Finger structure and dexterous hand

Abstract

The utility model discloses a finger structure and a dexterous hand, and relates to the technical field of dexterous hands, the finger structure comprises a first driving device and a linkage finger, the first driving device comprises a first driving piece and a transmission mechanism which are arranged on a palm part, and the transmission mechanism comprises a first transmission piece and a second transmission piece which are matched with each other; the first transmission part is arranged on an output rotating shaft of the first driving part, and the second transmission part is driven by the first transmission part to rotate around a first axis; the linkage finger comprises a phalanx part and a linkage piece, the phalanx part at least comprises a first phalanx part and a second phalanx part, the first phalanx part is fixedly arranged on the second transmission piece, and the second phalanx part is rotationally connected to the end, away from the first driving device, of the first phalanx part and can be driven by the linkage piece to rotate around a second axis; the first axis and the second axis are arranged in parallel. According to the technical scheme, the overturning range of the finger structure can be enlarged when the finger structure is overturned relative to the palm.

Description

Technical Field

[0001] This utility model relates to the field of dexterity technology, and in particular to a finger structure and a dexterity hand. Background Technology

[0002] Existing dexterous hand mechanisms often use lead screws or movable rods as the driving mechanism to push and pull the finger joints, thereby achieving finger flexion. However, due to the limited length of the lead screw, the driving stroke is relatively short, preventing the fingers from rotating to their maximum extent relative to the palm, thus affecting the grip range of the dexterous hand. Utility Model Content

[0003] The main objective of this invention is to propose a finger structure that increases the range of rotation of the finger structure relative to the palm when it is rotated.

[0004] To achieve the above objectives, the present invention proposes a finger structure for use in a dexterous hand. The dexterous hand includes a palm portion and the finger structure, which is mounted on the palm portion. The finger structure includes:

[0005] The first driving device includes a first driving member and a transmission mechanism disposed on the palm portion. The transmission mechanism includes a first transmission member and a second transmission member that cooperate with each other. The first transmission member is disposed on the output shaft of the first driving member, and the second transmission member rotates around a first axis under the drive of the first transmission member.

[0006] The finger linkage includes a finger bone portion and a linkage component. The finger bone portion includes at least a first finger bone portion and a second finger bone portion. The first finger bone portion is fixed to the second transmission component. The second finger bone portion is rotatably connected to the end of the first finger bone portion away from the first driving device and is driven by the linkage component to rotate around a second axis. The first axis and the second axis are arranged in parallel.

[0007] In one embodiment, the linkage includes a first link having a first hinge end and a second hinge end. The first hinge end is rotatably disposed on the palm portion, and the second hinge end is rotatably disposed on the second phalanx portion, and is located on the side of the second axis closer to the first axis when the finger structure is unfolded.

[0008] In one embodiment, the first hinge end is located on the fingertip side of the first axis, and / or the first link has a first clearance concave surface on the side near the first axis.

[0009] In one embodiment, the finger bone portion further includes a third finger bone portion, and the linkage further includes a second connecting rod having a third hinge end and a fourth hinge end. The third hinge end is rotatably disposed on the first finger bone portion, and the fourth hinge end is rotatably disposed on the third finger bone portion. The third finger bone portion is rotatably connected to the end of the second finger bone portion away from the first finger bone portion, and is driven by the second connecting rod to rotate about a third axis.

[0010] In one embodiment, in the extended state of the finger structure, the third hinge end is located on the side of the second axis closer to the first axis, and / or the fourth hinge end is located on the side of the third axis closer to the first axis, and / or the second link has a second clearance concave surface on the side close to the second axis.

[0011] In one embodiment, the first transmission member is configured as a worm gear coaxially arranged with the output shaft, and the second transmission member is configured as a worm wheel meshing with the worm gear, wherein the axis of the worm wheel is collinear with the first axis.

[0012] In one embodiment, the finger structure further includes a pressure sensor located at the end of the phalanx and on the fingertip side of the phalanx.

[0013] This utility model also proposes a dexterous hand, comprising:

[0014] Palm area;

[0015] A finger structure, wherein the finger structure is installed on the palm.

[0016] In one embodiment, the dexterous hand includes a thumb, index finger, middle finger, ring finger, and little finger, at least one of the index finger, middle finger, ring finger, and little finger being configured as the finger structure;

[0017] The thumb includes a second driving device and a thumb body connected to the second driving device. The thumb body includes a metacarpal segment, a first thumb segment, and a second thumb segment connected in sequence. The metacarpal segment is rotatably disposed on the palm about a fourth axis, and the first thumb segment is rotatably disposed on the metacarpal segment about a fifth axis.

[0018] In one embodiment, the second driving device includes a third driving member and a fourth driving member. The third driving member is disposed on the palm and driven to be connected to the metacarpal bone segment, and the fourth driving member is disposed on the first thumb bone segment and driven to be connected to the first thumb bone segment.

[0019] The technical solution of this utility model involves setting a first driving device to drive the linked fingers to rotate relative to the palm. The output shaft of the first driving member rotates, which in turn causes a second transmission member to rotate around a first axis, thereby driving the first phalanx to rotate around the first axis. In other words, the first driving member rotates to flip the finger structure relative to the palm. The output shaft of the first driving member rotates around its own axis, ensuring sufficient driving stroke for the first driving member. This increases the rotation range of the finger structure relative to the palm, preventing a small rotation range due to insufficient driving stroke. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 A schematic diagram of an embodiment of the finger structure provided by this utility model;

[0022] Figure 2 for Figure 1 Side view bar chart of the embodiment shown in the unfolded state;

[0023] Figure 3 for Figure 1 Side view bar diagram of the embodiment shown in the gripping state;

[0024] Figure 4 for Figure 1 A schematic diagram of the structure of the first driving device in the embodiment shown;

[0025] Figure 5 for Figure 1 Another structural diagram in the illustrated embodiment;

[0026] Figure 6 A schematic diagram of the structure of an embodiment of the dexterous hand provided by this utility model;

[0027] Figure 7 for Figure 6 A partially exploded view of the thumb body in the illustrated embodiment.

[0028] Explanation of icon numbers:

[0029] 100. First drive unit; 11. First drive component; 12. Transmission mechanism; 121. First transmission component; 122. Second transmission component; 123. Worm gear; 124. Turbine gear;

[0030] 200. Linked finger movement; 21. Finger bone portion; 211. First finger bone portion; 212. Second finger bone portion; 213. Third finger bone portion; 22. Linkage component; 221. First connecting rod; 222. First hinge end; 223. Second hinge end; 224. First clearance concave surface; 225. Second connecting rod; 226. Third hinge end; 227. Fourth hinge end; 228. Second clearance concave surface;

[0031] 300. Pressure sensor;

[0032] 400. Dexterous hand; 41. Palm part; 411. Palm shell; 412. Avoidance notch; 42. Finger structure;

[0033] 500. Second drive unit; 51. Third drive component; 52. Fourth drive component;

[0034] 600. Thumb body; 61. Metacarpal segment; 62. First thumb bone segment; 63. Second thumb bone segment.

[0035] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0037] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0038] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0039] This utility model proposes a finger structure.

[0040] Please see Figures 1 to 7 In one embodiment of this utility model, the finger structure 42 is applied to a dexterous hand 400, the dexterous hand 400 including a palm portion 41 and the finger structure 42, the finger structure 42 being mounted on the palm portion 41, and the finger structure 42 including:

[0041] The first driving device 100 includes a first driving member 11 and a transmission mechanism 12 disposed on the palm portion 41. The transmission mechanism 12 includes a first transmission member 121 and a second transmission member 122 that cooperate with each other. The first transmission member 121 is disposed on the output shaft of the first driving member 11, and the second transmission member 122 rotates around a first axis under the drive of the first transmission member 121.

[0042] The linked finger 200 includes a finger bone portion 21 and a linkage member 22. The finger bone portion 21 includes at least a first finger bone portion 211 and a second finger bone portion 212. The first finger bone portion 211 is fixed to the second transmission member 122. The second finger bone portion 212 is rotatably connected to the end of the first finger bone portion 211 away from the first driving device and is driven by the linkage member 22 to rotate around a second axis. The first axis and the second axis are arranged in parallel.

[0043] The technical solution of this utility model involves setting a first driving device 100 to drive the linked finger 200 to rotate relative to the palm 41. The output shaft of the first driving member 11 rotates, thereby causing the second transmission member 122 to rotate around a first axis, which in turn drives the first phalanx 211 to rotate around the first axis. That is, the first driving member 11 rotates to flip the finger structure 42 relative to the palm 41. The output shaft of the first driving member 11 rotates around its own axis, ensuring that the first driving member 11 has sufficient driving stroke, thus increasing the flipping range of the finger structure 42 relative to the palm 41 and avoiding a small flipping range due to insufficient driving stroke.

[0044] Please see Figures 1 to 3 In one embodiment, the linkage 22 includes a first connecting rod 221, which has a first hinge end 222 and a second hinge end 223. The first hinge end 222 is rotatably disposed on the palm portion 41, and the second hinge end 223 is rotatably disposed on the second phalanx portion 212. In the extended state of the finger structure 42, the second hinge end 223 is located on the side of the second axis closer to the first axis. That is, the linkage 22 is configured as a crank-connecting rod mechanism. When the first phalanx portion 211 and the second phalanx portion 212 are rotated into position, that is, when the finger structure 42 is in a gripping state, the first phalanx portion 211 and the second phalanx portion 212 can form a gripping space. The first driving member 11 can apply torque to the first phalanx portion 211 in the gripping state, so that the first phalanx portion 211 and the second phalanx portion 212 can firmly grip the object within the gripping space. In other embodiments, the linkage 22 may include a tendon cord transmission mechanism, which includes a tendon cord. One end of the tendon cord is connected to the end of the phalanx portion 21 that is away from the palm portion 41. The first drive member 11 is connected to the other end of the tendon cord and is configured to pull the tendon cord so that the tendon cord pulls the next-level phalanx portion 21 to rotate relative to the previous-level phalanx portion 21 around a second axis, or an axis parallel to the second axis.

[0045] When the finger structure 42 changes from an unfolded state to a clenched state, the first driving device 100 drives the first phalanx portion 211 to rotate toward the palm side. The first phalanx portion 211 has a tendency to drive the second phalanx portion 212 to move around the first axis through the connection between the first phalanx portion 211 and the second phalanx portion 212. At this time, since the first link 221 is not subjected to external force, it does not move relative to the palm portion 41. Therefore, when the second phalanx portion 212 moves, the second hinge end 223 of the first link 221 will push against the second phalanx portion 212, thereby causing the second phalanx portion 212 to rotate toward the palm side around the second axis. That is, while the second phalanx portion 212 follows the first phalanx portion 211 to rotate around the first axis, it also rotates around the second axis itself. When the finger structure 42 changes from a gripping state to an open state, the first driving device 100 drives the first phalanx portion 211 to flip towards the back of the hand. The first phalanx portion 211 drives the second phalanx portion 212, so that the second phalanx portion 212 has a tendency to move around the first axis. Therefore, when the second phalanx portion 212 moves, the second hinge end 223 of the first link 221 will pull the second phalanx portion 212 to rotate around the second axis, so that the second phalanx portion 212 flips towards the back of the hand. At this time, the first link 221 will also be driven by the second phalanx portion 212 and flip towards the back of the hand through the first hinge end 222.

[0046] In one embodiment, the first hinge end 222 is located on the fingertip side of the first axis. Since the second end of the second phalanx 212 connected to the second hinge end 223 moves towards the back of the hand during the change from an extended state to a gripping state, it causes the second hinge end 223 to move towards the back of the hand. Therefore, placing the first hinge end 222 on the fingertip side of the first axis allows the first link 221 to be positioned close to the fingertip side when the finger structure 42 is in a gripping state. The location of the first hinge end 222 on the fingertip side also makes the force distribution of the linkage mechanism more reasonable during finger movement. During transmission, the direction of force and the distribution of reaction force are more conducive to maintaining the balance of the finger structure 42. For example, when the finger is subjected to external force (such as the reaction force of an object when grasping it), due to the reasonable connection position of the link, the entire finger structure 42 can better resist the bending moment and shear force generated by the external force, reducing finger tremors and instability during movement and ensuring the smoothness of finger movement.

[0047] This layout facilitates the efficient use of the internal space of the finger structure 42. Positioning the first hinge end 222 on the fingertip side avoids spatial conflicts between the link and other finger components (such as other phalanges, sensors, etc.). For example, when the dexterous hand 400 needs to integrate multiple sensors (such as tactile sensors, force sensors, etc.) to perceive the external environment, the first hinge end 222 being located on the fingertip side frees up more space for these components, making the internal structure of the finger more compact without affecting the normal functioning of each component, thus improving the overall space utilization of the finger structure 42. Furthermore, the first link 221 has a first abutment concave surface 224 on its side near the first axis to avoid the second rotating component. In other embodiments, the first hinge end 222 can also be located on the back of the hand side of the first axis.

[0048] In one embodiment, the finger bone portion 21 further includes a third finger bone portion 213, and the linkage 22 further includes a second link 225 having a third hinge end 226 and a fourth hinge end 227. The third hinge end 226 is rotatably disposed on the first finger bone portion 211, and the fourth hinge end 227 is rotatably disposed on the third finger bone portion 213. The third finger bone portion 213 is rotatably connected to the end of the second finger bone portion 212 away from the first finger bone portion 211, and is driven by the second link 225 to rotate around a third axis. Adding the third finger bone portion 213 and the second link 225 makes the finger structure 42 closer to the anatomical structure of a real human finger. When grasping objects with complex or irregular shapes, the third finger bone portion 213 can provide more degrees of freedom for bending, and the connection method of the second link 225 makes the movement of the third finger bone portion 213 more stable. The third hinge end 226 and the fourth hinge end 227 are respectively connected to the first phalanx portion 211 and the third phalanx portion 213. This linkage mechanism can effectively control the movement trajectory of the third phalanx portion 213. During finger movement, especially when subjected to external force interference, the linkage mechanism can provide better support and guidance, reduce the vibration of the third phalanx portion 213, and ensure the stability of the entire finger structure 42. In other embodiments, the third phalanx portion 213 may not be provided.

[0049] When the finger structure 42 changes from an unfolded state to a clenched state, the first phalanx 211 rotates towards the palm side around the first axis, and the second phalanx 212 rotates towards the palm side around the second axis. During this process, the third phalanx 213 is driven by the second phalanx 212 to rotate around the second axis. The third hinge end 226 of the second link 225 is driven by the first phalanx 211 to rotate around the first axis. Since the centers of the second link 225 and the third phalanx 213 are not aligned during rotation, the second link 225 exerts a thrust on the third phalanx 213 through the fourth hinge end 227 to push the third phalanx 213 to rotate towards the palm side around the third axis. At this time, the third phalanx 213 can drive the second link 225 to rotate towards the palm side around the third hinge end 226. When the fingers change from a clenched state to an open state, both the first phalanx portion 211 and the second phalanx portion 212 rotate toward the back of the hand. During this process, the centers of rotation of the second link 225 and the third phalanx portion 213 are not aligned. Therefore, the second link 225 exerts a pulling force on the third phalanx portion 213 through the fourth hinge end 227, thereby pulling the third phalanx portion 213 to rotate toward the back of the hand around the third axis. At this time, the third phalanx portion 213 can drive the second link 225 to rotate toward the back of the hand around the third hinge end 226.

[0050] It should be noted that the phalanx portion 21 is also part of the crank-connecting rod mechanism. Specifically, in the embodiment where only the first phalanx portion 211 and the second phalanx portion 212 are provided, the crank-connecting rod mechanism includes the first phalanx portion 211, the second phalanx portion 212, the first connecting rod 221, and the second connecting rod 225; in the embodiment where the first phalanx portion 211, the second phalanx portion 212, and the third phalanx portion 213 are provided, the crank-connecting rod mechanism includes the first phalanx portion 211, the second phalanx portion 212, the third phalanx portion 213, the first connecting rod 221, and the second connecting rod 225.

[0051] In one embodiment, when the finger structure 42 is in the unfolded state, the third hinge end 226 is located on the side of the second axis closer to the first axis. Since the end of the third phalanx portion 213 connected to the fourth hinge end 227 moves towards the back of the hand during the transition from the unfolded state to the gripping state of the finger structure 42, it will cause the third hinge end 226 to move towards the back of the hand. Therefore, by placing the third hinge end 226 on the fingertip side of the second axis, the first link 221 can be positioned close to the fingertip side when the finger structure 42 is in the gripping state. Because the third hinge end 226 is close to the second axis, when the finger structure 42 switches from the unfolded state to the gripping state, the movement of the first phalanx portion 211 can act more directly on the third phalanx portion 213 through the second link 225, reducing energy loss and delay during movement. This allows the third phalanx portion 213 to respond quickly and accurately to the movement of the first phalanx portion 211, improving the agility and accuracy of the entire finger structure 42. As the finger structure 42 changes from an extended state to a gripping state, the end of the second phalanx 212 connected to the second hinge end 223 moves towards the back of the hand, thus causing the second hinge end 223 to move towards the back of the hand. Therefore, by placing the first hinge end 222 on the fingertip side of the first axis, the first link 221 can be positioned close to the fingertip side when the finger structure 42 is in a gripping state. Under stress, the third hinge end 226 is located on the side of the second axis closer to the first axis, allowing the second link 225 to more effectively transmit the force acting on the third phalanx 213 to the first phalanx 211 and the palm 41. This helps optimize the mechanical properties of the entire finger structure 42, disperse stress concentration points, reduce excessive local stress, and improve the strength and durability of the finger structure 42. For example, when grasping heavy objects, the force borne by the third phalanx 213 can be better transmitted and dispersed through the second link 225, thereby reducing the burden on the third phalanx 213 and lowering the risk of damage. Furthermore, the fourth hinge end 227 is located on the side of the third axis closer to the first axis, so as to facilitate the connection between the second link 225 and the fourth hinge post, and to facilitate the second link 225 to apply force to the fourth hinge post. Furthermore, the second link 225 has a second clearance concave surface 228 on the side near the second axis to avoid the second axis.

[0052] Please see Figures 4 to 5In one embodiment, the first transmission member 121 is configured as a worm gear 123 coaxially arranged with the output shaft, and the second transmission member 122 is configured as a worm wheel meshing with the worm gear 123, the axis of the worm wheel being collinear with the first axis. That is, the axis of the first transmission member 121 intersects the axis of the second rotating member, and the axis of the first driving member 11 intersects the first axis. In other words, when the installation space of the palm portion 41 for the first driving device 100 is insufficient, the volume of the first driving device 100 in a single direction within the installation space can be reduced by changing the axial direction of the output shaft of the first driving member 11 and the axial direction of the first axis. This allows the torque transmission structure to be implemented in a smaller space. This layout allows the palm portion 41 of the dexterous hand 400 to accommodate more mechanical components without occupying excessive space, thereby improving the overall structural compactness of the dexterous hand 400. The meshing of the worm gear 123 and the worm wheel enables high-precision motion control. The worm gear 123 transmission features accurate transmission ratio and smooth transmission, enabling more precise and stable rotation of the first phalanx 211 around the first axis. This precise transmission method is suitable for the dexterous hand 400 when performing fine operations, such as grasping small objects or performing complex tasks, ensuring the accuracy of finger movement. The worm gear 123 transmission typically has self-locking properties; when the number of teeth on the worm wheel is small, the worm gear 123 transmission can achieve reverse self-locking. This means that after the first driving member 11 stops driving, the first phalanx 211 can remain in its current position without rotating in the opposite direction due to external forces, thereby improving the stability and reliability of the finger structure 42. This is very useful for the dexterous hand 400 to maintain a grip after grasping an object, preventing the object from accidentally slipping. Furthermore, the extension direction of the first driving member 11 is consistent with the extension direction of the finger structure 42 in the unfolded state. This layout facilitates the rational arrangement of internal components of the finger. The driving member is set along the extension direction of the finger structure 42, which can form a more compact layout inside the finger, avoiding interference and crowding between the driving member and other components. This provides more space for the installation and arrangement of other components, improving the overall integration of the finger structure 42.

[0053] In one embodiment, the finger structure 42 further includes a pressure sensor 300, which is located at the end of the phalanx portion 21 and on the fingertip side of the phalanx portion 21. The pressure sensor 300 is electrically connected to the first drive member 11 to transmit data. Located on the fingertip side of the end of the phalanx portion 21, the pressure sensor 300 can directly contact and sense pressure information from the surface of an object. This positional arrangement allows the sensor to accurately detect the contact force between the finger and the object, providing precise tactile feedback to the dexterous hand 400. For example, when grasping fragile objects, the pressure sensor 300 can monitor the grasping force in real time to prevent damage to the object due to excessive force. The electrical connection between the pressure sensor 300 and the first drive member 11 allows the pressure sensor 300 to transmit the detected pressure data to the drive member in real time. The first drive member 11 can adjust the output torque based on this data to achieve real-time force feedback control. For example, when the pressure sensor 300 detects insufficient gripping force, the actuator can increase the output torque to make the fingers grip the object more firmly; conversely, when the gripping force is too large, the actuator can reduce the output torque to avoid damaging the object. In other embodiments, the pressure sensor 300 may not be provided.

[0054] Please see Figures 6 to 7 This utility model also proposes a dexterous hand 400, which includes a palm portion 41 and a finger structure 42. The specific structure of the finger structure 42 is as described in the above embodiments. Since this dexterous hand 400 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. The finger structure 42 is installed on the palm portion 41.

[0055] In one embodiment, the dexterous hand 400 includes a thumb, index finger, middle finger, ring finger, and little finger, with at least one of the index finger, middle finger, ring finger, and little finger configured as the finger structure 42. The thumb includes a second driving device 500 and a thumb body 600 driven and connected to the second driving device 500. The thumb body 600 includes a metacarpal bone segment 61, a first thumb bone segment 62, and a second thumb bone segment 63 connected in sequence. The metacarpal bone segment 61 is rotatably disposed on the palm portion 41 about a fourth axis, and the first thumb bone segment 62 is rotatably disposed on the metacarpal bone segment 61 about a fifth axis. The fourth axis and the fifth axis are intersecting. The thumb body 600 rotates towards the palm side about the fourth axis and bends towards the palm side about the fifth axis, so that the thumb can cooperate with the other four fingers to grasp objects. This fourth and fifth axis design allows the thumb to achieve complex movements similar to those of a human thumb. The thumb can rotate towards the palm side around the fourth axis and simultaneously bend towards the palm side around the fifth axis. This mobility allows the thumb to better coordinate with other fingers to achieve more precise operations, such as pinching small objects or performing complex hand gestures. Furthermore, the index, middle, ring, and little fingers are all configured as finger structures 42. In other embodiments, the thumb may also be configured as a finger structure 42.

[0056] In one embodiment, the second driving device 500 includes a third driving member 51 and a fourth driving member 52. The third driving member 51 is disposed on the palm portion 41 and drivenly connected to the metacarpal bone segment 61, and the fourth driving member 52 is disposed on the first thumb bone segment 62 and drivenly connected to the first thumb bone segment 62. Further, the palm portion 41 also includes a palm shell 411, which corresponds to a thumb avoidance notch 412. The avoidance notch 412 extends from the side of the palm portion 41 to the palm side of the palm portion 41. The thumb body 600 extends from the avoidance notch 412, and the metacarpal bone segment 61 abuts against the upper end and / or lower end of the avoidance notch 412. That is, when the third driving member 51 drives the metacarpal segment 61 to move along the extension direction of the clearance notch 412, and the fourth driving member 52 drives the first thumb segment to rotate relative to the metacarpal segment 61, the metacarpal segment 61 is abutted by the clearance notch 412, thus forcing the first thumb segment to rotate around the fourth axis on the metacarpal segment 61, so that the first thumb segment and the second thumb segment move closer to or away from the palm part 41. In other embodiments, the second driving device 500 may include the third driving member 51, the fourth driving member 52 and the fifth driving member, the fifth driving member being disposed on the second thumb segment 63 and being rotatably disposed on the first thumb segment 62 around the sixth axis.

[0057] In one embodiment, the second driving device 500 further includes a second worm gear 123 and a second turbine gear 124 drivenly connected to the third driving member 51, wherein the axial direction of the second turbine gear 124 is collinear with the fourth axis, the axial direction of the second worm gear 123 is collinear with the output shaft of the third driving member 51, and the axes of the second worm gear 123 and the second turbine gear 124 intersect each other; the second driving device 500 further includes a third worm gear 123 and a third turbine gear 124 drivenly connected to the fourth driving member 52, wherein the axial direction of the third turbine gear 124 is collinear with the fifth axis, the axial direction of the third worm gear 123 is collinear with the output shaft of the fourth driving member 52, and the axes of the third worm gear 123 and the third turbine gear 124 intersect each other, and both the second turbine gear 124 and the third turbine gear 124 are fixedly connected to the metacarpal segment 61. That is, the third drive member 51 drives the second turbine 124 to rotate, causing the metacarpal segment 61 to rotate around the fourth axis; the fourth drive member 52 drives the third turbine 124 to rotate, and through the abutment relationship between the metacarpal segment 61 and the upper and / or lower ends of the clearance notch 412, the fifth axis of the first thumb segment with the fourth drive member 52 rotates around the metacarpal segment 61. Furthermore, the third drive member 51, the second worm gear 123 and the second turbine 124, and the fourth drive member 52, the third worm gear 123 and the third turbine 124 in the second drive device 500 are configured with the same structure as those in the first drive device 100.

[0058] In one embodiment, a pressure sensor 300 may be provided on the second thumb bone segment 63. The pressure sensor 300 is located at the end away from the palm part 41 and on the fingertip side of the thumb body 600. The pressure sensor 300 can be electrically connected to the second drive device 500 to transmit data, so that the second drive device 500 can adjust the output torque according to the data to realize real-time force feedback control.

[0059] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A finger structure applied to a dexterous hand, the dexterous hand comprising a palm portion and the finger structure, the finger structure being mounted on the palm portion, characterized in that, The finger structure includes: The first driving device includes a first driving member and a transmission mechanism disposed on the palm portion. The transmission mechanism includes a first transmission member and a second transmission member that cooperate with each other. The first transmission member is disposed on the output shaft of the first driving member, and the second transmission member rotates around a first axis under the drive of the first transmission member. The finger linkage includes a finger bone portion and a linkage component. The finger bone portion includes at least a first finger bone portion and a second finger bone portion. The first finger bone portion is fixed to the second transmission component. The second finger bone portion is rotatably connected to the end of the first finger bone portion away from the first driving device and is driven by the linkage component to rotate around a second axis. The first axis and the second axis are arranged in parallel.

2. The finger structure as described in claim 1, characterized in that, The linkage includes a first link, which has a first hinge end and a second hinge end. The first hinge end is rotatably disposed on the palm part, and the second hinge end is rotatably disposed on the second finger bone part, and is located on the side of the second axis closer to the first axis when the finger structure is unfolded.

3. The finger structure as described in claim 2, characterized in that, The first hinge end is located on the fingertip side of the first axis, and / or the first connecting rod has a first clearance concave surface on the side near the first axis.

4. The finger structure as described in claim 2, characterized in that, The finger bone portion further includes a third finger bone portion, and the linkage further includes a second connecting rod having a third hinge end and a fourth hinge end. The third hinge end is rotatably disposed on the first finger bone portion, and the fourth hinge end is rotatably disposed on the third finger bone portion. The third finger bone portion is rotatably connected to the end of the second finger bone portion away from the first finger bone portion, and is driven by the second connecting rod to rotate around a third axis.

5. The finger structure as described in claim 4, characterized in that, In the extended state of the finger structure, the third hinge end is located on the side of the second axis closer to the first axis, and / or the fourth hinge end is located on the side of the third axis closer to the first axis, and / or the second link has a second clearance concave surface on the side close to the second axis.

6. The finger structure as described in claim 2, characterized in that, The first transmission component is configured as a worm gear coaxially arranged with the output shaft, and the second transmission component is configured as a worm wheel meshing with the worm gear, wherein the axis of the worm wheel is collinear with the first axis.

7. The finger structure as described in claim 1, characterized in that, The finger structure also includes a pressure sensor located at the end of the phalanx and on the fingertip side of the phalanx.

8. A dexterous hand, characterized in that, include: Palm area; The finger structure as described in any one of claims 1 to 7, wherein the finger structure is mounted on the palm portion.

9. The dexterous hand as described in claim 8, characterized in that, The dexterous hand includes a thumb, index finger, middle finger, ring finger, and little finger, at least one of the index finger, middle finger, ring finger, and little finger being configured as the finger structure; The thumb includes a second driving device and a thumb body connected to the second driving device. The thumb body includes a metacarpal segment, a first thumb segment, and a second thumb segment connected in sequence. The metacarpal segment is rotatably disposed on the palm about a fourth axis, and the first thumb segment is rotatably disposed on the metacarpal segment about a fifth axis.

10. The dexterous hand as described in claim 9, characterized in that, The second driving device includes a third driving member and a fourth driving member. The third driving member is disposed on the palm and driven to be connected to the metacarpal bone segment, and the fourth driving member is disposed on the first thumb bone segment and driven to be connected to the first thumb bone segment.

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