Finger joint transmission mechanism of anthropomorphic robot hand

A finger joint transmission mechanism of an anthropomorphic robot hand, comprising:

• a first finger segment, having a first pivot portion and a first joint portion at one end thereof, a toothed rack being provided on the first joint portion, the toothed rack being arranged in an arc shape along a Y-axis;
• a second finger segment, being hollow and having an accommodating space therein, the second finger segment having a head end and a tail end opposite to the head end, the head portion of the second finger segment being pivotally connected to the first pivot portion of the first finger segment, the tail end having a second pivot portion and a second joint portion, a power unit being provided in the accommodating space, the power unit including a transmission shaft extending toward the first joint portion and a transmission gear connected to a periphery of the transmission shaft;
• a transmission unit, disposed at an upper position of the second finger segment close to the head end, the transmission unit includes a toothed disc meshing with the transmission gear, a drive shaft being provided at a center of the toothed disc, the drive shaft being synchronously rotated along with the toothed disc, a drive gear being provided along a periphery of the drive shaft, the drive gear meshing with the toothed rack;
• wherein when the transmission gear on the transmission shaft of the power unit drives the toothed disc and the drive shaft to rotate, the drive gear is synchronously driven to move along the toothed rack, so that the second finger segment is driven to be pivoted upward or downward at a predetermined angle relative to the first finger segment.