises a first rope sleeve 5, which is arranged at one end of the first through hole 221 away from the adjusting member 31, that is, the first rope sleeve 5 is close to the second end 221b of the first through hole 221, and the first through hole 221 is sequentially provided with the first rope sleeve 5, the elastic member 33, the connecting member 32 and the adjusting member 31 from the second end 221b to the first end 221a; the first rope sleeve 5 is provided with a first hole 51, the rope 41 enters the first through hole 221 from the second end 221b and is connected with the connecting member 32 through the first hole 51; wherein the first rope sleeve 5 can limit the elastic member 33 to avoid the elastic member 33 from falling off from the second end 221b of the first through hole 221.

[0056] Wherein, the first rope sleeve 5 can be made of a material with high wear resistance, low friction coefficient and elasticity, the rope 41 passes through the first hole 51 in the first rope sleeve 5, the rope 41 will rub against the first rope sleeve 5, the first rope sleeve 5 can reduce the wear and fatigue of the rope 41 during movement, prolong the service life of the rope 41, and keep the rope 41 elastic and tensioned to improve the force control accuracy of the rope 41.

[0057] In a specific embodiment, the second finger segment 2 comprises a second sub-finger segment 22, and the first finger segment 1 is rotationally connected with the second sub-finger segment 22. In this embodiment, the finger mechanism 100 has two finger segments, which perform predetermined actions and tasks through the two finger segments.

[0058] In a specific embodiment, the second finger segment 2 comprises a first sub-finger segment 21 and a second sub-finger segment 22, one end of the first sub-finger segment 21 is rotationally connected with the first finger segment 1, and the other end of the first sub-finger segment 21 is rotationally connected with the second sub-finger segment 22; the first through hole 221 is arranged in the second sub-finger segment 22.

[0059] As Figures 1-4As shown, the second finger segment 2 comprises a first sub-finger segment 21 and a second sub-finger segment 22; in this embodiment, the finger mechanism 100 has three finger segments, namely the first finger segment 1, the first sub-finger segment 21 and the second sub-finger segment 22, in particular, one end of the first sub-finger segment 21 is rotatably connected with the first finger segment 1, the connection between the first sub-finger segment 21 and the first finger segment 1 is a joint, the first sub-finger segment 21 is relatively rotatable with the first finger segment 1 to adjust the angle between the first finger segment 1 and the first sub-finger segment 21, the other end of the first sub-finger segment 21 is rotatably connected with the second sub-finger segment 22, the connection between the first sub-finger segment 21 and the second finger segment 2 is a joint, the first sub-finger segment 21 is relatively rotatable with the second sub-finger segment 22 to adjust the angle between the first sub-finger segment 21 and the second sub-finger segment 22; wherein the first through hole 221 is formed in the second sub-finger segment 22, therefore, the second sub-finger segment 22 can be driven to rotate relative to the first sub-finger segment 21 by the rope 41, and the first sub-finger segment 21 can be indirectly driven to rotate relative to the first finger segment 1, therefore, the first finger segment 1, the first sub-finger segment 21 and the second sub-finger segment 22 are arranged in imitation of the three segments of human fingers, so as to perform predetermined actions and tasks by the first finger segment 1, the first sub-finger segment 21 and the second sub-finger segment 22, and the working range of the finger mechanism 100 is larger and the precision is higher.

[0060] In an alternative embodiment, a first torsion spring 7 is arranged at the connection between the first finger segment 1 and the first sub-finger segment 21; and / or a second torsion spring 8 is arranged at the connection between the second sub-finger segment 22 and the first sub-finger segment 21.

[0061] In a specific embodiment, a first torsion spring 7 is arranged at the connection between the first finger segment 1 and the first sub-finger segment 21.

[0062] In another specific embodiment, a second torsion spring 8 is arranged at the connection between the first sub-finger segment 21 and the second sub-finger segment 22.

[0063] In another specific embodiment, a first torsion spring 7 is arranged at the connection between the first finger segment 1 and the first sub-finger segment 21; and a second torsion spring 8 is arranged at the connection between the first sub-finger segment 21 and the second sub-finger segment 22. Taking this embodiment as an example, in particular, Figure 4As shown, the first finger segment 1 comprises a first connecting plate 11 and a second connecting plate 12, the first connecting plate 11 and the second connecting plate 12 are arranged at intervals, the first sub finger segment 21 comprises a third connecting plate 212 and a fourth connecting plate 213, the third connecting plate 212 and the fourth connecting plate 213 are arranged at intervals, the third connecting plate 212 and the fourth connecting plate 213 are arranged between the first connecting plate 11 and the second connecting plate 12, the first connecting plate 11, the second connecting plate 12, the third connecting plate 212 and the fourth connecting plate 213 are connected through a first rotating shaft A, the first sub finger segment 21 and the first finger segment 1 can rotate relative to each other, the first torsional spring 7 is arranged between the third connecting plate 212 and the fourth connecting plate 213, so that the first torsional spring 7 can realize accurate control and stable rotation between the first sub finger segment 21 and the first finger segment 1. The first sub finger segment 21 further comprises a fifth connecting plate 214 and a sixth connecting plate 215, the fifth connecting plate 214 and the sixth connecting plate 215 are arranged at intervals, the second sub finger segment 22 comprises a seventh connecting plate 222 and an eighth connecting plate 223, the seventh connecting plate 222 and the eighth connecting plate 223 are arranged at intervals, the seventh connecting plate 222 and the eighth connecting plate 223 are arranged between the fifth connecting plate 214 and the sixth connecting plate 215, the fifth connecting plate 214, the sixth connecting plate 215, the seventh connecting plate 222 and the eighth connecting plate 223 are connected through a second rotating shaft B, the second sub finger segment 22 and the first sub finger segment 21 can rotate relative to each other, the second torsional spring 8 is arranged between the seventh connecting plate 222 and the eighth connecting plate 223, and the second torsional spring 8 can realize accurate control and stable rotation between the first sub finger segment 21 and the second sub finger segment 22.

[0064] In an alternative embodiment, the first sub finger segment 21 is provided with a second through hole 211, and the rope 41 is arranged in the second through hole 211.

[0065] As shown in the figure, Figure 2 The first sub finger segment 21 is provided with a second through hole 211, and the rope 41 is arranged in the second through hole 211. The first connecting end 411 of the rope 41 is connected with the connecting piece 32 located in the first through hole 221. When the rope 41 drives the first sub finger segment 21 to rotate relative to the first finger segment 1, the rope 41 located in the second through hole 211 will also move relatively. After the first sub finger segment 21 rotates, it can avoid touching the rope 41, so as to avoid the rope 41 and the first sub finger segment 21 from being wound together.

[0066] In an alternative embodiment, the second through hole 211 is provided with a second rope sleeve 6.

[0067] As shown in the figure, Figure 2 The finger mechanism 100 further comprises a second rope sleeve 6, the second rope sleeve 6 is arranged in the second through hole 211, the second rope sleeve 6 is provided with a second hole 61, and the rope 41 is arranged in the second hole 61 and then enters the first through hole 221 to be connected with the connecting piece 32.

[0068] Among them, the second rope loop 6 can be made of a material with high wear resistance, low friction coefficient and elasticity. The rope 41 passes through the second hole 61 of the second rope loop 6, and the rope 41 will rub against the second rope loop 6. The second rope loop 6 can reduce the wear and fatigue of the rope 41 during movement, so as to extend the service life of the rope 41, and keep the rope 41 elastic and tensile, so as to improve the force control accuracy of the rope 41.

[0069] In an alternative embodiment, the rope 41 is made of polyacrylonitrile-based carbon fiber. In related art, the rope 41 is typically made of steel wire rope, but steel wire ropes can fatigue after long-term use. In the embodiment of the present application, the rope 41 made of polyacrylonitrile-based carbon fiber provides strong driving force and durability, thereby resolving the fatigue problem after long-term use.

[0070] In an optional embodiment, the drive assembly 4 includes a motor 42, a first gear 43, a second gear 44 and a storage tray 45, the first gear 43 is connected to the output shaft of the motor 42, the first gear 43 is engaged with the second gear 44, the storage tray 45 is coaxially arranged with the second gear 44, and the rope 41 includes a second connecting end 412, and the second connecting end 412 is provided on the storage tray 45.

[0071] like Figures 2-5 As shown, the drive assembly 4 also includes a motor 42, a first gear 43, a second gear 44 and a storage tray 45; wherein, the output shaft of the motor 42 is connected to the first gear 43, the axis of the first gear 43 intersects with the axis of the second gear 44, the first gear 43 is meshed with the second gear 44, and the first gear 43 and the second gear 44 have different rotation directions, thereby realizing direction conversion and meeting different transmission requirements; the second gear 44 and the storage tray 45 are coaxially arranged, that is, the second gear 44 and the storage tray 45 are coaxially installed, and the second connection end 412 of the rope 41 is arranged on the storage tray 45, and the storage tray 45 is used to store and release the rope 41, so as to drive the second finger segment 2 to rotate relative to the first finger segment 1.

[0072] To further explain, the motor 42 is arranged at the end of the first finger segment 1 away from the second finger segment 2, the first gear 43 is connected to the output shaft of the motor 42, the second gear 44 and the storage tray 45 are connected through the third rotating shaft C, and the two ends of the third rotating shaft C are arranged at the end of the first finger segment 1 away from the second finger segment 2, so the rope 41 will pass through the first finger segment 1, the first sub-finger segment 21 and the second sub-finger segment 22 to be connected.

[0073] According to a second aspect of the embodiments of the present application, a hand structure is provided, comprising a plurality of the finger mechanisms 100; the plurality of finger mechanisms 100 jointly act to achieve a function of grasping or operating.

[0074] According to a third aspect of the embodiments of the present application, a robot is provided, comprising a plurality of the finger mechanisms 100; or the hand structure.

[0075] Although some specific embodiments of the present application have been described in detail by way of example with reference to the drawings, it is to be understood that the above examples are intended to be illustrative only and the scope of the application is not to be limited to them. It will be apparent to those skilled in the art that various modifications can be made to the above embodiments without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A finger mechanism characterized by, The first finger segment comprises: The second finger segment is rotatably connected with the first finger segment, and the second finger segment is provided with a first through hole; The driving assembly comprises a rope, and the rope comprises a first connecting end; The adjusting assembly comprises an adjusting member and a connecting member, the connecting member is arranged in the first through hole and connected with the first connecting end, and the adjusting member is arranged in the first through hole and can move along the axial direction of the first through hole to adjust the position of the connecting member in the first through hole. At least part of the inner wall of the first through hole is provided with a thread, and the adjusting member is a screw rod matched with the thread.

2. The finger mechanism of claim 1, wherein The adjusting assembly further comprises an elastic member arranged in the first through hole, and the connecting member is located between the elastic member and the adjusting member.

3. The finger mechanism of claim 1, wherein The first through hole is provided with a first rope sleeve at the end away from the adjusting member, and the elastic member is located between the first rope sleeve and the connecting member.

4. The finger mechanism of claim 3, wherein The second finger segment comprises a first sub-finger segment and a second sub-finger segment, one end of the first sub-finger segment is rotatably connected with the first finger segment, and the other end of the first sub-finger segment is rotatably connected with the second sub-finger segment.

5. The finger mechanism of claim 1, wherein The first through hole is arranged in the second sub-finger segment. The first finger segment is provided with a first torsional spring at the connection with the first sub-finger segment; and / or 6. The finger mechanism of claim 5, wherein, The second sub-finger segment is provided with a second torsional spring at the connection with the first sub-finger segment. The first sub-finger segment is provided with a second through hole, and the rope is arranged in the second through hole.

7. The finger mechanism of claim 5, wherein A second rope sleeve is arranged in the second through hole.

8. The finger mechanism of claim 7, wherein, The rope is made of polyacrylonitrile-based carbon fiber material.

9. The finger mechanism of claim 1, wherein, The driving assembly comprises a motor, a first gear, a second gear and a receiving disc, the first gear is connected with the output shaft of the motor, the first gear is engaged with the second gear, the receiving disc is coaxially arranged with the second gear, the rope comprises a second connecting end, and the second connecting end is arranged in the receiving disc.

10. The finger mechanism of claim 1, wherein, The hand structure comprises a plurality of finger mechanisms as claimed in any one of claims 1-10.

11. A hand structure, characterized by The hand structure comprises:

12. A robot, characterized in that A plurality of finger mechanisms as claimed in any one of claims 1-10; or The hand structure as claimed in claim 11. ​ ​

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