Dexterous hand finger structure, dexterous hand and robot

Abstract

This application discloses a dexterous hand finger structure, a dexterous hand, and a robot, relating to the field of robotics. It includes a first connector and a knuckle assembly. The knuckle assembly includes a finger module and two knuckle modules. Each knuckle assembly includes a main connecting rod and a bearing. The main connecting rod includes a first end near the first connector and a second end away from the first connector. First mounting arms are formed at intervals on the first ends of the main connecting rods of the knuckle modules. First limiting grooves suitable for accommodating the bearings are formed on the opposing arm surfaces of the first mounting arms of the knuckle modules, and the bearings are rotatably disposed within the first limiting grooves. Connecting shafts connected to the bearings are provided on both sides of the second end of the main connecting rod. A first rotating disk for tendon tether winding is formed at the second end of the main connecting rod. The technical solution provided by this application simplifies the finger structure of the dexterous hand through modular optimization design, and improves the smoothness of rotation by optimizing the connection relationship between the knuckles.

Description

Technical Field

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

[0002] With the continuous advancement of humanoid robot technologies, industrial automation is gradually shifting from industrial robots performing single, repetitive tasks to humanoid robots performing complex and varied tasks. In this transformation, robot end effectors are evolving from specialized tools to general-purpose, human-hand-like tools. A dexterous hand is a type of humanoid robot end effector used to perform diverse tasks such as grasping, manipulating, and sensing.

[0003] Among them, chord-driven dexterous hands are one of the mainstream types of dexterous hands. Through a biomimetic tendon-skeletal transmission mechanism, flexible ropes replace traditional rigid links, combining core advantages such as lightweight, high load-to-weight ratio, and smooth movement. They have demonstrated irreplaceable value in scenarios such as medical prostheses, industrial collaborative robots, and space exploration. Because fingers are multi-joint structures, the assembly of chords in traditional finger structures is quite difficult. For non-modular finger structures, the chords need to avoid entanglement in a complex manner to avoid the corresponding link structures. For modular finger structures, the chords are prone to overlapping, causing resonance and affecting normal movement. Utility Model Content

[0004] The purpose of this application is to provide a dexterous hand finger structure, a dexterous hand, and a robot to solve at least one of the above-mentioned technical problems.

[0005] To address the aforementioned technical problems, this application provides a dexterous hand finger structure, a dexterous hand, and a robot. In a first aspect, this application provides a dexterous hand finger structure, including a first connector and a knuckle assembly; the knuckle assembly includes a finger module and two knuckle modules; one end of each of the two knuckle modules is rotatably connected to the other, and the other end is rotatably connected to the finger module and the first connector, respectively.

[0006] Each knuckle assembly includes a main connecting rod and a bearing; the main connecting rod includes a first end near the first connector and a second end away from the first connector; a first mounting arm is formed at a relative interval on the first end of the main connecting rod of the knuckle module, and a first limiting groove suitable for accommodating the bearing is formed on the opposite arm surface of the first mounting arm of the knuckle module, and the bearing is rotatably disposed in the first limiting groove; a connecting shaft connected to the bearing is provided on both sides of the second end of the main connecting rod;

[0007] A first rotating disk for winding tendon rope is formed at the second end of the main connecting rod, and the axis of the first rotating disk is parallel to the axis of the bearing;

[0008] In the above implementation process, this solution simplifies the finger structure of the dexterous hand through modular optimization design, and improves the smoothness of rotation by optimizing the connection relationship between the knuckles. Specifically, the finger structure in this solution consists of a first connector and knuckle components. It can be understood that there are three knuckle components, of which the tip is the finger module at the end, and the other two are knuckle modules. The knuckle modules have the same structure. In application, if a single knuckle module is damaged in multiple fingers, it can be directly replaced. In the manufacturing process, there is no need to equip multiple complex parts, resulting in higher consistency of parts, which facilitates assembly and subsequent maintenance. Furthermore, in this solution, bearings are provided at the connection points between the knuckle components and between the knuckle components and the first connector. The bearings further improve the smoothness of rotation between the connecting parts, making the dexterous hand's movements smoother, reducing movement wear, and extending service life.

[0009] Preferably, a first receiving cavity is formed at the second end of the main connecting rod, and the first rotating disk is disposed in the first receiving cavity;

[0010] In the above implementation process, the rotating disk is used for winding the tendon cord. After winding, the movement of the tendon cord can drive the various parts of the finger structure to move. This solution sets up a first receiving cavity and builds the first rotating disk inside the first receiving cavity, making the overall structure more aesthetically pleasing. At the same time, it can protect the tendon cord. Concealing the tendon cord as much as possible can reduce the interference of external factors on the tendon cord and improve its service life.

[0011] Preferably, a second accommodating cavity is formed at the second end of the main connecting rod adjacent to the first accommodating cavity;

[0012] At least one first threading hole is formed through the first end of the main connecting rod of the knuckle module, and the first threading hole communicates with the second accommodating cavity.

[0013] In the above implementation process, the first threading hole formed on the main connecting rod allows the tendon cord of the adjacent knuckle module or finger module to pass through. In this way, the tendon cord is brought out by an internal opening instead of being brought out from the outside. This method allows the tendon cord to be brought out without going through a complicated winding process, and to take the shortest possible path. Less material is used and the probability of interference is reduced. The second accommodating cavity provides a clearance area for the tendon cord to pass through.

[0014] Preferably, the first and second accommodating cavities of the knuckle module near the finger module are positioned opposite to those of the finger module, and are also opposite to those of the first and second accommodating cavities of the other knuckle module.

[0015] In the above implementation process, this solution staggers the first and second accommodating cavities of adjacent knuckle components, which makes the arrangement of tendons more reasonable and further reduces interference. It can be understood that when the first and second accommodating cavities of the main connecting rod of the finger module are distributed left and right, the positions of the first and second accommodating cavities of the adjacent knuckle module are swapped, that is, the second accommodating cavity is placed to the left of the first accommodating cavity. When moving to the next knuckle module, the positions are swapped again, that is, the same arrangement as the finger module is returned.

[0016] Preferably, a first adjustment hole communicating with the first accommodating cavity and a second adjustment hole communicating with the first threading hole or the second accommodating cavity are formed on the side wall of the main connecting rod.

[0017] In the above implementation process, this solution further provides a first adjustment hole and a second adjustment hole on one side of the main connecting rod. The first adjustment hole is connected to the first accommodating cavity, and the operator can adjust the position of the tendon rope in the first accommodating cavity through the first adjustment hole, which facilitates the assembly of the tendon rope and improves the convenience of subsequent maintenance. Similarly, the second adjustment hole is connected to the first threading hole or the second accommodating cavity, which also serves to facilitate assembly and adjustment.

[0018] Preferably, a slot is formed at the first end of the main connecting rod of the finger module, and the finger module further includes a finger block on which a plug suitable for insertion into the slot is provided;

[0019] In the above implementation process, a slot is formed on the main connecting rod of the finger module, and a plug is formed on the finger block that matches the slot. The connection method between the plug and the slot is quick and stable, improving the convenience and efficiency of assembly. Furthermore, this solution adopts a plug-in detachable method, which facilitates the subsequent replacement and maintenance of the finger block, further implementing the concept of modular design and reducing subsequent maintenance costs.

[0020] Preferably, the first connector includes a main body and a second mounting arm formed on the main body at a relative interval; a second limiting groove suitable for accommodating the bearing is formed on the opposite side of the second mounting arm, and the bearing is rotatably disposed in the second limiting groove;

[0021] A first rotating shaft is provided on the opposite side wall of the main body, and the axial direction of the first rotating shaft is perpendicular to the axial direction of the bearing;

[0022] A plurality of second threading holes are formed through the main body;

[0023] In the above implementation process, the main connecting rod of the finger unit near the first connector extends between the two second mounting arms. The connecting shaft on the main connecting rod is connected to the bearing and further cooperates with the second limiting groove to achieve stable rotation. The second threading hole formed on the main body provides space for the tendon rope to be led out, thereby realizing internal rope guiding, reducing interference between tendon ropes or external interference, making the power transmission process more stable, and improving the accuracy and sensitivity of subsequent dexterous hand movement control.

[0024] Secondly, this application provides a dexterous hand, including a palm, a thumb unit rotatably disposed on the palm, and four finger units; the thumb unit and the four finger units all include the dexterous hand finger structure as described above.

[0025] The palm includes a palm center and a back of the hand. A mounting groove is formed in the palm center. A second connector is rotatably provided in the mounting groove. The first connector on the thumb unit is rotatably connected to the second connector, and the rotation axes are perpendicular to each other.

[0026] A third mounting arm is formed at a relatively interval on the palm end of the hand, and a plurality of third limiting grooves are formed on the opposite sides of the third mounting arm; the first connector on the four-finger unit is rotatably disposed on the third limiting groove; a plurality of third threading holes are formed through the palm end of the hand between the two third mounting arms.

[0027] In the above implementation process, both the four-finger unit and the thumb unit in this solution have two dimensions of rotation. Taking the four-finger unit as an example, the four-finger unit refers to the four fingers other than the thumb. It includes a dexterous hand finger structure. The finger joint components themselves have a first dimension of rotation. After setting the first connector, the first connector is rotatably connected to the palm through the first rotating shaft. The axis of the first rotating shaft is perpendicular to the axis of the bearing on the current finger joint component. Therefore, it has a second dimension of rotation. This allows the fingers to grasp and retract. At the same time, the rotation of the first connector can also allow the four fingers to move away from or towards each other. Furthermore, the second threading hole allows the tendon cord to pass through and also allows the tendon cord to wrap around. The wrapped tendon cord can drive the first connector to rotate around the axis of the first rotating shaft, thereby allowing the four fingers to move closer or further away from each other. The thumb unit also has the same dexterous hand finger structure. Due to its special position, it is set in the palm and further achieves a second dimension of rotation in addition to the fingers themselves through the second connector. This allows the thumb to move closer or further away from the four fingers.

[0028] Preferably, a third receiving cavity is formed on the second connector, and a second turntable is provided in the third receiving cavity;

[0029] A second rotating shaft is provided on the two opposite outer side walls of the second connector. The second rotating shaft is rotatably disposed in the mounting groove with its axis parallel to the axis of the second turntable.

[0030] In the above implementation process, the third accommodating cavity formed on the second connector can be used to accommodate the second turntable, so that the turntable is built-in. The tendon rope can be hidden by winding it in the built-in turntable, making the overall structure look more beautiful, and at the same time, it can protect the tendon rope. The tendon rope and the second turntable can cooperate to realize the rotation of the second connector, thereby driving the finger structure located on the second connector to rotate.

[0031] Thirdly, this application provides a robot including a dexterous hand finger structure or a dexterous hand as described above.

[0032] Compared with existing technologies, the advantages of this application are as follows: This solution simplifies the finger structure of a dexterous hand through modular optimization design, and improves the smoothness of rotation by optimizing the connection relationship between the knuckles. Specifically, the finger structure in this solution consists of a first connector and knuckle components. It can be understood that there are three knuckle components, one of which is the tip finger module, and the other two are knuckle modules. The knuckle modules have the same structure, so if a single knuckle module is damaged in multiple fingers during application, it can be directly replaced. Furthermore, in the manufacturing process, there is no need to equip multiple complex parts, resulting in higher consistency of components, facilitating assembly and subsequent maintenance. Moreover, bearings are provided at the connection points between the knuckle components and between the knuckle components and the first connector. The bearings further improve the smoothness of rotation between the connecting parts, making the dexterous hand's movements smoother, reducing movement wear, and extending service life. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of a finger structure according to one embodiment of this application;

[0035] Figure 2 This is a schematic diagram of a finger structure according to one embodiment of this application;

[0036] Figure 3 This is an exploded structural diagram of a finger structure according to one embodiment of this application;

[0037] Figure 4This is a schematic diagram of the main connecting rod according to one embodiment of this application;

[0038] Figure 5 This is a perspective structural diagram of the main connecting rod according to one embodiment of this application;

[0039] Figure 6 This is a schematic diagram of the structure of the first connector according to one embodiment of this application;

[0040] Figure 7 This is a perspective structural diagram of the first connector according to one embodiment of this application;

[0041] Figure 8 This is a schematic diagram of the structure of a dexterous hand according to one embodiment of this application;

[0042] Figure 9 This is a schematic diagram of the structure of a hand according to one embodiment of this application;

[0043] Figure 10 This is a schematic diagram of the structure of a hand according to one embodiment of this application;

[0044] Figure 11 This is a schematic diagram of the structure of a hand according to one embodiment of this application;

[0045] Figure 12 This is a schematic diagram of the structure of the second connector according to one embodiment of this application;

[0046] Wherein: 10, First connecting piece; 11, Main body; 12, Second mounting arm; 13, Second limiting groove; 14, First rotating shaft; 15, Second threading hole; 20, Finger module; 21, Main connecting rod; 211, First mounting arm; 212, First limiting groove; 213, First accommodating cavity; 214, Second accommodating cavity; 215, First threading hole; 216, First adjusting hole; 217, Second adjusting hole; 22, Bearing; 23, Connecting shaft; 24, Finger block; 241, Slot; 25, Fixing plate; 26, Outer shell; 30, Finger module; 40, Palm; 41, Mounting groove; 42, Third limiting groove; 43, Third threading hole; 50, Thumb unit; 51, Second connecting piece; 511, Third accommodating cavity; 512, Second turntable; 513, Second rotating shaft; 60, Four-finger unit;

[0047] S1, first end; S2, second end. Detailed Implementation

[0048] The following drawings disclose several embodiments of this application. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details should not be used to limit this application. That is, in some embodiments of this application, these practical details are not essential. In addition, for the sake of simplicity, some conventional structures and components will be shown in the drawings in a simple schematic manner.

[0049] It should be noted that all directional indications in the embodiments of this application, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indication will also change accordingly.

[0050] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit this application. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If a 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 in this application.

[0051] To further understand the utility model content, features, and effects of this application, the following embodiments are provided, and detailed descriptions are given below in conjunction with the accompanying drawings:

[0052] Example

[0053] Conduit-driven dexterous hands are one of the mainstream types of dexterous hands today. Through a biomimetic tendon-skeletal transmission mechanism, flexible ropes replace traditional rigid links, offering core advantages such as lightweight design, high load-to-weight ratio, and smooth movement. This makes them irreplaceable in medical prosthetics, industrial collaborative robots, and space exploration. However, due to the multi-joint structure of fingers, assembling conduits for traditional finger structures is challenging. For non-modular finger structures, the conduits need to be arranged in complex ways to avoid interlocking with the corresponding links. In modular finger structures, the conduits are prone to overlapping, causing resonance and affecting normal movement. To address these technical problems, this embodiment provides the following technical solution:

[0054] For details, please see Figure 1-12This embodiment provides a dexterous hand finger structure, including a first connector 10 and a knuckle assembly; the knuckle assembly includes a finger module 30 and two knuckle modules 20; one end of the two knuckle modules 20 is rotatably connected to each other, and the other end is rotatably connected to the finger module 30 and the first connector 10 respectively;

[0055] Furthermore, each knuckle assembly includes a main connecting rod 21 and a bearing 22; the main connecting rod 21 includes a first end near the first connector 10 and a second end away from the first connector 10; a first mounting arm 211 is formed at a relative interval on the first end of the main connecting rod 21 of the knuckle module 20, and a first limiting groove 212 suitable for accommodating the bearing 22 is formed on the opposite arm surface of the first mounting arm 211 of the knuckle module 20, and the bearing 22 is rotatably disposed in the first limiting groove 212; a connecting shaft 23 connected to the bearing 22 is provided on both sides of the second end of the main connecting rod 21.

[0056] Specifically, a first rotating disk for winding tendon rope is formed at the second end of the main connecting rod 21, and the axis of the first rotating disk is parallel to the axis of the bearing 22;

[0057] In the above solution, the modular optimization design simplifies the finger structure of the dexterous hand, while improving the smoothness of rotation by optimizing the connection between the knuckles. Specifically, the finger structure in this solution consists of a first connector 10 and knuckle components. This can be understood as having three knuckle components: the tip finger module 30 and the other two knuckle modules 20. The knuckle modules 20 have identical structures, allowing for direct replacement of any damaged single knuckle module 20 in application. Furthermore, the manufacturing process eliminates the need for multiple complex parts, resulting in higher consistency of components and facilitating assembly and subsequent maintenance. Moreover, bearings 22 are provided at the connections between the knuckle components and between the knuckle components and the first connector 10. The bearings 22 further enhance the smoothness of rotation between the connecting components, making the dexterous hand's movements smoother, reducing wear and tear, and extending its service life.

[0058] Understandably, the first limiting groove 212 can effectively limit the position of the bearing 22, specifically by restricting the bearing 22 from moving away from its axial direction, while preventing the bearing 22 cover from moving away from the end of the connecting shaft 23.

[0059] For details, please see Figure 4-5 A first receiving cavity 213 is formed at the second end of the main connecting rod 21, and a first rotating disk is disposed in the first receiving cavity 213;

[0060] In the above scheme, the rotating disk is used for winding the tendon cord. After winding, the movement of the tendon cord can drive the various parts of the finger structure to move. In this scheme, by setting the first accommodating cavity 213, the first rotating disk is built into the first accommodating cavity, making the overall structure more aesthetically pleasing. At the same time, it can protect the tendon cord. Concealing the tendon cord as much as possible can reduce the interference of external factors on the tendon cord and improve its service life.

[0061] Specifically, a second receiving cavity 214 is formed at the second end of the main connecting rod 21 adjacent to the first receiving cavity 213;

[0062] Furthermore, at least one first wire hole 215 is formed through the first end of the main connecting rod 21 of the knuckle module 20, and the first wire hole 215 is connected to the second accommodating cavity 214.

[0063] In the above scheme, the first threading hole 215 formed on the main connecting rod 21 allows the tendon cords of the adjacent knuckle module 20 or finger module 30 to pass through. In this way, the tendon cords are brought out through an internal opening instead of being brought out from the outside. This method allows the tendon cords to be brought out through a shorter path without going through a complicated winding process, using less material and having a lower probability of interference. The second accommodating cavity 214 provides a clearance area for the tendon cords to pass through.

[0064] For further details, please see Figure 2-3 The first accommodating cavity 213 and the second accommodating cavity 214 of the knuckle module 20, which is close to the finger module 30, are located in opposite positions to those of the finger module 30, and are also located in opposite positions to those of the first accommodating cavity 213 and the second accommodating cavity 214 of the other knuckle module 20.

[0065] In the above scheme, the first accommodating cavity 213 and the second accommodating cavity 214 of adjacent knuckle components are staggered, which makes the arrangement of tendons more reasonable and further reduces interference. It can be understood that when the first accommodating cavity 213 and the second accommodating cavity 214 of the main connecting rod 21 of the finger module 30 are distributed left and right, the positions of the first accommodating cavity 213 and the second accommodating cavity 214 of the adjacent knuckle module 20 are swapped, that is, the second accommodating cavity 214 is placed to the left of the first accommodating cavity 213. Further, when moving to the next knuckle module 20, the positions are swapped again, that is, the arrangement returns to the same way as the finger module 30.

[0066] For details, please see Figure 5 A first adjustment hole 216 communicating with the first accommodating cavity 213 and a second adjustment hole 217 communicating with the first wire hole 215 or the second accommodating cavity 214 are formed on the side wall of the main connecting rod 21.

[0067] In the above solution, a first adjustment hole 216 and a second adjustment hole 217 are further provided on one side of the main connecting rod 21. The first adjustment hole 216 is connected to the first accommodating cavity 213. The operator can adjust the position of the tendon rope in the first accommodating cavity 213 through the first adjustment hole 216, which facilitates the assembly of the tendon rope and improves the convenience of subsequent maintenance. Similarly, the second adjustment hole 217 is connected to the first threading hole 215 or the second accommodating cavity 214, which also serves to facilitate assembly and adjustment.

[0068] For details, please see Figure 3 A slot 241 is formed at the first end of the main connecting rod 21 of the finger module 30. The finger module 30 also includes a finger block 24, on which a plug suitable for insertion into the slot 241 is provided.

[0069] In the above solution, a slot 241 is formed on the main connecting rod 21 of the finger module 30, and a plug that matches the slot 241 is formed on the finger block 24. The connection between the plug and the slot 241 is quick and stable, improving the convenience and efficiency of assembly. Furthermore, this solution adopts a plug-in detachable method, which facilitates the subsequent replacement and maintenance of the finger block 24, further implementing the concept of modular design and reducing subsequent maintenance costs.

[0070] For details, please see Figure 6-7 The first connecting member 10 includes a main body 11 and a second mounting arm 12 formed on the main body 11 at a relative interval; a second limiting groove 13 suitable for accommodating the bearing 22 is formed on the opposite side of the second mounting arm 12, and the bearing 22 is rotatably disposed in the second limiting groove 13.

[0071] Furthermore, a first rotating shaft 14 is provided on the opposite side wall of the main body 11, and the axial direction of the first rotating shaft 14 is perpendicular to the axial direction of the bearing 22.

[0072] Specifically, a plurality of second threading holes 15 are formed through the main body 11;

[0073] In the above scheme, the main connecting rod 21 of the finger joint unit near the first connecting member 10 extends between the two second mounting arms 12. The connecting shaft 23 on the main connecting rod 21 is connected to the bearing 22 and further cooperates with the second limiting groove 13 to achieve stable rotation. The second threading hole 15 formed on the main body 11 provides space for the tendon rope to be led out, thereby realizing internal rope guiding, reducing interference between tendon ropes or external interference, making the power transmission process more stable, and improving the accuracy and sensitivity of subsequent dexterous hand movement control.

[0074] Specifically, in order to further improve the concealment of the tendons and ligaments, and at the same time enhance the aesthetics of the dexterity hand's finger structure, this embodiment provides the following technical solution:

[0075] For details, please see Figure 1 The finger joint assembly is also provided with a housing 26, which can protect each finger joint unit. It is understood that the housing 26 includes the finger pad and the back of the finger, wherein the area of ​​the back of the finger is larger than the area of ​​the finger pad. This does not affect the normal bending of the finger structure, while limiting the bending in another direction. That is, when rotating in the direction opposite to the finger clenched state, the adjacent housings 26 will act as a block, thereby avoiding excessive bending towards the back of the finger.

[0076] For further details, please see Figure 3 A fixing plate 25 is provided at the connection between the knuckle components and between the knuckle components and the first connector 10. The fixing plate 25 plays a certain protective role and also makes the overall structure more aesthetically pleasing. Furthermore, it can be understood that mounting holes can be opened on the main connecting rod 21 or the connector, and the fixing plate 25 can be fixed by tightening screws.

[0077] This embodiment also provides a dexterous hand, which includes a palm 40, a thumb unit 50 rotatably disposed on the palm 40, and a four-finger unit 60; the thumb unit 50 and the four-finger unit 60 both include the dexterous hand finger structure as described above.

[0078] Specifically, the palm 40 includes the palm center and the back of the hand, and an installation groove 41 is formed in the palm center. A second connector 51 is rotatably provided on the installation groove 41. The first connector 10 on the thumb unit 50 is rotatably connected to the second connector 51, and the rotation axes are perpendicular to each other.

[0079] A third mounting arm is formed at a relatively interval on the palm end of the palm 40, and a plurality of third limiting grooves 42 are formed on the opposite sides of the third mounting arm; the first connector 10 on the four-finger unit 60 is rotatably disposed on the third limiting groove 42; a plurality of third threading holes 43 are formed through the palm end of the palm 40 between the two third mounting arms.

[0080] In the above scheme, both the four-finger unit 60 and the thumb unit 50 have two dimensions of rotation. Taking the four-finger unit 60 as an example, the four-finger unit 60 refers to the four fingers other than the thumb. It includes a dexterous hand finger structure. The knuckle components themselves have a first dimension of rotation. After the first connector 10 is set, the first connector 10 is rotatably connected to the palm 40 through the first rotating shaft 14. The axis of the first rotating shaft 14 is perpendicular to the axis of the bearing 22 on the current knuckle component. Therefore, it has a second dimension of rotation. This allows the fingers to grasp and retract, and it can also be rotated through the first connector. The rotation of connector 10 enables the four fingers to move closer or further apart. Furthermore, the second threading hole 15 allows the tendon cord to pass through and also allows the tendon cord to be wrapped around. The wrapped tendon cord can drive the first connector 10 to rotate around the first rotating shaft 14, thereby enabling the four fingers to move closer or further apart. The thumb unit 50 also has the same dexterous hand finger structure. Due to its special position, it is located in the palm and further enables a second dimension of rotation in addition to the fingers themselves through the second connector 51, thus enabling the thumb to move closer or further apart from the four fingers.

[0081] For details, please see Figure 12 A third receiving cavity 511 is formed on the second connecting member 51, and a second turntable 512 is provided in the third receiving cavity 511.

[0082] Furthermore, a second rotating shaft 513 is provided on the two opposite outer walls of the second connector 51. The second rotating shaft 513 is rotatably disposed in the mounting groove 41 with its axis parallel to the axis of the second turntable 512.

[0083] In the above scheme, the third accommodating cavity 511 formed on the second connector 51 can be used to accommodate the second turntable 512, so that the turntable is built-in. The tendon rope can be hidden by being wrapped in the built-in turntable, making the overall structure look more beautiful, and at the same time, it can protect the tendon rope. The tendon rope can cooperate with the second turntable 512 to realize the rotation of the second connector 51, thereby driving the finger structure located on the second connector to rotate.

[0084] It is understandable that the connection between the first connector 10 and the second connector 51, as well as the connection between the second connector 51 and the mounting groove 41, can also be provided with a bearing 22, and the bearing 22 can be limited by the corresponding limiting groove structure.

[0085] Specifically, this embodiment also provides a robot that includes a dexterous hand finger structure or a dexterous hand as described above.

[0086] The tendon rope diagram is not shown in this solution, but tendon rope is a relatively common technical means in the existing dexterity hand technology field. Therefore, the working principle of its cooperation with the disc to achieve the action will not be described in detail here. It is understood that this will not affect the understanding of the solution as a whole by those skilled in the art.

[0087] The above description is merely a preferred embodiment of this application and is not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application shall fall within the scope of the technical solution of this application.

Claims

1. A dexterous hand finger structure, characterized by: It includes a first connector and a knuckle assembly; the knuckle assembly includes a finger module and two knuckle modules; one end of the two knuckle modules is rotatably connected to each other, and the other end is rotatably connected to the finger module and the first connector, respectively. Each knuckle assembly includes a main connecting rod and a bearing; the main connecting rod includes a first end near the first connector and a second end away from the first connector; a first mounting arm is formed at a relative interval on the first end of the main connecting rod of the knuckle module, and a first limiting groove suitable for accommodating the bearing is formed on the opposite arm surface of the first mounting arm of the knuckle module, and the bearing is rotatably disposed in the first limiting groove; a connecting shaft connected to the bearing is provided on both sides of the second end of the main connecting rod; A first rotating disk for winding tendon rope is formed at the second end of the main connecting rod, and the axis of the first rotating disk is parallel to the axis of the bearing.

2. The dexterous hand finger structure of claim 1, wherein: A first receiving cavity is formed at the second end of the main connecting rod, and the first rotating disk is disposed in the first receiving cavity.

3. The dexterous hand finger structure of claim 2, wherein: A second accommodating cavity is formed adjacent to the first accommodating cavity at the second end of the main connecting rod; At least one first threading hole is formed through the first end of the main connecting rod of the knuckle module, and the first threading hole communicates with the second accommodating cavity.

4. The dexterous hand finger structure according to claim 3, characterized in that: The first and second accommodating cavities of the knuckle module located near the finger module are positioned opposite to those of the finger module, and are also opposite to those of the first and second accommodating cavities of the other knuckle module.

5. The dexterous hand finger structure of claim 3, wherein: A first adjustment hole communicating with the first accommodating cavity and a second adjustment hole communicating with the first threading hole or the second accommodating cavity are formed on the side wall of the main connecting rod.

6. The dexterous hand finger structure of claim 1, wherein: A slot is formed at the first end of the main connecting rod of the finger module, and the finger module also includes a finger block with a plug suitable for insertion into the slot.

7. The dexterous hand finger structure of any one of claims 1-6, wherein: The first connector includes a main body and a second mounting arm formed on the main body at a relative interval; a second limiting groove suitable for accommodating the bearing is formed on the opposite side of the second mounting arm, and the bearing is rotatably disposed in the second limiting groove; A first rotating shaft is provided on the opposite side wall of the main body, and the axial direction of the first rotating shaft is perpendicular to the axial direction of the bearing; Several second threading holes are formed through the main body.

8. A dexterous hand characterized by: It includes a palm, a thumb unit rotatably disposed on the palm, and four finger units; the thumb unit and four finger units all include the dexterous hand finger structure as described in claim 7; The palm includes a palm center and a back of the hand. A mounting groove is formed in the palm center. A second connector is rotatably provided in the mounting groove. The first connector on the thumb unit is rotatably connected to the second connector, and the rotation axes are perpendicular to each other. A third mounting arm is formed at a relative interval on the palm end of the hand, and a plurality of third limiting grooves are formed on the opposite sides of the third mounting arm; the first connectors on the four-finger unit are rotatably disposed on the third limiting grooves; a plurality of third threading holes are formed through the palm end of the hand between the two third mounting arms.

9. The dexterous hand of claim 8, wherein: A third receiving cavity is formed on the second connector, and a second turntable is provided in the third receiving cavity; A second rotating shaft is provided on the two opposite outer walls of the second connector. The second rotating shaft is rotatably disposed in the mounting groove with its axis parallel to the axis of the second turntable.

10. A robot, characterized by: This includes the dexterous hand finger structure as described in any one of claims 1-7 or the dexterous hand as described in claim 8.

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