Finger assembly of robot and dexterous hand

Abstract

The utility model discloses a finger assembly of a robot and a dexterous hand. The finger assembly of the robot comprises a far knuckle, a near knuckle and a driving unit. The far knuckles are fixedly connected with rotating seats, the rotating seats comprise embedding parts protruding out of the far knuckles, and the embedding parts are provided with first shaft holes and limiting surfaces located above the first shaft holes; the front end part of the near knuckle is provided with a containing groove for the embedding part to extend in, two sides of the containing groove respectively form a side wall, a rotating shaft is arranged between the two side walls, the rotating shaft transversely penetrates through the first shaft hole to pivot the embedding part at the front end of the near knuckle, the side wall is provided with a limiting flange extending towards the middle part of the containing groove, and the limiting flange is positioned above the limiting surface; the driving unit is used for driving the rotating seat to rotate around the rotating shaft. According to the finger assembly of the robot, extrusion to the near knuckles when the driving unit drives the rotating base to rotate can be prevented, the near knuckles are protected, the structure of the finger assembly of the robot is simplified, and the finger assembly can be conveniently assembled.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a finger subassembly and dexterous hand of robot. BACKGROUND

[0002] Dexterous hand is humanoid robot end execution subassembly, is used for imitating palm part of human body, carries out some more complex, accurate grasping action. Dexterous hand is generally according to the basic structure of human hand, sets up palm and multiple finger subassembly, finger subassembly generally is made of two or more than two knuckles, adjacent knuckles adopt rotatable structure and is hinged, and drive mechanism that drives two adjacent knuckles relative rotation is arranged, and limiting structure is usually needed to be arranged at adjacent knuckles, to limit the maximum rotation angle between adjacent knuckles to the direction of departing from palm heart, for example, the direction that directly away from palm is usually called as far knuckle, the direction that directly close to palm is usually called as near knuckle, far knuckle inner side end is hinged in near knuckle's outer side end, when grasping some small size object, by drive mechanism drive far knuckle relative near knuckle rotation to the direction of close to palm heart, when pushing some large size object, need make far knuckle keep in parallel or substantially parallel state with near knuckle, in order to avoid damage to drive mechanism, need to limit the relative rotation of far knuckle and near knuckle, to avoid far knuckle excessive rotation to the direction of departing from palm heart, in the finger subassembly of existing dexterous hand, the structure for limiting excessive rotation between far knuckle and near knuckle is relatively complex, lead to the overall structure of dexterous hand's finger subassembly complex, assembly difficulty is greater. SUMMARY

[0003] The utility model discloses at least solve one of the technical problems in the prior art, and for this purpose, the purpose of the utility model provides a finger subassembly and dexterous hand of robot to solve the prior art robot finger subassembly structure complex, assembly difficult problem.

[0004] The utility model discloses a technical scheme as follows to realize the purpose:

[0005] The finger subassembly of robot, its characterized in that, include far knuckle, near knuckle, drive unit;

[0006] Far knuckle is fixedly connected with a rotating seat, and the rotating seat includes the embedding portion that the rear end portion of far knuckle protrudes from the outside of far knuckle, and the embedding portion is provided with first shaft hole and the limiting surface located above first shaft hole;

[0007] The front end of the proximal phalanx is provided with a receiving groove for the insertion of the embedded part, two side walls are formed on both sides of the receiving groove, a rotating shaft is arranged between the two side walls, the rotating shaft crosses the first shaft hole to pivot the embedded part at the front end of the proximal phalanx, and a limiting flange extending towards the middle of the receiving groove is arranged on at least one side wall and located above the limiting surface to prevent the limiting surface from moving upward relative to the proximal phalanx when the limiting surface abuts below the limiting flange;

[0008] The driving unit is used to drive the rotating seat to rotate around the rotating shaft.

[0009] The finger assembly of the robot according to the embodiment of the utility model, since the receiving groove is arranged at the front end of the proximal phalanx, the embedded part protruding from the rear end of the distal phalanx can be embedded into the receiving groove, the distal phalanx and the proximal phalanx are pivoted together, the limiting surface on the embedded part cooperates with the limiting flange of the side of the receiving groove, the maximum angle of the upward swing of the distal phalanx is limited and positioned, the extrusion of the proximal phalanx caused by the driving unit driving the rotating seat 11 to rotate is prevented, the proximal phalanx is protected, meanwhile, the structure of the finger assembly of the robot is simplified, and the finger assembly can be conveniently assembled.

[0010] In the preferred embodiment, a top wall is connected between the top portions of the two side walls, a limiting end surface is formed at the front end of the top wall, a cooperating surface is formed at the upper portion of the rear end of the distal phalanx, when the limiting surface abuts below the limiting flange, the cooperating surface abuts the limiting end surface to prevent the distal phalanx from swinging upward relative to the proximal phalanx by the cooperation of the limiting end surface and the cooperating surface. The limiting surface and the limiting flange cooperate to prevent the distal phalanx from swinging upward excessively, and the limiting end surface and the cooperating surface cooperate to prevent the distal phalanx from swinging upward excessively, which can disperse stress and further protect the proximal phalanx from being extruded and deformed; in addition, the top wall and the two side walls enclose the receiving groove into a U-shaped structure with an open bottom, which provides sufficient space for the rotation of the rotating seat, so that the distal phalanx has sufficient space when swinging downward relative to the proximal phalanx.

[0011] In the preferred embodiment, an installation cavity is formed in the proximal phalanx, an opening is formed at the front end of the installation cavity, the driving unit is installed in the installation cavity, and the portion of the installation cavity between the opening and the driving unit forms the receiving groove. The proximal phalanx is arranged in a hollow structure, so that the driving unit can be placed inside the proximal phalanx, and the proximal phalanx and the driving unit form a modular structure, which is suitable for the index finger, the middle finger, the ring finger and the little finger of the dexterous hand, improves the universality of parts among different finger assemblies in the dexterous hand, and in addition, the portion at the front end of the installation cavity is directly used to form the receiving groove for accommodating the embedded part, which simplifies the structure of the proximal phalanx and the distal phalanx.

[0012] In the preferred embodiment, the driving unit comprises a motor, a speed reducer, a screw rod, and a movable rod. The output shaft of the motor is connected to the input end of the speed reducer, the screw rod is connected to the output end of the speed reducer, and the movable rod is provided with a nut arranged on the screw rod and threadedly connected with the screw rod. The front end of the movable rod is pivotally connected to the rotating seat. When the motor is started, the rotating seat is swung by the forward and backward movement of the movable rod, and the rotation of the distal phalanx relative to the proximal phalanx is realized. Since the screw rod transmission mechanism is adopted, the distance of the forward and backward movement of the movable rod can be accurately controlled, and the rotation angle of the distal phalanx is more accurate.

[0013] In the preferred embodiment, the rotating seat is provided with a second shaft hole below the first shaft hole, and the front end of the movable rod is pivotally connected to the rotating seat through a pivot inserted into the second shaft hole. The pivot is arranged below the rotating shaft in the first shaft hole, and the movable rod is connected to the rotating seat at the bottom of the rotating seat, avoiding interference between the movable rod and the embedded part during forward and backward movement, and ensuring the flexibility of the relative rotation of the distal phalanx and the proximal phalanx.

[0014] In the preferred embodiment, the proximal phalanx comprises two left and right opposed shells, and two side walls are arranged on the two shells. The top of the two side walls is bent inward and is spliced with each other to form a top wall. The two shells are fixedly connected together in a detachable manner. During assembly, the two shells are mounted from the two sides of the driving unit and the rotating seat. The two shells enclose the above-mentioned mounting chamber, and the driving unit and the rotating seat are wrapped between the two shells. In this way, the assembly of the driving unit, the rotating seat and the proximal phalanx can be facilitated.

[0015] In the preferred embodiment, the inner surface of the side wall is provided with a connecting boss, and the front end of the two shells is provided with a connecting block. The connecting block is arranged below the top wall and located in front of the connecting bosses on the two side walls. The connecting block and the two connecting bosses are fixedly connected together by screws, and the front side of the connecting block is flush with the limiting end face. By arranging the connecting block at the front end of the two shells, the front ends of the two shells are fixed together. At the same time, the front side of the connecting block is arranged flush with the limiting end face, so that the connecting block and the limiting end face form a plane. The plane cooperates with the cooperation surface of the distal phalanx to limit the maximum angle of upward rotation of the distal phalanx relative to the proximal phalanx. In this way, when the distal phalanx is upwardly rotated relative to the proximal phalanx to the maximum angle, the contact area between the distal phalanx and the proximal phalanx is larger, which better disperses stress to reduce the deformation of the distal phalanx caused by excessive rotation.

[0016] In the preferred embodiment, the rear end of the distal phalanx is provided with a mounting groove, and a part of the rotating seat is arranged in the mounting groove and detachably fixed with the distal phalanx. When the rotating seat is worn out after long-term use and the accuracy is low, a new rotating seat can be replaced to improve the accuracy of the finger assembly.

[0017] In the preferred embodiment, the rotating seat is provided with a connecting arm extending upward from the front end of the limiting surface, the connecting arm is abutted on the front end surface of the mounting groove and fixed to the front end surface of the mounting groove by screws. The rotating seat is connected to the bottom wall of the mounting groove by screws, so that the rotating seat and the distal phalanx are stably connected together.

[0018] Dexterous hand, including the finger assembly of the robot described above.

[0019] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the present application, and together with the description of the exemplary embodiments of the present application, serve to explain the present application, and do not constitute an improper limitation on the present application. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is an assembly schematic view of the present application;

[0021] Figure 2 is a structural schematic view of the present application;

[0022] Figure 3 is Figure 1 is a structural schematic view of the middle and distal phalanges;

[0023] Figure 4 is Figure 1 is an assembly schematic view of the middle and distal phalanges;

[0024] Figure 5 is a working state schematic view of the present application;

[0025] Figure 6 is another working state schematic view of the present application.

[0026] In the drawings: 10, distal phalanx; 101, mounting groove; 102, matching surface; 11, rotating seat; 12, embedded part; 121, limiting surface; 122, connecting arm; 123, screw; 13, rotating shaft; 14, pivot; 20, proximal phalanx; 201, accommodating groove; 202, mounting chamber; 21, shell; 211, side wall; 212, top wall; 2121, limiting end surface; 213, limiting flange; 214, connecting boss; 22, connecting block; 23, screw; 31, motor; 32, speed reducer; 33, screw rod; 34, movable rod; 35, nut. DETAILED DESCRIPTION

[0027] The utility model is further described below in combination with the drawings and specific embodiments. It should be noted that the embodiments described below or the technical features thereof can be combined to form new embodiments without conflict. Except for special description, the materials and equipment used in the embodiments can be purchased from the market. The embodiments are shown in the drawings, in which the same or similar notations mean the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the application and cannot be understood as a limitation on the application.

[0028] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified and limited.

[0029] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "communicated", "connected" should be understood in a broad sense, for example, it can be fixedly connected, or connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0030] The terms "first", "second", and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] Please refer to Figures 1-6As shown, the robot finger assembly of the utility model includes far knuckle 10, near knuckle 20 and drive unit, the rear end of far knuckle 10 is fixedly connected with a rotating seat 11, a part of rotating seat 11 is placed inside far knuckle 10, another part is formed by the rear end of far knuckle 10 and is protruded and is placed in the embedded part 12 outside far knuckle 10, first shaft hole is arranged on embedded part 12, first shaft hole extends from one side of embedded part 12 to the other side, limiting surface 121 above first shaft hole is arranged on embedded part 12;The front end of near knuckle 20 is provided with a containing groove 201, the both sides of containing groove 201 form a side wall 211 respectively, rotating shaft 13 is arranged between the both side walls 211, rotating shaft 13 crosses first shaft hole, so that the front end of near knuckle 20 and embedded part 12 are pivoted together, rotating seat 11 can rotate relative to near knuckle 20 around rotating shaft 13, limiting flange 213 extending towards the middle part of containing groove 201 is arranged on the inner surface of side wall 211, limiting flange 213 is above limiting surface 121, when rotating seat 11 rotates upwards to the limit position relative to near knuckle 20, limiting surface 121 is abutted below limiting flange 213, limiting flange 213 is used to prevent limiting surface 121 from continuing to move upwards relative to near knuckle 20, that is, limiting flange 213 and limiting surface 121 are used to cooperate, can limit far knuckle 10 when far knuckle 10 rotates upwards to the limit position relative to near knuckle 20, so that the angle of far knuckle 10 rotating upwards relative to near knuckle 20 is accurately positioned.Drive unit is used to drive rotating seat 11 to rotate around rotating shaft 13, so that far knuckle 10 can rotate relative to near knuckle 20.

[0032] Referring to Figure 5 As shown, when far knuckle 10 swings upwards to the maximum angle relative to near knuckle 20, limiting surface 121 is abutted on the lower surface of limiting flange 213, so as to prevent far knuckle 10 from swinging upwards excessively relative to near knuckle 20. Figure 6 The state when far knuckle 10 swings downwards relative to near knuckle 20 is shown.

[0033] In the utility model, the containing groove 201 is arranged at the front end of near knuckle 20, the embedded part 12 protruding from the rear end of far knuckle 10 can be embedded into the containing groove 201, far knuckle 10 and near knuckle 20 are pivoted together, limiting surface 121 on embedded part 12 cooperates with limiting flange 213 on the side of containing groove 201, the maximum angle of far knuckle 10 swinging upwards is limited and positioned, the extrusion of near knuckle 20 caused by drive unit driving rotating seat 11 to rotate is prevented, the protection of near knuckle 20 is realized, meanwhile, the structure of robot finger assembly is simplified, the finger assembly can be conveniently assembled.

[0034] It should be noted that the limiting flange 213 can be arranged on the inner surface of one of the side walls 211, and the lower surface of the limiting flange 213 can be arranged as a plane. The limiting surface 121 is a plane formed by extending the side of the embedding portion 12 inwardly, and the limiting surface 121 and the limiting flange 213 can have a large contact area when they contact each other, thereby avoiding local stress concentration when they are pressed against each other. Of course, in order to further disperse the stress, the limiting flange 213 can be arranged on the inner surface of both side walls 211, and one limiting surface 121 can be arranged on each side of the embedding portion 12.

[0035] In the preferred embodiment, the top portions of the two side walls 211 are connected by a top wall 212, and the front end of the top wall 212 forms a limiting end surface 2121. The upper part of the rear end of the distal phalanx 10 forms a matching surface 102. When the limiting surface 121 abuts below the limiting flange 213, the matching surface 102 abuts on the limiting end surface 2121. The limiting end surface 2121 cooperates with the matching surface 102 to prevent the distal phalanx 10 from swinging upward relative to the proximal phalanx 20. The limiting surface 121 cooperates with the limiting flange 213 to prevent the distal phalanx 10 from swinging upward excessively, and the limiting end surface 2121 cooperates with the matching surface 102 to prevent the distal phalanx 10 from swinging upward excessively, thereby dispersing the stress and further protecting the proximal phalanx 20 from being pressed and deformed. In addition, the top wall 212 and the two side walls 211 form a U-shaped structure with an open bottom, which provides sufficient space for the rotation of the rotating seat 11, so that the distal phalanx 10 has sufficient space when it swings downward relative to the proximal phalanx 20.

[0036] The proximal phalanx 20 is of a hollow structure, and an installation chamber 202 is formed in the interior of the proximal phalanx 20. The front end of the installation chamber 202 forms an opening, and the driving unit is installed in the installation chamber 202. The portion of the installation chamber 202 between the front end opening and the driving unit forms the above-mentioned accommodating groove 201. The proximal phalanx 20 is arranged as a hollow structure, so that the driving unit can be placed inside the proximal phalanx 20, and the proximal phalanx 20 and the driving unit form a modular structure. This modular structure is suitable for the index finger, middle finger, ring finger and little finger of the dexterous hand, and improves the universality of components among different finger assemblies of the dexterous hand. In addition, the portion at the front end of the installation chamber 202 is used to form the accommodating groove 201 for accommodating the embedding portion 12, thereby simplifying the structure of the joint between the proximal phalanx 20 and the distal phalanx 10.

[0037] The driving unit comprises a motor 31, a speed reducer 32, a screw rod 33 and a movable rod 34. The output shaft of the motor 31 is connected to the input end of the speed reducer 32, the screw rod 33 is connected to the output end of the speed reducer 32, and the movable rod 34 is provided with a nut 35 arranged on the screw rod 33 and threadedly matched with the screw rod 33. The front end of the movable rod 34 is pivotally connected with the rotating seat 11. When the motor 31 is started, the rotating seat 11 is swung through the forward and backward movement of the movable rod 34, so as to realize the rotation of the distal phalanx 10 relative to the proximal phalanx 20. Since the screw rod transmission mechanism is adopted, the distance of the forward and backward movement of the movable rod 34 can be accurately controlled, and then the rotation angle of the distal phalanx 10 is more accurate. In other embodiments, the driving unit does not necessarily adopt the screw rod transmission mechanism, but can directly adopt some driving mechanisms capable of realizing linear motion, such as linear electric cylinders or the like.

[0038] The rotating seat 11 is provided with a second shaft hole located below the first shaft hole. The front end of the movable rod 34 is pivotally connected with the rotating seat 11 through a pivot 14 penetrating the second shaft hole. The pivot 14 is arranged below the rotating shaft 13 located in the first shaft hole. The movable rod 34 can be connected with the rotating seat 11 at the bottom of the rotating seat 11, so as to avoid the interference between the movable rod 34 and the embedded part 12 during the forward and backward movement of the movable rod 34, and ensure the flexibility of the relative rotation between the distal phalanx 10 and the proximal phalanx 20.

[0039] In order to facilitate assembly, the proximal phalanx 20 is arranged in an assembly structure. Specifically, the proximal phalanx 20 comprises two left and right opposed shells 21, and two side walls 211 are respectively arranged on the two shells 21. The top of the side wall 211 is inwardly bent. After the two shells 21 are abutted to each other, the top bent portions of the two side walls 211 are abutted to each other to form a top wall 212. The two shells 21 are fixed together in a detachable manner. During assembly, the two shells 21 are respectively mounted from the two sides of the driving unit and the rotating seat 11. The driving unit and the rotating seat 11 are wrapped between the two shells 21 by using the two shells 21 to form the above-mentioned mounting chamber 202. In this way, the assembly of the driving unit, the rotating seat 11 and the proximal phalanx 20 can be facilitated.

[0040] A connecting boss 214 is arranged on the inner surface of the side wall 211, a connecting block 22 is arranged between the front ends of the two shells 21, the connecting block 22 is arranged below the top wall 212 and on the front side of the connecting boss 214 on the two side walls 211, two screws 23 are threaded through the connecting block 22, and the two screws 23 are screwed on the two connecting bosses 214 respectively after penetrating through the connecting block 22, the screw 23 is tightened, the connecting block 22 is fastened with the two connecting bosses 214, and the front side surface of the connecting block 22 is flush with the limiting end surface 2121. The front ends of the two shells 21 are fixed together through the connecting block 22 arranged at the front ends of the two shells 21, and the front side surface of the connecting block 22 is arranged flush with the limiting end surface 2121, so that the connecting block 22 can form a plane with the limiting end surface 2121, the plane cooperates with the cooperation surface 102 of the distal phalanx 10, the maximum angle of upward rotation of the distal phalanx 10 relative to the proximal phalanx 20 is limited, and thus when the distal phalanx 10 rotates upward relative to the proximal phalanx 20 to the maximum angle, the contact area of the distal phalanx 10 and the proximal phalanx 20 is larger, and the stress is better dispersed, so that the deformation of the distal phalanx 10 due to excessive rotation is reduced.

[0041] The rear end of the distal phalanx 10 is provided with a mounting groove 101, a part of the rotating seat 11 is arranged in the mounting groove 101, and the rotating seat 11 is detachably fixed with the distal phalanx 10; when the rotating seat 11 is worn for a long time and the precision is low, a new rotating seat 11 can be replaced, so that the precision of the finger assembly is improved.

[0042] The rotating seat 11 is provided with a connecting arm 122 extending upward from the front end of the limiting surface 121, the connecting arm 122 abuts against the front end surface of the mounting groove 101, a screw 123 is threaded through the connecting arm 122, and the screw 123 is screwed on the front end surface of the mounting groove 101 after penetrating through the connecting arm 122. The screw 123 is used to connect the rotating seat 11 to the bottom wall of the mounting groove 101, so that the rotating seat 11 and the distal phalanx 10 are stably connected together.

[0043] The dexterous hand of the utility model comprises the finger assembly of the robot, other structures of the dexterous hand are same with prior art, and detailed description is not made here.

[0044] Although only some parts and embodiments of the present application have been illustrated and described, many modifications and changes can be conceived by those skilled in the art without departing from the scope and spirit of the claims, for example: changes in size, dimension, structure, shape and proportion, mounting arrangement, material use, color, orientation, etc.

[0045] The above implementation is only a preferred embodiment of the present application, and cannot be used to limit the scope of protection of the present application. Any non-substantial changes and substitutions made by those skilled in the art on the basis of the present application are within the scope of protection of the present application.

Claims

1. A finger assembly for a robot, characterized in that The far phalanx, the near phalanx, and the driving unit; The far phalanx is fixedly connected with a rotating seat, the rotating seat includes an embedded part protruding from the rear end of the far phalanx, the embedded part is provided with a first shaft hole and a limiting surface above the first shaft hole; The front end of the near phalanx is provided with a receiving groove for the embedded part to extend into, two side walls are respectively formed on the two sides of the receiving groove, a rotating shaft is arranged between the two side walls, the rotating shaft crosses the first shaft hole to pivotally connect the embedded part to the front end of the near phalanx, at least one side wall is provided with a limiting flange extending towards the middle part of the receiving groove, the limiting flange is located above the limiting surface to prevent the limiting surface from moving upward relative to the near phalanx when the limiting surface abuts below the limiting flange; The driving unit is used to drive the rotating seat to rotate around the rotating shaft.

2. The robotic finger assembly of claim 1, wherein, A top wall is connected between the top parts of the two side walls, the front end of the top wall forms a limiting end surface, the upper part of the rear end of the far phalanx forms a matching surface, when the limiting surface abuts below the limiting flange, the matching surface abuts the limiting end surface to prevent the far phalanx from swinging upward relative to the near phalanx by the cooperation of the limiting end surface and the matching surface.

3. The robotic finger assembly of claim 2, wherein, A mounting cavity is formed in the near phalanx, the front end of the mounting cavity forms an opening, the driving unit is mounted in the mounting cavity, and the part of the mounting cavity between the opening and the driving unit forms the receiving groove.

4. The robotic finger assembly of claim 3, wherein, The driving unit includes a motor, a speed reducer, a lead screw, and a movable rod, the output shaft of the motor is connected to the input end of the speed reducer, the lead screw is connected to the output end of the speed reducer, the movable rod is provided with a nut arranged on the lead screw and threadedly matched with the lead screw, and the front end of the movable rod is pivotally connected to the rotating seat.

5. The robotic finger assembly of claim 4, wherein, The rotating seat is provided with a second shaft hole below the first shaft hole, and the front end of the movable rod is pivotally connected to the rotating seat through a pivot penetrating into the second shaft hole.

6. The robotic hand assembly of claim 3, wherein, The near phalanx includes two left and right opposed shells, the two side walls are respectively arranged on the two shells, the top parts of the two side walls are bent inward and are spliced with each other to form the top wall, and the two shells are fixedly connected together in a detachable manner.

7. The robotic finger assembly of claim 6, wherein, The inner surface of the side wall is provided with a connecting boss, the front end of the two shells is provided with a connecting block, the connecting block is arranged below the top wall and on the front side of the connecting boss on the side wall, the connecting block and the two connecting bosses are fixedly connected together through screws, and the front side surface of the connecting block is flush with the limiting end surface.

8. The robotic hand assembly of claim 1, wherein, The rear end of the far phalanx is provided with a mounting groove, a part of the rotating seat is arranged in the mounting groove and detachably fixed with the far phalanx.

9. The robotic finger assembly of claim 8, wherein, The rotating seat is provided with a connecting arm extending upward from the front end of the limiting surface, the connecting arm abuts against the front end surface of the mounting groove and is fixed to the front end surface of the mounting groove through screws.

10. Dexterous hand characterized in that, The finger assembly of the robot of any one of claims 1-9.

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