Finger joint transmission structure of anthropomorphic robot hand

A finger joint transmission structure 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, extending along an X-axis, the 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 along the X-axis, 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;
• and
• a transmission unit, disposed in the accommodating space, the transmission unit including a speed reducer unit and a motor unit that are connected to each other along the X-axis, the speed reducer unit having a transmission shaft extending toward the first joint portion, a central axis of the transmission shaft being orthogonal to the Y-axis, a transmission gear being provided on the transmission shaft, the transmission gear meshing with the toothed rack, the speed reducer unit being configured to reduce a rotational speed of the motor unit to output power from the transmission shaft;
• wherein when the motor unit drives the transmission shaft to rotate via the speed reducer unit, the transmission 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;
• wherein another toothed rack is provided on the second joint portion, the another toothed rack is arranged in an arc shape along the Y-axis;
• wherein a head end of the third finger segment is pivotally connected to the second pivot portion, the third finger segment also has the transmission unit as the second finger segment;
• wherein when the transmission gear of the third finger segment is moved along the another toothed rack, the third finger segment is driven to be pivoted upward or downward at a predetermined relative to the second finger segment.