Finger structure and robot

Abstract

The utility model provides a finger structure and a robot. The finger structure comprises: a frame; the first knuckle is hinged to the rack through a first hinge part; the second knuckles are hinged to the first knuckles through second hinge parts; the third knuckles are hinged to the second knuckles through third hinge parts; the driving assembly is arranged on the rack and used for driving the first knuckles to rotate around the first direction or a second direction opposite to the first direction; the first end of the first tendon rope is connected with the rack, and the second end of the first tendon rope sequentially bypasses the first hinge part and the second hinge part in the first direction and the second direction and then is connected with the second knuckle; the first end of the second tendon rope is connected with the second knuckle, and the second end of the second tendon rope is connected with the third knuckle after bypassing the second hinge part and the third hinge part in the first direction and the second direction in sequence; when the driving assembly drives the first knuckles to rotate in the first direction, the first tendon ropes pull the second knuckles to rotate in the first direction, and the second tendon ropes pull the third knuckles to rotate in the first direction.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a finger structure and a robot. Background Technology

[0002] A dexterous hand is the end effector of a humanoid robot. Its finger structure has high flexibility and functionality. By simulating the proximal, middle and distal phalanges of a human hand, it can control the flexion and extension movements of each phalange through a transmission mechanism to achieve complex movements such as bending, extending and grasping, which are similar to those of a human hand.

[0003] In the design of finger transmission mechanisms for dexterous hands, tendon-wire transmission and linkage transmission are currently the most widely used transmission methods. Tendon-wire transmission simulates the tendon structure of the human hand, transmitting the motion of the actuator through tendon-wires; linkage transmission transmits motion and torque through multiple linkages connected in series and parallel.

[0004] Of the two methods mentioned above, tendon-wire transmission suffers from insufficient control precision, poor durability, and insufficient rigidity, resulting in insufficient control precision and weak grasping force of the dexterous hand; while linkage transmission has a complex structure, which leads to a larger weight and size of the dexterous hand, and poor adaptability when grasping irregular objects. Utility Model Content

[0005] This application mainly provides a finger structure and a machine. The technical solution of this application is implemented as follows:

[0006] In a first aspect, a finger structure is provided, comprising: a frame; a first phalanx hinged to the frame via a first hinge portion; a second phalanx hinged to the end of the first phalanx away from the first hinge portion via a second hinge portion; a third phalanx hinged to the end of the second phalanx away from the second hinge portion via a third hinge portion; the rotation axes of the first hinge portion, the second hinge portion, and the third hinge portion are parallel; a drive assembly disposed on the frame for driving the first phalanx to rotate about the first hinge portion in a first direction or a second direction opposite to the first direction; and a first tendon ligament, the first end of which is connected to the frame. The first finger joint is connected to the second finger joint by a second tendon cord, which passes through the first and second hinge portions in sequence along the first and second directions and then connects to the second finger joint. The second tendon cord has a first end connected to the second finger joint and a second end passing through the second and third hinge portions in sequence along the first and second directions and then connects to the third finger joint. When the drive assembly drives the first finger joint to rotate in the first direction, the first tendon cord pulls the second finger joint to rotate relative to the first finger joint in the first direction, and the second tendon cord pulls the third finger joint to rotate relative to the second finger joint in the first direction.

[0007] In the technical solution provided in this application embodiment, a hybrid drive system using a drive assembly and tendon cords is employed. The drive assembly drives the movement of the first phalanx, achieving a large force output with high rigidity and rapid response, thus enhancing the structure's durability and bending resistance. The second and third phalanxes are driven by tendon cords, which offer high flexibility, resulting in high transmission efficiency and reduced end-effector load and inertia, saving space and better aligning with the biomimetic design concept of dexterous fingers.

[0008] In some embodiments, the finger structure further includes: a first elastic member disposed between the first phalanx and the second phalanx, for providing a first restoring force to the second phalanx along the second direction; and a second elastic member disposed between the second phalanx and the third phalanx, for providing a second restoring force to the third phalanx along the second direction.

[0009] In some embodiments, the first elastic element includes a tension spring and a third tendon cord, the first end of the tension spring being fixedly connected to the first phalanx, the first end of the third tendon cord being connected to the second end of the tension spring, and the second end of the third tendon cord being connected to the second phalanx after passing around the second hinge portion along the first direction; the second elastic element includes a torsion spring sleeved on the third hinge portion, and the two ends of the torsion spring being respectively engaged with the second phalanx and the third phalanx.

[0010] Based on the aforementioned technical means, a first elastic element and a second elastic element are set up to apply tension force towards the back of the hand to the entire finger, ensuring that each phalanx has a tension force opposite to the driving direction in every movement posture, thus ensuring stable and gapless movement. The first elastic element, which is composed of a spring and tendon cord connection, can provide tension force to the first phalanx. At the same time, when the second and third phalanxes are subjected to collisions with the outside world, the spring connected by the tendon cord will be stretched, transferring the external impact to the elastic potential energy of the spring, resulting in high collision safety.

[0011] In some embodiments, the frame includes a fixed support and a swing bracket, the swing bracket being hinged to the fixed support via a fourth hinge portion, the axis of the fourth hinge portion being perpendicular to the axis of the first hinge portion, and a first end of the first tendon cord being anchored to the swing bracket; the first hinge portion being formed between the swing bracket and the first phalanx; the drive assembly is configured to: drive the first phalanx to rotate about a first direction or a second direction, and / or drive the first phalanx to rotate about the fourth hinge portion in a third direction or a fourth direction opposite to the third direction.

[0012] Based on the above technical means, by setting a swing bracket in the frame and connecting the first finger joint to the swing bracket, multiple finger joints can swing in addition to bending, which enriches the function of the finger structure and is more in line with the bionic design concept.

[0013] In some embodiments, the finger structure further includes: a first winch, disposed at one end of the swing bracket near the first phalanx or at one end of the first phalanx near the swing bracket, the first hinge portion including the first winch; a second winch, disposed at one end of the second phalanx near the first phalanx or at one end of the first phalanx near the second phalanx, the second hinge portion including the second winch; a third winch, disposed at one end of the first phalanx near the second phalanx or at one end of the second phalanx near the first phalanx, the second hinge portion including the third winch; and a fourth winch, disposed at one end of the third phalanx near the second phalanx or at one end of the second phalanx near the third phalanx, the third hinge portion including the third winch. The fourth winch is included; the first tendon cord is wound around the outside of the first winch along the first direction and around the outside of the second winch along the second direction; the rotation angle of the second phalanx relative to the first phalanx along the first direction is related to the rotation angle of the first phalanx along the first direction, the diameter of the first winch, and the diameter of the second winch; the second tendon cord is wound around the outside of the third winch along the first direction and around the outside of the fourth winch along the second direction; the rotation angle of the third phalanx relative to the second phalanx along the first direction is related to the rotation angle of the second phalanx relative to the first phalanx along the first direction, the diameter of the third winch, and the diameter of the fourth winch.

[0014] Based on the above technical means, by setting multiple winches, each tendon rope is wound around a different winch. By reasonably setting the diameter of each winch, the rotation angle of each phalanx and the magnitude of the first restoring force can be controlled, so that the rotation angle of the finger structure can be flexibly adjusted to meet a wider range of movement trajectory requirements.

[0015] In some embodiments, the finger structure further includes: a guide wheel rotatably connected to the first phalanx, the guide wheel being located between a first end and a second end of the first phalanx; a first tendon cord wound around the outside of the guide wheel along a first direction, a second tendon cord wound around the outside of the guide wheel along a second direction, the first end of the second tendon cord being located between the first end of the first phalanx and the guide wheel; and the rotation angle of the second phalanx along the first direction and the rotation angle of the third phalanx relative to the second phalanx along the first direction being related to the diameter of the guide wheel.

[0016] In some embodiments, the driving component of the finger structure includes a first driving unit and a second driving unit, both of which are connected to the first phalanx; the driving component is configured such that: the first driving unit and the second driving unit move synchronously to drive the first phalanx to rotate about a first direction or a second direction; and / or, the first driving unit and the second driving unit move asynchronously to drive the first phalanx to rotate about the fourth hinge portion about a third direction or a fourth direction opposite to the third direction.

[0017] Based on the above technical means, the driving component is set as two driving units that can operate independently. By controlling the synchronization of the movement of the two driving units, the bending and swinging of the finger structure can be controlled and switched.

[0018] In some embodiments, the first drive unit includes a first push rod module and a first connecting rod. The fixed end of the first push rod module is fixedly connected to the fixed support, the movable end of the first push rod module is connected to the first end of the first connecting rod via a first ball joint, and the second end of the first connecting rod is connected to the first knuckle via a second ball joint. The second drive unit includes a second push rod module and a second connecting rod. The fixed end of the second push rod module is fixedly connected to the fixed support, the movable end of the second push rod is connected to the first end of the second connecting rod via a third ball joint, and the second end of the second connecting rod is connected to the first knuckle via a fourth ball joint. The second ball joint and the fixed end of the first connecting rod are connected to the first knuckle via a fourth ball joint. The line connecting the centers of the fourth ball joint is in the same direction as the axis of the first hinge portion; the first drive unit and the second drive unit are configured such that: the output ends of the first push rod module and the output ends of the second push rod module move synchronously, driving the first knuckle to rotate around the first hinge portion in a first direction or a second direction; and / or, the output ends of the first push rod module and the output ends of the second push rod module move asynchronously, driving the first knuckle to rotate around the fourth hinge portion in a third direction or a fourth direction opposite to the third direction; the first push rod module and the second push rod module are any one of electric push rods, pneumatic push rods, or hydraulic push rods.

[0019] Based on the above technical means, by using two parallel push rod modules and controlling the synchronization of the movement of the two push modules, the finger structure can achieve compound movement in different directions, thus increasing the application range of the finger structure.

[0020] In some embodiments, the finger structure further includes a fifth winch, disposed at one end of the second phalanx near the first phalanx or at one end of the first phalanx near the second phalanx, the second hinge portion including the fifth winch; the third tendon cord is wound around the outside of the fifth winch along the first direction, and the magnitude of the first restoring force is related to the diameter of the fifth winch.

[0021] In some embodiments, the first phalanx includes a first phalanx housing and a first fingertip sensor, the first fingertip sensor being disposed along the first direction on a side close to the frame; the second phalanx includes a second phalanx housing and a second fingertip sensor, the second fingertip sensor being disposed along the first direction on a side close to the frame; the third phalanx includes a third phalanx housing and a third fingertip sensor, the third fingertip sensor being disposed along the first direction on a side close to the frame.

[0022] In a second aspect, a robot is provided, including the finger structure as described in the first aspect. Attached Figure Description

[0023] Figure 1 A schematic structural diagram of a finger structure provided in an embodiment of this application;

[0024] Figure 2 for Figure 1 View from direction A;

[0025] Figure 3 A schematic structural diagram of a finger structure in a bent state, provided for an embodiment of this application;

[0026] Figure 4 for Figure 1 View from direction B;

[0027] Figure 5 for Figure 1 The C-direction view;

[0028] Figure 6 A schematic structural diagram of a finger structure provided in another embodiment of this application;

[0029] The names and labels in the figure are as follows:

[0030] Finger structure 10, frame 101, first phalanx 102, second phalanx 103, third phalanx 104, drive assembly 105, first drive unit 105A, second drive unit 105B, first tendon ligament 106, second tendon ligament 107, first hinge part 108, second hinge part 109, third hinge part 110, first elastic element 111, second elastic element 112, fourth hinge part 113, first winch 114, second winch 115, third winch 116, fourth winch 117, fifth winch 118, guide wheel 119, fixed support 1011, swing bracket 10 12. First knuckle housing 1021, first fingertip sensor 1022, second knuckle housing 1031, second fingertip sensor 1032, third knuckle housing 1041, third fingertip sensor 1042, first push rod module 1051A, first connecting rod 1052A, first ball joint 1053A, second ball joint 1054A, second push rod module 1051B, second connecting rod 1052B, third ball joint 1053B, fourth ball joint 1054B, first slide rail 10551A, first slider 10552A, second slide rail 10551B, second slider 10552B. Detailed Implementation

[0031] The technical solution of this application will be further described in detail below through embodiments and with reference to the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of this application with reference to the accompanying drawings is intended to explain the overall concept of this application and should not be construed as a limitation of this application.

[0032] With the rapid development of science and technology, new technological growth points are emerging one after another, and embodied intelligent robots that replace humans in performing complicated and repetitive tasks have also come onto the stage.

[0033] Most existing robotic finger technologies draw inspiration from the anatomical structure of the human hand, employing a multi-joint, multi-degree-of-freedom biomimetic design to simulate the proximal, middle, and distal phalanges of the human hand, achieving flexible grasping and manipulation through the flexion and extension movements of each phalange.

[0034] In related technologies, some dexterous hands employ fully actuated or underactuated schemes, achieving independent control of each joint through complex transmission mechanisms. While these methods can perform precise operations, they generally suffer from problems such as complex mechanical structures, high manufacturing costs, difficulty in control, and inconvenient maintenance. Furthermore, in terms of force feedback and adaptive grasping, existing designs often struggle to fully perceive the geometry and physical properties of objects, thus limiting their effectiveness in complex grasping tasks.

[0035] In the design of finger transmission mechanisms for dexterous hands, common transmission methods include chord drive, linkage drive, pneumatic, hydraulic, and direct motor drive. Among these, chord drive and linkage drive are currently the most widely used transmission methods.

[0036] Tendon-and-wire drives, mimicking the tendon structure of the hand, transmit the motion of the actuator via tendon-and-wire cables. This allows the actuator to be located away from the actuator, reducing end-effector load and inertia, and increasing gripping speed. They are suitable for applications with limited space and requiring multiple degrees of freedom. Linkage drives, on the other hand, transmit motion and torque through multiple links connected in series and parallel. They feature high rigidity and low hysteresis, making them suitable for applications requiring high load-bearing capacity.

[0037] Both of the above transmission methods can meet the movement requirements of the dexterous hand finger mechanism, but some problems still exist.

[0038] For the fully chord-driven method, firstly, the chord drive has insufficient control precision, affecting the dexterity of the hand; secondly, the durability of the fully chord transmission mechanism is poor, and frequent friction between the chords and other components affects the lifespan of the chords; thirdly, the consistency of multiple chords in the same dexterity hand is poor, and the chords need to be tensioned frequently during use to avoid affecting precision and flexibility; finally, the rigidity of the fully chord-driven method is insufficient, resulting in a smaller grasping force of the dexterity hand.

[0039] For pure linkage mechanisms, their complex structure and high manufacturing precision requirements increase the difficulty of design and manufacturing. Secondly, pure linkage structures result in a larger weight and size for the dexterous hand, affecting its flexibility and adaptability. Thirdly, linkage structures have poor adaptability when grasping irregular objects, and due to their high rigidity, they are prone to collision damage when interacting with the outside world, which can easily cause damage to both the dexterous hand and the external environment.

[0040] In some related technologies, dexterous finger joints can also use a direct-drive transmission method with a rotary joint motor. However, this method results in a large joint inertia, which slows down the response speed and affects the overall performance. Furthermore, these motors are usually large in size, and the limited volume leads to a smaller grasping force, making it difficult to meet the slender appearance design requirements of dexterous fingers.

[0041] Therefore, how to improve the adaptability and flexibility of dexterous fingers while maintaining high rigidity has become an urgent problem to be solved.

[0042] To address the aforementioned technical problems, this application proposes a two-degree-of-freedom finger mechanism with a hybrid tendon-chord linkage drive. Based on simulating the basic movements of human finger joints, this solution employs a rational joint drive and transmission layout, ensuring both the compactness and lightweight nature of the finger structure while achieving high flexibility and precise motion control, and simultaneously reducing manufacturing and maintenance costs. The design concept and implementation method of this application effectively overcome the shortcomings of existing technologies in terms of structural simplification, control precision, and adaptive grasping capabilities.

[0043] The technical solution of this application will now be described in detail with reference to the accompanying drawings.

[0044] Figure 1 This is a schematic structural diagram of the finger structure provided in the embodiments of this application. Figure 2 for Figure 1 View from direction A. For example... Figure 1 and Figure 2 As shown, the finger structure 10 includes a frame 101, a first phalanx 102, a second phalanx 103, a third phalanx 104, a drive assembly 105, a first tendon cord 106, and a second tendon cord 107.

[0045] Among them, the frame 101 is the basic support component of the finger structure 10, which can provide a platform for the installation and fixation of other components, and play a role in stability and load-bearing.

[0046] The first phalanx 102 is hinged to the frame 101 via the first hinge portion 108, the second phalanx 103 is hinged to the side of the first phalanx 102 away from the first hinge portion 108 via the second hinge portion 109, and the third phalanx 104 is connected to the end of the second phalanx 103 away from the second hinge portion 109 via the third hinge portion 110.

[0047] In this embodiment, the rotation axes of the first hinge portion 108, the second hinge portion 109, and the third hinge portion 110 are parallel; that is, the rotation directions of the plurality of knuckles are in the same plane.

[0048] It should also be noted that, in the embodiments of this application, the aforementioned first hinge portion 108, second hinge portion 109, and third hinge portion 110 can refer to a physical hinge connecting two adjacent components, or to the connection state between two adjacent components. Under the action of the hinge, the kinematic pair between two adjacent components is a revolute pair.

[0049] The first phalanx 102, the second phalanx 103, and the third phalanx 104 mentioned above can be referred to as the proximal phalanx, the middle phalanx, and the distal phalanx, respectively; the first hinge portion 108, the second hinge portion 109, and the third hinge portion 110 can be referred to as the metacarpophalangeal joint (MCP), the proximal interphalangeal joint (PIP), and the distal interphalangeal joint (DIP), respectively.

[0050] The drive assembly 105 is mounted on the frame 101 and is used to drive the first phalanx 102 to rotate around the first hinge portion 108 in a first direction or a second direction opposite to the first direction.

[0051] Figure 2The aforementioned first direction is shown, in Figure 2 From this perspective, the first direction is clockwise and the second direction is counterclockwise. That is to say, the aforementioned drive component 105 can drive the first phalanx 102 to rotate clockwise or counterclockwise around the first hinge portion 108.

[0052] In some embodiments, the rotation angle of the first phalanx 102 is 0-90°, which is similar to the bending angle of a human finger.

[0053] The first end of the first tendon 106 is connected to the frame 101, and the second end passes through the first hinge portion 108 and the second hinge portion 109 in sequence along the first direction and the second direction before being connected to the second phalanx 103.

[0054] Combining the examples above, such as Figure 2 As shown, along the direction from the first end 1061 to the second end 1062 of the first tendon cord 106, the first tendon cord 106 first passes around the first hinge portion 108 in a clockwise direction, and then passes around the second hinge portion 109 in a counterclockwise direction; after passing around the second hinge portion 109, the second end of the first tendon cord 106 is fixed to the second knuckle 103.

[0055] The first end of the second tendon 107 is connected to the second phalanx 103, and the second end passes through the second hinge portion 109 and the third hinge portion 110 in sequence along the first direction and the second direction before being connected to the third phalanx 104.

[0056] Based on the examples above, such as Figure 2 As shown, along the direction from the first end to the second end of the second tendon cord 107, the second tendon cord 107 first passes around the second hinge portion 109 in a clockwise direction, and then passes around the third hinge portion 110 in a counterclockwise direction. After passing around the third hinge portion 110, the second tendon cord 107 is fixed to the third phalanx 104.

[0057] As described above, the drive assembly 105 can drive the first phalanx 102 to rotate around the first hinge portion 108 in a first direction or a second direction. When the first phalanx 102 rotates in the first direction, the first tendon 106 pulls the second phalanx 103 to rotate relative to the first phalanx 102 in the first direction, and the second tendon 107 pulls the third phalanx 104 to rotate relative to the second phalanx 103 in the first direction. In this way, the linkage of multiple phalanges in the finger structure can be realized, and the three-joint bending linkage movement of the human hand can be simulated.

[0058] Figure 3 The state of the finger structure 10 after the first phalanx 102 is bent 90 degrees in the first direction is shown below. Figures 1-3 The movement of each of the aforementioned finger joints will be further explained.

[0059] The first end of the first tendon cord 106 is fixed to the frame 101. As the first knuckle 102 bends clockwise, the portion of the first tendon cord 106 near its first segment winds clockwise onto the first hinge portion 108. Since the length of the first tendon cord 106 remains constant, the second end is fixedly connected to the second knuckle 103, thereby generating tension on the first tendon cord 106, causing the second knuckle 103 to also rotate clockwise. The first end of the second tendon cord 107 is fixed to the first knuckle 102. When the second knuckle 103 bends, the portion of the second tendon cord 107 near its first end winds clockwise onto the second hinge portion 109. Since the length of the second tendon cord 107 remains constant, the second end is fixed to the third knuckle 104, thereby generating tension on the second tendon cord 107, causing the third knuckle 104 to also rotate clockwise.

[0060] While the first phalanx 102 continues to move clockwise, the first tendon 106 and the second tendon 107 continuously exert tension, thereby causing the second phalanx 103 and the third phalanx 104 to move synchronously with the first phalanx 102; when the first phalanx 102 stops moving, the rotation of the second phalanx 103 and the third phalanx 104 stops synchronously.

[0061] In the technical solution provided in this application embodiment, a hybrid drive system using a drive assembly and tendon cords is employed. The drive assembly drives the movement of the first phalanx, achieving a large force output with high rigidity and rapid response, thus enhancing the structure's durability and bending resistance. The second and third phalanxes are driven by tendon cords, which offer high flexibility, resulting in high transmission efficiency and reduced end-effector load and inertia, saving space and better aligning with the biomimetic design concept of dexterous fingers.

[0062] In some embodiments, continue reading Figures 1-3 The finger structure 10 also includes a first elastic element 111 and a second elastic element 112.

[0063] The first elastic element 111 is disposed between the first phalanx 102 and the second phalanx 103, and is used to provide the second phalanx 103 with a first restoring force in the second direction; the second elastic component 112 is disposed between the second phalanx 103 and the third phalanx 104, and is used to provide the third phalanx 104 with a restoring force in the second direction.

[0064] In this embodiment, the aforementioned first tendon cord 106 and second tendon cord 107 can be steel wire rope or nylon rope, etc., with strong tensile strength, and have the characteristic of unidirectional force. When the first phalanx 102 moves along the first direction, the first tendon cord 106 and second tendon cord 107 pull the second phalanx 103 and the third phalanx 104 to rotate along the first direction; while the finger structure 10 needs to be... Figure 3 The bent state shown has been restored to Figure 1 or Figure 2 In the initial state shown, the first tendon cord 106 and the second tendon cord 107 cannot provide restoring force; in this case, the first elastic element 111 and the second elastic element 112 can perform their functions. More specifically, when the first phalanx 102 rotates in the second direction, the tension of the first tendon cord 106 and the second tendon cord 107 decreases, and the second phalanx 103 rotates relative to the first phalanx 102 in the second direction under the action of the first restoring force; similarly, the third phalanx 104 rotates relative to the second phalanx 103 in the second direction under the action of the second restoring force; while each phalanx returns to its initial state, the first tendon cord 106 and the second tendon cord 107 return to their initial state in a manner opposite to the motion law described above.

[0065] In other words, the first elastic element 111 and the second elastic element 112 apply a tension force along the second direction to the entire finger mechanism, so that the adjacent components in the mobile phone structure have tension forces opposite to the driving direction in each movement posture, ensuring stable movement without gaps.

[0066] Meanwhile, due to the presence of the aforementioned elastic elements, when the second and third phalanges interact with the outside world and receive a collision, the first and second elastic elements can absorb the elastic potential energy generated by the external collision, ensuring collision safety.

[0067] Based on the above technical means, a first elastic element and a second elastic element are set to apply tension force towards the back of the hand to the entire finger, ensuring that each finger joint has a tension force opposite to the driving direction in each movement posture, thus ensuring a stable and gapless movement state.

[0068] In some embodiments, the first elastic element 111 includes a tension spring 1111 and a third tendon cord 1112. The first end of the tension spring 1111 is fixedly connected to the first phalanx 102, and the second end of the third tendon cord 1112 passes around the second hinge portion 109 along a first direction and is connected to the second phalanx 103.

[0069] See Figures 1-3 During the rotation of the second phalanx 103 relative to the first phalanx 102 in the first direction, the third tendon cord 1112 is wound around the second hinge portion 109, and the third tendon cord 1112 generates tension, causing the tension spring 1111 to extend; in the process of rotation of the second phalanx 103 relative to the first phalanx 102 in the first direction, the third tendon cord 1112 is wound around the second Figure 3 The bending state is transformed into Figure 1 During the extended state shown, the tension of the first tendon cord 106 decreases, the elastic potential energy stored in the extended tension spring 1111 is released, and the second phalanx 103 is pulled relative to the first phalanx 102 in the second direction by the third tendon cord 1112.

[0070] In this embodiment, the second elastic element 112 is a torsion spring 1121 sleeved on the third hinge portion 110. The two ends of the torsion spring 1121 are respectively engaged with the second phalanx 103 and the third phalanx 104. When the third phalanx 104 rotates relative to the second phalanx 103 in the first direction, the torsion spring 1121 undergoes torsional deformation. During the process of changing from a bent state to a straight state, the tension of the second tendon 107 decreases, and the elastic potential energy stored in the torsion spring 1121 is released, causing the third phalanx 104 to rotate relative to the second phalanx 103 in the second direction.

[0071] According to the above-mentioned technical means, the first elastic element composed of the spring and tendon cord can provide tension to the first phalanx. At the same time, when the second and third phalanxes are subjected to collisions with the outside world, the spring connected by the tendon cord will be stretched, transferring the external impact to the elastic potential energy of the spring, thus ensuring high collision safety.

[0072] In some embodiments, such as Figure 1 As shown, the frame 101 includes a fixed support 1011 and a swing bracket 1012. The swing bracket 1012 is hinged to the fixed support 1011 via a fourth hinge portion 113. The axis of the fourth hinge portion 113 is perpendicular to the axis of the first hinge portion 108. The first hinge portion 108 is formed between the swing bracket 1012 and the first finger joint 102.

[0073] In other words, in this embodiment of the application, the connection between the first finger joint 102 and the frame 101 is that the first finger joint 102 is connected to the fixed support 1011 through the swing bracket 1012. The first finger joint 102 can rotate relative to the swing bracket 1012 in a first direction or a second direction through the first hinge part 108. At the same time, with the presence of the fourth hinge part 113, the swing bracket 1012 can rotate relative to the fixed support 1011. The direction of rotation is perpendicular to the first direction or the second direction.

[0074] The drive assembly 105 is used to: drive the first phalanx 102 to rotate about a first direction or a second direction, and / or drive the first phalanx 102 to rotate about the fourth hinge portion 113 about a third direction or a fourth direction opposite to the third direction.

[0075] Based on the above technical means, by setting a swing bracket in the frame and connecting the first finger joint to the swing bracket, multiple finger joints can swing in addition to bending, which enriches the function of the finger structure and is more in line with the bionic design concept.

[0076] In some embodiments, continue reading Figure 1 and Figure 2 The finger structure 10 also includes a first winch 114.

[0077] The first winch 114 can be as follows: Figure 1 and Figure 2 The arrangement shown is located at one end of the swing bracket 1012 near the first finger joint 102. In this case, the first winch 114 can be formed on the swing bracket 1012 and become part of the swing bracket 1012; or, as an implementation, the first winch 114 can also be a structure interconnected with the swing bracket 1012. For example, the first winch 114 can be fixedly connected to the swing bracket 1012 by welding or threaded connection, or it can be connected to the swing bracket 1012 by a bearing to achieve a rotatable connection.

[0078] Alternatively, the first winch 114 can also be disposed at one end of the first phalanx 102 near the swing bracket 1012. Similarly, the first winch 114 can be formed on the first phalanx 102 as part of the first phalanx 102, or it can be a structure that is interconnected with the first phalanx 102. In this case, the connection method can be referred to the previous description, which will not be repeated here.

[0079] In the application embodiment, the aforementioned first hinge portion 108 includes the first winch 114.

[0080] For example, when the first winch 114 is formed at one end of the swing bracket 1012 near the first finger joint 102, a first through hole can be provided along the axial direction of the first winch 114, and a first pin can be provided in the first through hole. The two ends of the first pin are fixedly connected to the first finger joint 102, thus realizing the connection between the first finger joint 102 and the swing bracket 1012. When the first winch 114 is formed at one end of the first finger joint 102 near the swing bracket 1012, the two ends of the aforementioned first pin can be connected to the swing bracket 1012, which can also realize the rotatable connection between the first finger joint 102 and the swing bracket 1012.

[0081] In some embodiments, the first hinge portion 108 further includes a first bearing, which may be disposed between the first winch 114 and the first pin, for reducing friction when the first knuckle rotates.

[0082] See Figure 1 , Figure 2 and Figure 5 The finger structure 10 also includes a second winch 115, which may be disposed at the end of the second phalanx 103 near the first phalanx 102, as shown in the figure. Similar to the aforementioned first winch 114, the second winch 115 may be formed on the second phalanx 103 and become part of the second phalanx 103; or, the second winch 115 may be a structure interconnected with the second phalanx 103.

[0083] Alternatively, the second winch 115 can also be disposed at the end of the first phalanx 102 near the second phalanx 103. Similarly, the second winch 115 can be formed on the first phalanx 102 as part of the first phalanx 102, or it can be a structure interconnected with the first phalanx 102. The specific structure will not be described in detail here, but can be found in the previous description.

[0084] In this embodiment of the application, the second hinge portion 109 includes the second winch 115.

[0085] For example, taking the second winch 115 located at one end of the second finger joint 103 near the first finger joint 102 as an example, a second through hole can be provided along the axial direction of the second winch 115, and a second pin can be provided in the second through hole. The two ends of the second pin are fixedly connected to the second finger joint 103, thus realizing the connection between the first finger joint 102 and the second finger joint 103.

[0086] In some embodiments, the second hinge portion 109 further includes a second bearing, which may be disposed between the second winch 115 and the second pin, for reducing friction when the second knuckle 103 rotates.

[0087] Based on the first winch 114 and the second winch 115, the aforementioned first tendon rope 106 is wound around the outside of the first winch 114 in a first direction and around the outside of the second winch 115 in a second direction.

[0088] The rotation angle of the second phalanx 103 relative to the first phalanx 102 in the first direction is related to the rotation angle of the first phalanx 102 in the first direction, the diameter of the first winch 114, and the diameter of the second winch 115.

[0089] More specifically, the greater the rotation angle of the first phalanx 102, the longer the first tendon cord 106 is wound around the first winch 114, which will result in a larger rotation angle of the second phalanx 103. With the rotation angle of the first phalanx 102 remaining constant, the larger the diameter of the first winch 114, the longer the first tendon cord 106 is wound around the first winch 114 when the first phalanx 102 rotates by the same angle, resulting in a larger rotation angle of the second phalanx 103. With the diameter of the first winch 114 and the rotation angle of the first phalanx 102 remaining constant, and the change in the length of the first tendon cord 106 being the same, the smaller the diameter of the second winch 115, the larger the wrap angle of the tendon cord of the same length on the second winch 115, and the correspondingly larger rotation angle of the second phalanx 103.

[0090] In other words, the rotation angle of the second phalanx 103 relative to the first phalanx 102 along the first direction is directly proportional to the rotation angle of the first phalanx 102 along the first direction and the diameter of the first winch 114, and inversely proportional to the diameter of the second winch 115, or in other words, directly proportional to the ratio of the diameter of the first winch 114 to the diameter of the second winch 115.

[0091] Therefore, the diameters of the first winch 114 and the second winch 115 can be reasonably set according to the required rotation angle of the second phalanx 103.

[0092] According to the above technical means, by setting the first winch 114 and the second winch 115, and by reasonably setting the diameters of the first winch 114 and the second winch 115, the rotation angle of the second knuckle 103 can be flexibly adjusted, so that it can meet the needs of a wider range of knuckle movement trajectories.

[0093] In some embodiments, such as Figure 1 , Figure 2 and Figure 5 As shown, the finger structure 10 also includes a third winch 116 and a fourth winch 117.

[0094] The third winch 116 is located at the end of the first phalanx 102 near the second phalanx 103 or at the end of the second phalanx 103 near the first phalanx 102, and the fourth winch 117 is located at the end of the third phalanx 104 near the second phalanx 103 or at the end of the second phalanx 103 near the third phalanx 104.

[0095] The possible configurations of the third winch 116 and the fourth winch 117 will not be elaborated here; please refer to the previous descriptions of the first winch 114 and the second winch 115.

[0096] In this embodiment, the second hinge portion 109 further includes a third winch 116, and the third hinge portion 110 includes a fourth winch 117.

[0097] In some embodiments, a third bearing may be provided between the third winch 116 and the second pin to reduce friction.

[0098] In some embodiments, the fourth winch 117 is provided with a fourth through hole, and the fourth hinge portion 113 also has a fourth pin, which passes through the fourth through hole. A fourth bearing is provided between the fourth winch 117 and the fourth pin to reduce the friction of the third hinge portion 110.

[0099] Based on the above structure, the second tendon rope 107 is wound around the outside of the third winch 116 in the first direction and around the outside of the fourth winch 117 in the second direction.

[0100] The rotation angle of the third phalanx 104 relative to the second phalanx 103 in the first direction is related to the rotation angle of the second phalanx 103 relative to the first phalanx 102 in the first direction, the diameter of the third winch 116, and the diameter of the fourth winch 117.

[0101] The greater the rotation angle of the second knuckle 103, the longer the second tendon cord 107 is wound on the third winch 116, resulting in a larger rotation angle of the third knuckle 104. With the rotation angle of the second knuckle 103 unchanged, a larger diameter of the third winch 116 results in a longer winding distance of the second tendon cord 107 on the third winch 116 when the second knuckle 103 rotates by the same angle, further increasing the rotation angle of the third knuckle 104. With the diameter of the third winch 116 and the rotation angle of the second knuckle 103 unchanged, and the same change in the length of the second tendon cord 107, a smaller diameter of the fourth winch 117 results in a larger wrap angle of the same length tendon cord on the fourth winch 117, correspondingly increasing the rotation angle of the third knuckle 104.

[0102] In other words, the rotation angle of the third phalanx 104 relative to the second phalanx 103 along the first direction is directly proportional to the rotation angle of the second phalanx 103 relative to the first phalanx 102 along the first direction and the diameter of the third winch 116, and inversely proportional to the diameter of the fourth winch 117; or, in other words, it is directly proportional to the ratio of the diameter of the third winch 116 to the diameter of the fourth winch 117.

[0103] Therefore, the diameters of the third winch 116 and the fourth winch 117 can be reasonably set according to the required rotation angle of the third phalanx 104.

[0104] Based on the above technical means, by setting a third and a fourth winch and by reasonably setting the diameter of the third and fourth winches, the rotation angle of the third knuckle can be flexibly adjusted, so that it can meet the needs of a wider range of knuckle movement trajectories.

[0105] As described above, in some embodiments, the second hinge portion 109 includes the aforementioned second winch 115 and third winch 116, which are concentrically arranged.

[0106] In some embodiments, to simplify the structure, the second winch 115 can be reused in the transmission structure of the second tendon 107, that is, the portion of the second tendon 107 that passes around the second hinge portion 109 in the first direction is configured to be wound around the second winch 115 in the first direction. In this case, the rotation angle of the third phalanx 104 relative to the second phalanx 103 in the first direction is also related to the diameter of the second winch 115, and more specifically, is proportional to the diameter of the second winch 115.

[0107] Based on the above-mentioned technical means, the first tendon rope and the second tendon rope share the second winch, which can reduce the structural complexity of the finger structure and the production cost.

[0108] In some implementations, the finger structure 10 also includes a fifth winch 118 disposed at one end of the second phalanx 103 near the first phalanx 102 or at one end of the first phalanx 102 near the second phalanx 103, and the second hinge portion 109 includes the fifth winch 118.

[0109] The third tendon cord 1112 is wound around the outside of the fifth winch 118 along the first direction, and the magnitude of the first restoring force is related to the diameter of the fifth winch 118. Specifically, when the rotation distance of the first phalanx 102 is the same, the circumferential angle of the third tendon cord 1112 on the fifth winch 118 remains unchanged. The larger the diameter of the fifth winch 118, the longer the length of the third tendon cord 1112, which results in a longer stretching length of the tension spring 1111, a greater elastic potential energy that can be stored, and a greater first restoring force.

[0110] Based on the above technical means, the third tendon rope is set to be wound on the fifth winch, and the control of the first restoring force is achieved by controlling the diameter of the fifth winch.

[0111] Since the fifth winch 118 is also included in the second hinge portion 109, in some embodiments, the fifth winch 118 may reuse the second winch 115 or the third winch 116 mentioned above.

[0112] In some embodiments, the finger structure 10 further includes a guide wheel 119 located between the first end and the second end of the first phalanx 102.

[0113] The first tendon cord 106 is wound around the outside of the guide wheel 119 in a first direction, and the second tendon cord 107 is wound around the outside of the guide wheel 119 in a second direction. The first end of the second tendon cord 107 is located between the first end of the first phalanx 102 and the guide wheel 119.

[0114] The rotation angle of the second phalanx 103 relative to the first phalanx 102 along the first direction and the rotation angle of the third phalanx 104 relative to the second phalanx 103 along the first direction are both related to the diameter of the guide wheel 119. When the first phalanx 102 rotates, the lengths of the first tendon cord 106 and the second tendon cord 107 wrapped around the guide wheel 119 will change. When the diameter of the guide wheel 119 is different, the amount of change in the length of the first tendon cord 106 and the second tendon cord 107 is different, thus making the rotation angle of each phalanx different.

[0115] In some embodiments, the drive assembly 105 includes a first drive unit 105A and a second drive unit 105B, both of which are connected to the first knuckle 102.

[0116] The drive assembly 105 is configured such that: the first drive unit 105A and the second drive unit 105B move synchronously to drive the first phalanx 102 to rotate around a first direction or a second direction; and / or, the first drive unit 105A and the second drive unit 105B move asynchronously to drive the first phalanx 102 to rotate around the fourth hinge portion 113 in a third direction or a fourth direction opposite to the third direction.

[0117] The first drive unit 105A and the second drive unit 105B can be any one or more of a rotary motor, a hydraulic motor, a drive motor, an electric push rod, a hydraulic push rod, and a pneumatic push rod, and this application embodiment does not specifically limit them.

[0118] Based on the above technical means, the driving component is set as two driving units that can operate independently. By controlling the synchronization of the movement of the two driving units, the bending and swinging of the finger structure can be controlled and switched.

[0119] In some embodiments, such as Figure 2 and Figure 4 As shown, the first drive unit 105A includes a first push rod module 1051A and a first connecting rod 1052A. The fixed end of the first push rod module 1051A is connected to the fixed support 1011. The movable end 10511A of the first push rod module 1051A is connected to the first end of the first connecting rod 1052A through a first ball joint 1053A. The second end of the first connecting rod 1052A is connected to the first knuckle 102 through a second ball joint 1054A.

[0120] The second drive unit 105B includes a second push rod module 1051B and a second connecting rod 1052B. The fixed end of the second push rod module 1051B is connected to the fixed support 1011. The movable end 10521B of the second push rod module 1051B is connected to the second end of the second connecting rod 1052B through a third ball joint 1053B. The second end of the second connecting rod 1052B is connected to the second knuckle 103 through a fourth ball joint 1054B.

[0121] The line connecting the centers of the second ball joint 1054A and the fourth ball joint 1054B is in the same direction as the axial direction of the first hinge portion 108.

[0122] In the technical solution of this application, taking the first drive unit 105A as an example, the movable end of the first push rod module 1051A, the first connecting rod 1052A and the first finger joint 102 form a slider rocker mechanism. The rotation angle control of the first finger joint 102 can be realized by controlling the stroke of the movable end of the first push rod module 1051A.

[0123] The aforementioned first drive unit 105A and second drive unit 105B are configured such that the output ends of the first push rod module 1051A and the second push rod module 1051B move synchronously, driving the first knuckle 102 to rotate around the first hinge portion 108 in a first direction or a second direction. Figure 2 As shown, when the output ends of both push rod modules move synchronously along the fifth direction shown in the figure, the first finger joint 102 will bend along the first direction.

[0124] The first drive unit 105A and the second drive unit 105B are further configured such that the output end of the first push rod module 1051A and the output end of the second push rod module 1051B move asynchronously, driving the first phalanx 102 to rotate around the fourth hinge portion 113 in a third direction or a fourth direction opposite to the third direction.

[0125] When the output end of the first push rod module 1051A moves along the fifth direction shown in the figure, and the output end of the second push rod module 1051B moves along the sixth direction opposite to the fifth direction, the first phalanx 102 and the second phalanx 103 and the third phalanx 104 connected to the first phalanx 102 swing around the fourth hinge portion 113 along the third direction. Figure 5 At position 10A, indicated by the dashed line, when the output ends of the first push rod module 1051A and the second push rod module 1051B move along the sixth and fifth directions respectively, each finger joint can swing along the fourth direction to position 10B as shown by the dashed line in the figure.

[0126] As one implementation method, the asynchronous motion mentioned above can also refer to the different moving speeds of the output ends of the two push rod modules. For example, when the output ends of both push rod modules move along the fifth direction and the moving speed of the output end of the first push rod module 1051A is greater than that of the output end of the second push rod module 1051B, the finger structure 10 can bend along the first direction while swinging along the fourth direction.

[0127] Based on the above technical means, by using two parallel push rod modules and controlling the synchronization of the movement of the two push modules, the finger structure can achieve compound movement in different directions, thus increasing the application range of the finger structure.

[0128] In some embodiments, the first push rod module 1051A and the second push rod module 1051B are any one of electric push rods, pneumatic push rods, or hydraulic push rods.

[0129] The first push rod module 1051A and the second push rod module 1051B are preferably electric push rods. The electric push rod can provide position feedback and can provide real-time feedback on the position of the output end relative to the zero point of the electric push rod during operation, thereby achieving precise position control.

[0130] In some embodiments, continue reading Figures 1-4 The first drive unit 105A further includes a first guide mechanism 1055A, which may include a first slide rail 10551A and a first slider 10552A. The first slide rail 10551A is connected to a fixed support 1011, and the first slider 10552A is capable of sliding on the first slide rail 10551A along its extension direction. The moving end of the first push rod module 1051A is connected to the first slider 10552A, and the moving direction of the output end of the first push rod module 1051A is consistent with the extension direction of the first slide rail 10551A.

[0131] The second drive unit 105B further includes a second guide mechanism 1055B, which may include a second slide rail 10551B and a second slider 10552B. The second slide rail 10551B is connected to the fixed support 1011, and the second slider 10552B is capable of sliding on the second slide rail 10551B along its extension direction. The moving end of the second push rod module 1051B is connected to the second slider 10552B, and the moving direction of the output end of the second push rod module 1051B is consistent with the extension direction of the second slide rail 10551B.

[0132] Based on the above technical means, by setting a guide mechanism in the drive unit, sufficient rigidity can be provided for the push rod module, increasing durability, improving bending resistance, making the movement process smoother, and the displacement accuracy higher.

[0133] In some embodiments, such as Figure 6 As shown, the first phalanx 102 includes a first phalanx housing 1021 and a first fingertip sensor 1022, which is disposed on one side near the frame 101 along a first direction.

[0134] The second phalanx 103 includes a second phalanx housing 1031 and a second fingertip sensor 1032, which is disposed on one side near the frame 101 along a first direction.

[0135] The third phalanx 104 includes a third phalanx housing 1041 and a third fingertip sensor 1042, which is disposed on one side near the frame 101 along a first direction.

[0136] The first phalanx housing 1021 and the first fingertip sensor 1022 together form a first accommodating space, the second phalanx housing 1031 and the second fingertip sensor 1032 together form a second accommodating space, and the third phalanx housing 1041 and the third fingertip sensor 1042 together form a third accommodating space. The above-mentioned multiple accommodating spaces can be used to accommodate the aforementioned multiple tendons, winches, and guide wheels, etc.

[0137] The first fingertip sensor 1022, the second fingertip sensor 1032, and the third fingertip sensor 1042 are used to detect the force between each finger joint and the grasped object when the finger structure 10 grasps the object. The control unit can control the movement state of the finger structure according to the force.

[0138] In some embodiments, the aforementioned sensors are also used to detect the rotation angle of each phalanx, so that the control unit of the finger structure or robot can control the drive unit according to the motion state of each phalanx.

[0139] The method of controlling the motion state of finger structure based on sensors will be introduced in detail later, and will not be described here.

[0140] This application also provides a robot that includes a finger structure 10 as described in any of the preceding embodiments.

[0141] In some embodiments, the robot may include multiple finger structures, for example, five of the above-mentioned finger structures may be provided to achieve a biomimetic structure similar to a human hand.

[0142] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0143] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0144] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0145] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0146] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A finger structure, characterized by The hand structure comprises: a frame; a first phalanx hinged to the frame through a first hinge part; a second phalanx hinged to the first phalanx through a second hinge part; a third phalanx hinged to the second phalanx through a third hinge part; the rotation axes of the first hinge part, the second hinge part and the third hinge part are parallel; a driving assembly arranged on the frame and configured to drive the first phalanx to rotate around the first hinge part in a first direction or a second direction opposite to the first direction; a first tendon rope having a first end connected to the frame and a second end connected to the second phalanx after being wound around the first hinge part and the second hinge part in the first direction and the second direction; a second tendon rope having a first end connected to the second phalanx and a second end connected to the third phalanx after being wound around the second hinge part and the third hinge part in the first direction and the second direction; when the driving assembly drives the first phalanx to rotate in the first direction, the first tendon rope pulls the second phalanx to rotate relative to the first phalanx in the first direction, and the second tendon rope pulls the third phalanx to rotate relative to the second phalanx in the first direction.

2. The finger structure according to claim 1, characterized in that Further comprising: a first elastic member arranged between the first phalanx and the second phalanx and configured to provide the second phalanx with a first restoring force in the second direction; a second elastic member arranged between the second phalanx and the third phalanx and configured to provide the third phalanx with a second restoring force in the second direction; the first elastic member comprises a tension spring having a first end fixedly connected to the first phalanx and a second end connected to a first end of a third tendon rope, and a second end of the third tendon rope is connected to the second phalanx after being wound around the second hinge part in the first direction; the second elastic member comprises a torsion spring sleeved on the third hinge part and having two ends respectively clamped to the second phalanx and the third phalanx.

3. The hand structure according to claim 2, wherein the frame comprises a fixed support and a swing support hinged to the fixed support through a fourth hinge part, an axis of the fourth hinge part is perpendicular to an axis of the first hinge part, and a first end of the first tendon rope is anchored to the swing support; the first hinge part is formed between the swing support and the first phalanx; the driving assembly is configured to drive the first phalanx to rotate around in the first direction or the second direction, and / or drive the first phalanx to rotate around the fourth hinge part in a third direction or a fourth direction opposite to the third direction.

4. The finger structure of claim 3, wherein Further comprising: a first pulley arranged at one end of the swing support close to the first phalanx or one end of the first phalanx close to the swing support, and the first hinge part comprises the first pulley; a second pulley arranged at one end of the second phalanx close to the first phalanx or one end of the first phalanx close to the second phalanx, and the second hinge part comprises the second pulley; a third pulley disposed at one end of the second segment close to the first segment or one end of the first segment close to the second segment, the second hinge portion comprising the third pulley; a fourth pulley disposed at one end of the third segment close to the second segment or one end of the second segment close to the third segment, the third hinge portion comprising the fourth pulley; the first tendon is wound outside the first pulley in the first direction and outside the second pulley in the second direction; a rotation angle of the second segment relative to the first segment in the first direction is related to a rotation angle of the first segment in the first direction, a diameter of the first pulley and a diameter of the second pulley; the second tendon is wound outside the third pulley in the first direction and outside the fourth pulley in the second direction; a rotation angle of the third segment relative to the second segment in the first direction is related to a rotation angle of the second segment relative to the first segment in the first direction, a diameter of the third pulley and a diameter of the fourth pulley.

5. The finger structure of claim 4, wherein the finger structure further comprises: a guide pulley rotatably connected to the first segment, the guide pulley being located between the first end and the second end of the first segment; the first tendon is wound outside the guide pulley in the first direction, and the second tendon is wound outside the guide pulley in the second direction, a first end of the second tendon being located between the first end of the first segment and the guide pulley; a rotation angle of the second segment in the first direction and a rotation angle of the third segment relative to the second segment in the first direction are related to a diameter of the guide pulley.

6. The finger structure according to any one of claims 3-5, wherein the driving assembly comprises a first driving unit and a second driving unit, the first driving unit and the second driving unit are both connected to the first segment; the driving assembly is configured to: synchronously move the first driving unit and the second driving unit to drive the first segment to rotate around the fourth hinge portion in a third direction or a fourth direction opposite to the third direction; and / or asynchronously move the first driving unit and the second driving unit to drive the first segment to rotate around the fourth hinge portion in a third direction or a fourth direction opposite to the third direction.

7. The finger structure according to claim 6, wherein the first driving unit comprises a first push rod module and a first connecting rod, a fixed end of the first push rod module is fixedly connected to the fixed support, a movable end of the first push rod module is connected to a first end of the first connecting rod through a first spherical hinge, and a second end of the first connecting rod is connected to the first segment through a second spherical hinge; the second driving unit comprises a second push rod module and a second connecting rod, a fixed end of the second push rod module is fixedly connected to the fixed support, a movable end of the second push rod is connected to a first end of the second connecting rod through a third spherical hinge, and a second end of the second connecting rod is connected to the first segment through a fourth spherical hinge. A line connecting centers of the second spherical hinge and the fourth spherical hinge is in the same direction as an axis direction of the first hinge part; The first driving unit and the second driving unit are configured to: The output end of the first push rod module and the output end of the second push rod module move synchronously to drive the first finger to rotate around the first hinge part in a first direction or a second direction; And / or, The output end of the first push rod module and the output end of the second push rod module move asynchronously to drive the first finger to rotate around the fourth hinge part in a third direction or a fourth direction opposite to the third direction; The first push rod module and the second push rod module are any one of an electric push rod, a pneumatic push rod or a hydraulic push rod.

8. The finger structure according to any of claims 2-5, characterized in that, The finger structure further comprises: A fifth pulley is arranged at one end of the second finger close to the first finger or one end of the first finger close to the second finger, and the second hinge part comprises the fifth pulley; The third tendon rope is arranged on the outer side of the fifth pulley in the first direction, and the size of the first restoring force is related to the diameter of the fifth pulley.

9. The finger structure according to any one of claims 1-5 and 7, wherein The first finger comprises a first finger shell and a first finger pad sensor, and the first finger pad sensor is arranged on one side close to the rack in the first direction; The second finger comprises a second finger shell and a second finger pad sensor, and the second finger pad sensor is arranged on one side close to the rack in the first direction; The third finger comprises a third finger shell and a third finger pad sensor, and the third finger pad sensor is arranged on one side close to the rack in the first direction.

10. A robot, characterized in that The finger structure as claimed in any one of claims 1-9 is included.

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