Finger and dexterous hand

Abstract

According to the finger and the dexterous hand, a disconnection protection mechanism and a moving block of the finger are additionally arranged in a driving mechanism, the moving block is hinged to the tail end of a knuckle, and the output end of a power source in the driving mechanism penetrates through a base and then is detachably connected with the moving block through the disconnection protection mechanism; compared with the prior art that the driving mechanism is damaged due to overload of the driving mechanism caused by collision between the fingers and the obstacle, when the fingers abnormally touch the obstacle and are subjected to overlarge impact force of the obstacle, the connection between the output end of the power source and the moving block can be disconnected through the disconnection protection mechanism; the fingers and the driving mechanism are disconnected, the impact load of external impact force on the driving mechanism is reduced, and the service life of the finger driving mechanism of the dexterous hand is prolonged.

Description

Technical Field

[0001] This application relates to the technical field of manipulators, and more particularly, to a finger and a dexterous hand. Background Art

[0002] Currently, with the development of intelligent technology and bionic technology, humanoid intelligent robots have gradually become the focus of research. As the end effector of a humanoid intelligent robot, the robot dexterous hand has a functional structure similar to that of a human hand. The functional structure similar to that of a human hand ensures that the dexterous hand has the advantages of strong dexterous operation ability, good human-computer interaction, and suitability for teleoperation.

[0003] During the debugging or use of the dexterous hand, it is inevitable that the finger collides with an obstacle. Due to the large impact force, it often causes a large overload on the driving mechanism and damages the driving mechanism. Summary of the Invention

[0004] To solve the above problems, an object of the embodiments of this application is to provide a finger and a dexterous hand.

[0005] In a first aspect, an embodiment of this application provides a finger, including: a base, a rotating frame, a finger joint, and a driving mechanism; The rotating frame is rotatably provided at the top of the base. The end part of the finger joint is located inside the rotating frame, and the finger joint is hinged to the rotating frame. The driving mechanism is fixedly provided on the base, and the rotating frame is arranged on the top of the driving mechanism. Among them, the first rotation axis between the rotating frame and the finger joint and the second rotation axis between the base and the rotating frame are perpendicular to each other; The driving mechanism includes a power source, a moving block, a linear guiding component, a connecting rod, and a disconnection protection mechanism. The power source is fixed at the bottom of the base. The output end of the power source passes through the base and is detachably connected to the moving block through the disconnection protection mechanism. The moving block is slidably connected to the base through the linear guiding component. A connecting rod is arranged between the moving block and the end of the finger joint. One end of the connecting rod is hinged to the finger joint, and the other end of the connecting rod is hinged to the moving block.

[0006] In a second aspect, an embodiment of this application further provides a dexterous hand, including: the finger described in the first aspect above.

[0007] In the solutions provided in the first aspect to the second aspect of the embodiments of the present application, a finger disconnection protection mechanism and a moving block are added to the driving mechanism, the moving block is hinged to the end of the finger joint, and the output end of the power source in the driving mechanism passes through the base and is detachably connected to the moving block through the disconnection protection mechanism. Compared with the method in the related art where the finger collides with an obstacle and causes overload on the driving mechanism and damage to the driving mechanism, when the finger abnormally touches an obstacle and is subjected to excessive impact force from the obstacle, the disconnection protection mechanism can disconnect the output end of the power source from the moving block hinged to the finger joint, so that the finger is disconnected from the driving mechanism, thereby reducing the impact load of the external impact force on the driving mechanism and extending the service life of the finger driving mechanism of the dexterous hand.

[0008] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 A side view of a first implementation of a finger provided in Example 1 of the present application is shown; Figure 2 A front view of a first implementation of a finger provided in an embodiment of the present application is shown; Figure 3 A partial cross-sectional view of a first implementation of a finger provided in an embodiment of the present application is shown; Figure 4 The embodiment of the present application provides Figure 3 A local enlarged schematic diagram of the X in the middle; Figure 5 A cross-sectional view of a linear transmission assembly in a first implementation of a finger provided in an embodiment of the present application is shown; Figure 6 A schematic diagram of the three-dimensional structure of a double gear in a first implementation manner of a finger provided in an embodiment of the present application is shown; Figure 7 A schematic diagram of the spring structure provided in an embodiment of the present application is shown; Figure 8 A partial structural schematic diagram of a second implementation method of a finger provided in an embodiment of the present application is shown; Figure 9Shows a partial structural schematic diagram of the third implementation manner of the finger provided by the embodiments of the present application; Figure 10 Shows a sectional view of the connecting frustum in the third implementation manner of the finger provided by the embodiments of the present application; Figure 11 Shows a partial structural schematic diagram of the fourth implementation manner of the finger provided by the embodiments of the present application.

[0011] Icons: 100, base; 200, rotating frame; 300, knuckle; 400, driving mechanism; 410, power source; 411, housing; 412, motor; 413, transmission mechanism; 4131, driving gear; 4132, double gear; 4133, gear pin shaft; 4134, driven gear; 414, linear transmission assembly; 4141, thrust screw; 4142, roller; 4143, nut; 4144, transmission sleeve; 415, bearing; 420, moving block; 421, first through hole; 430, linear guiding assembly; 431, guide rail; 432, slider; 440, connecting rod; 450, disconnection protection mechanism; 451, groove; 452, elastic sheet; 453, wave column screw; 454, mounting plate; 455, first spring; 456, second spring; 457, second through hole; 458, hollow frustum; 459, connecting frustum; 45A, first "L"-shaped mounting bracket; 45B, second "L"-shaped mounting bracket. Detailed implementation manners

[0012] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0013] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0014] In this application, unless otherwise clearly specified or limited, terms such as "installation", "connection", "linkage", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0015] Currently, with the development of intelligent technology and bionic technology, humanoid intelligent robots have gradually become the focus of research. As the end effector of a humanoid intelligent robot, the robotic dexterous hand has a functional structure similar to that of a human hand. The functional structure similar to that of a human hand ensures that the dexterous hand has the advantages of strong dexterous operation ability, good human-computer interaction, and suitability for teleoperation.

[0016] During the debugging or use of the dexterous hand, it is inevitable that the finger collides with an obstacle. Due to the large impact force, it often generates a large overload on the driving mechanism and causes damage to the driving mechanism.

[0017] Based on this, the following embodiments of this application propose a finger and a dexterous hand. By adding a disconnection protection mechanism and a moving block to the driving mechanism, the moving block is hinged to the end of the finger joint, and the output end of the power source in the driving mechanism passes through the base and is detachably connected to the moving block through the disconnection protection mechanism; when the finger abnormally touches an obstacle and receives an excessive impact force from the obstacle, the disconnection protection mechanism can disconnect the connection between the output end of the power source and the moving block hinged to the finger joint, so that the finger is disconnected from the driving mechanism, reducing the impact load of the external impact force on the driving mechanism and extending the service life of the finger driving mechanism of the dexterous hand.

[0018] To make the above objects, features, and advantages of this application more obvious and understandable, the following further detailed description of this application will be given in conjunction with the drawings and embodiments. Embodiment

[0019] Refer to Figure 1 The side view of the first implementation manner of the finger shown in, refer to Figure 2 The front view of the first implementation manner of the finger shown in, refer to Figure 3 The partial cross-sectional view of the first implementation manner of the finger shown in, and refer to Figure 4 The Figure 3 The partial enlarged schematic diagram at X in, this embodiment proposes a finger, including: a base 100, a rotating frame 200, a finger joint 300, and a driving mechanism 400.

[0020] A rotating frame 200 is rotatably provided at the top of the base 100. The end portion of the knuckle 300 is located inside the rotating frame 200, and the knuckle 300 is hinged to the rotating frame 200. A driving mechanism 400 is fixedly provided on the base 100, and the rotating frame 200 is arranged on the top of the driving mechanism 400. Among them, the first rotation axis between the rotating frame 200 and the knuckle 300 and the second rotation axis between the base 100 and the rotating frame 200 are perpendicular to each other.

[0021] The driving mechanism 400 includes a power source 410, a moving block 420, a linear guiding component 430, a connecting rod 440 and a disconnection protection mechanism 450. The power source 410 is fixed at the bottom of the base 100. The output end of the power source 410 passes through the base 100 and is detachably connected to the moving block 420 through the disconnection protection mechanism 450. The moving block 420 is slidably connected to the base 100 through the linear guiding component 430. A connecting rod 440 is arranged between the moving block 420 and the end of the knuckle 300. One end of the connecting rod 440 is hinged to the knuckle 300, and the other end of the connecting rod 440 is hinged to the moving block 420.

[0022] Among them, the cross-section of the base 100 is in an "L" shape, and the rotating frame 200 is in a "U" shape structure; as Figure 1 shown, the knuckle 300 is hinged to the rotating frame 200 at the A hinge point; one end of the connecting rod 440 is hinged to the knuckle 300 at the B hinge point, and the other end of the connecting rod 440 is hinged to the moving block 420 at the C hinge point.

[0023] The power source 410 includes a housing 411, a motor 412, a transmission mechanism 413 and a linear transmission component 414.

[0024] The motor 412, the transmission mechanism 413 and the linear transmission component 414 are integrated in the housing 411, and the housing 411 is fixed at the bottom of the base 100.

[0025] The output end of the motor 412 is connected to one end of the linear transmission component 414 through the transmission mechanism 413. The other end of the linear transmission component 414 passes through the housing 411 and the base 100 and is connected to the disconnection protection mechanism 450 arranged inside the moving block 420.

[0026] Refer to Figure 5 the cross-sectional view of the linear transmission component in the first implementation manner of the finger shown. The linear transmission component 414 includes: a thrust screw 4141, rollers 4142, a nut 4143 and a transmission sleeve 4144. The thrust screw 4141, the nut 4143 and the transmission sleeve 4144 are coaxial. The nut 4143 is sleeved on the thrust screw 4141. There are multiple rollers 4142 located between the thrust screw 4141 and the nut 4143. Both ends of the rollers 4142 are meshed with the nut 4143, and the middle of the rollers 4142 is meshed with the thrust screw 4141.

[0027] The transmission sleeve 4144 is sleeved on the thrust screw 4141 and fixedly connected to the nut 4143 at one end. The other end of the transmission sleeve 4144 penetrates through the housing 411 and the base 100 and extends into the moving block 420, and is connected to the disconnection protection mechanism 450 arranged in the moving block 420. Under the action of the roller 4142 and the nut 4143, the rotational motion of the thrust screw 4141 can be converted into a linear reciprocating motion of the transmission sleeve 4144 relative to the thrust screw 4141.

[0028] See Figure 6 The three-dimensional structure schematic diagram of the double gear in the first implementation manner of the finger shown. The transmission mechanism 413 includes a driving gear 4131, a double gear 4132, a gear pin shaft 4133 and a driven gear 4134.

[0029] The driving gear 4131 is coaxially and fixedly connected to the output shaft of the motor 412. The two ends of the gear pin shaft 4133 are respectively rotatably connected to the housing 411, and the double gear 4132 is coaxially and fixedly connected to the gear pin shaft 4133.

[0030] The double gear 4132 includes two gears of different sizes arranged coaxially. The driving gear 4131 meshes with the large gear of the double gear 4132, the small gear of the double gear 4132 meshes with the driven gear 4134, and the driven gear 4134 is coaxially and fixedly connected to the end of the thrust screw 4141 away from the transmission sleeve 4144 of the linear transmission assembly 414.

[0031] Optionally, a bearing 415 is arranged at the part of the thrust screw 4141 close to the transmission mechanism 413, and the bearing 415 is clamped to the housing 411.

[0032] Specifically, as Figure 3 shown, the linear guiding assembly 430 includes: a guide rail 431 and a slider 432. The guide rail 431 is fixedly connected to the base 100, the slider 432 is fixedly connected to the moving block 420, and the slider 432 can linearly move along the guide rail 431, so that the moving block 420 and the base 100 are slidably connected through the linear guiding assembly 430.

[0033] Specifically, as Figure 3 and Figure 4 shown, and see Figure 7 the schematic diagram of the elastic piece structure shown. The disconnection protection mechanism 450 in the first implementation manner of the finger proposed in this embodiment includes a groove 451 and an elastic piece 452 opened at one end of the transmission sleeve 4144 extending into the moving block 420.

[0034] The groove 451 presents a "V" - shaped structure in the axial direction of the transmission sleeve 4144. The moving block 420 is a hollow structure. The elastic piece 452 is fixedly arranged in the hollow structure of the moving block 420. The shape of the elastic piece 452 matches the shape of the groove 451. The other end of the transmission sleeve 4144 penetrates through the housing 411 and the base 100 and then extends into the moving block 420 to abut against the elastic piece 452. The groove 451 and the elastic piece 452 are engaged with each other, so that the power source 410 is detachably connected to the moving block 420.

[0035] When an excessive impact force is applied to the outer side of the knuckle 300, the knuckle 300 will bend inward, driving the moving block 420 to move downward relative to the transmission sleeve 4144. During the downward movement of the moving block 420, the elastic piece 452 is compressed and driven to generate a relative displacement with the groove 451. If the relative displacement between the elastic piece 452 and the groove 451 causes the elastic piece 452 to disengage from the groove 451, the moving block 420 disengages from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0036] When an excessive impact force is applied to the inner side of the knuckle 300, the knuckle 300 will extend outward, driving the moving block 420 to move upward relative to the transmission sleeve 4144. During the upward movement of the moving block 420, the elastic piece 452 is compressed and driven to generate a relative displacement with the groove 451. If the relative displacement between the elastic piece 452 and the groove 451 causes the elastic piece 452 to disengage from the groove 451, the moving block 420 disengages from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0037] The elastic piece 452 can provide a certain pre - tightening force to the transmission sleeve 4144. When the external force does not exceed the magnitude of this pre - tightening force, the moving block 420 is fixedly connected to the transmission sleeve 4144 relatively.

[0038] Furthermore, under the action of the pre - tightening force of the elastic piece 452, if the force for the elastic piece 452 and the transmission sleeve 4144 to disengage is less than the maximum driving force of the power source 410, the disconnect protection mechanism 450 can also prevent the power source 410 from being overloaded.

[0039] See Figure 8 The partial structural schematic diagram of the second implementation manner of the finger shown. The disconnect protection mechanism 450 in the second implementation manner of the finger proposed in this embodiment includes: the groove 451 opened on the transmission sleeve 4144 and the wave column screw 453.

[0040] The groove 451 is an arc-shaped groove structure in the axial direction of the transmission sleeve 4144. The moving block 420 has a hollow structure. A wave column screw 453 is screwed into the hollow structure of the moving block 420. The steel ball end of the wave column screw 453 is located inside the moving block 420, and the shape of the steel ball end matches the shape of the groove 451. The other end of the transmission sleeve 4144 penetrates through the housing 411 and the base 100 and extends into the moving block 420. The steel ball end of the wave column screw 453 is engaged with the groove 451 of the transmission sleeve 4144; thus, the power source 410 is detachably connected to the moving block 420.

[0041] The transmission sleeve 4144 provides a certain pre-tightening force. When the external force does not exceed this pre-tightening force, the moving block 420 is fixedly connected to the transmission sleeve 4144 relatively.

[0042] When the outer side of the knuckle 300 is subjected to an excessive impact force, the knuckle 300 will bend inward, driving the moving block 420 to move downward relative to the transmission sleeve 4144. During the downward movement of the moving block 420, it drives the steel ball end of the wave column screw 453 to generate a relative displacement with the groove 451. If the relative displacement between the steel ball end of the wave column screw 453 and the groove 451 causes the steel ball end of the wave column screw 453 to disengage from the groove 451, the moving block 420 disengages from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0043] When the inner side of the knuckle 300 is subjected to an excessive impact force, the knuckle 300 will extend outward, driving the moving block 420 to move upward relative to the transmission sleeve 4144. During the upward movement of the moving block 420, it drives the steel ball end of the wave column screw 453 to generate a relative displacement with the groove 451. If the relative displacement between the steel ball end of the wave column screw 453 and the groove 451 causes the steel ball end of the wave column screw 453 to disengage from the groove 451, the moving block 420 disengages from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0044] See Figure 9 The partial structural schematic diagram of the third implementation manner of the finger shown and see Figure 10 The cross-sectional view of the connecting frustum in the third implementation manner of the finger shown. The disconnection protection mechanism 450 in the third implementation manner of the finger proposed in this embodiment includes: a first spring 455, a second spring 456, a mounting plate 454, a hollow frustum 458 and a connecting frustum 459.

[0045] The mounting plate 454 is fixedly arranged at the part of the base 100 close to the rotating frame 200. A second through hole 457 is formed in the moving block 420. The second through hole 457 is a through hole with a "convex" shape structure. The hollow frustum 458 is located between the second through hole 457 and the connecting frustum 459.

[0046] The shape of the hollow frustum 458 matches the shape of the second through hole 457. The connecting frustum 459 is located at the large-diameter end inside the hollow frustum 458. The other end of the transmission sleeve 4144 penetrates through the housing 411 and the base 100 and then extends into the hollow frustum 458 and is fixedly connected to the connecting frustum 459. A first spring 455 is provided between the hollow frustum 458 and the mounting plate 454, and a second spring 456 is provided between the moving block 420 and the base 100, enabling a detachable connection between the power source 410 and the moving block 420.

[0047] The first spring 455 provides a pre-tightening force towards the knuckle 300 for the hollow frustum 458, and the second spring 456 provides a pre-tightening force towards the power source 410 for the moving block 420. When the external force applied to the finger does not exceed the magnitudes of these two pre-tightening forces, under the action of the pre-tightening forces of the first spring 455 and the second spring 456, the moving block 420, the hollow frustum 458, and the connecting frustum 459 are fixedly connected relative to each other.

[0048] The above two pre-tightening forces refer to: the first spring 455 provides a pre-tightening force towards the knuckle 300 for the hollow frustum 458, and the second spring 456 provides a pre-tightening force towards the power source 410 for the moving block 420.

[0049] When an impact force is received on the outer side of the knuckle 300, the knuckle 300 will bend inwards, driving the moving block 420 to move downward relative to the transmission sleeve 4144. The hollow frustum 458 moves downward along with the moving block 420. The downward-moving hollow frustum 458 stretches the first spring 455, causing the hollow frustum 458 to have a relative displacement with respect to the connecting frustum 459 and disengage from the connecting frustum 459, enabling the moving block 420 to disengage from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0050] When an impact force is received on the inner side of the knuckle 300, the knuckle 300 will stretch outwards, driving the moving block 420 to move upward relative to the transmission sleeve 4144. The hollow frustum 458 moves downward along with the moving block 420. The downward-moving hollow frustum 458 stretches the second spring 456, causing the moving block 420 to have a relative displacement with respect to the hollow frustum 458 and disengage from the connecting frustum 459, enabling the moving block 420 to disengage from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0051] In the third implementation manner of the finger, the pre-tightening force F1 provided by the first spring 455 is not less than the pre-tightening force F2 provided by the second spring 456.

[0052] When the finger grips an object, the transmission sleeve 4144 moves downward. The hollow frustum 458 and the connecting frustum 459 can be regarded as an integral body. The grasping force of the finger is provided by the second spring 456. When the finger releases the object, the transmission sleeve 4144 moves upward. The hollow frustum 458 and the moving block 420 can be regarded as an integral body. The restoring force of the finger is provided by the difference between the pre-tightening forces of the first spring 455 and the second spring 456. Since the clamping force is provided by the second spring 456, if the pre-tightening force of the second spring 456 is less than the maximum driving force of the power source 410, the disconnect protection mechanism 450 can also prevent the power source 410 from being overloaded.

[0053] See Figure 11 The partial structural schematic diagram of the fourth implementation of the finger shown. The disconnect protection mechanism 450 in the fourth implementation of the finger proposed in this embodiment further includes: a first "L"-shaped mounting bracket 45A and a second "L"-shaped mounting bracket 45B.

[0054] The first "L"-shaped mounting bracket 45A is arranged on the top surface of the connecting frustum 459, and the second "L"-shaped mounting bracket 45B is arranged on the bottom surface of the hollow frustum 458.

[0055] One end of the first spring 455 is fixedly connected to the first "L"-shaped mounting bracket 45A, and the other end of the first spring 455 is fixedly connected to the hollow frustum 458. One end of the second spring 456 is fixedly connected to the second "L"-shaped mounting bracket 45B, and the other end of the second spring 456 is fixedly connected to the moving block 420.

[0056] The first spring 455 provides a pre-tightening force for the hollow frustum 458 towards the knuckle 300, and the second spring 456 provides a pre-tightening force for the moving block 420 towards the power source 410. When the external force does not exceed the magnitude of this pre-tightening force, under the action of the pre-tightening forces of the first spring 455 and the second spring 456, the moving block 420, the hollow frustum 458 and the connecting frustum 459 are fixedly connected relative to each other.

[0057] When an impact force is received on the outer side of the knuckle 300, the knuckle 300 will bend inward, driving the moving block 420 to move downward relative to the transmission sleeve 4144. The hollow frustum 458 moves downward along with the moving block 420. The downward moving hollow frustum 458 stretches the first spring 455, causing the hollow frustum 458 to have a relative displacement with the connecting frustum 459 and disengage from the connecting frustum 459, allowing the moving block 420 to disengage from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0058] When the inner side of the finger joint 300 is impacted, the finger joint 300 will extend outward, driving the moving block 420 to move upward relative to the transmission sleeve 4144. The upward moving moving block 420 stretches the second spring 456, causing a relative displacement between the moving block 420 and the hollow frustum 458 and detaching from the hollow frustum 458, so that the moving block 420 detaches from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0059] When the finger grips an object, the transmission sleeve 4144 moves downward. The hollow frustum 458 and the connecting frustum 459 can be regarded as a whole, and the grasping force of the finger is provided by the second spring 456; when the finger releases the object, the transmission sleeve 4144 moves upward. The hollow frustum 458 and the moving block 420 can be regarded as a whole, and the restoring force of the finger is provided by the first spring 455; since the clamping force is provided by the second spring 456, if the pre-tightening force of the second spring 456 is less than the maximum driving force of the power source 410, the disconnecting protection mechanism 450 can also prevent the power source 410 from being overloaded.

[0060] Furthermore, the number of finger joints 300 is at least two and the finger joints 300 are rotatably connected.

[0061] Furthermore, the number of driving mechanisms 400 is at least one for driving the finger joint 300 to bend or swing laterally.

[0062] Furthermore, the number of driving mechanisms 400 is two, so that the finger joint 300 can complete the movements of bending and lateral swinging.

[0063] This embodiment also proposes a dexterous hand, including: the above-mentioned finger.

[0064] In summary, this embodiment proposes a finger and a dexterous hand. By adding a disconnecting protection mechanism and a moving block to the driving mechanism, the moving block is hinged to the end of the finger joint. The output end of the power source in the driving mechanism passes through the base and is detachably connected to the moving block through the disconnecting protection mechanism. Compared with the related art where the finger collides with an obstacle and causes an overload to the driving mechanism, resulting in damage to the driving mechanism, when the finger abnormally touches an obstacle and receives an excessive impact force from the obstacle, the connection between the output end of the power source and the moving block can be disconnected through the disconnecting protection mechanism, so that the finger is disconnected from the driving mechanism, reducing the impact load of the external impact force on the driving mechanism and prolonging the service life of the finger driving mechanism of the dexterous hand.

[0065] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A finger, characterized in that: include: base, swivel frame, knuckles and drive mechanism; A rotating frame is rotatably arranged on the top of the base, the end portion of the finger joint is located in the rotating frame and the finger joint is hinged to the rotating frame; a driving mechanism is fixedly arranged on the base, and the rotating frame is arranged on the top of the driving mechanism; wherein a first rotating axis between the rotating frame and the finger joint and a second rotating axis between the base and the rotating frame are perpendicular to each other; The driving mechanism includes a power source, a moving block, a linear guide assembly, a connecting rod and a disconnection protection mechanism. The power source is fixed at the bottom of the base. The output end of the power source passes through the base and is detachably connected to the moving block through the disconnection protection mechanism. The moving block and the base are slidingly connected through the linear guide assembly. A connecting rod is arranged between the moving block and the end of the finger joint. One end of the connecting rod is hinged to the finger joint, and the other end of the connecting rod is hinged to the moving block.

2. The finger according to claim 1, characterized in that: The power source includes a housing, a motor, a transmission mechanism and a linear transmission assembly; The motor, transmission mechanism and linear transmission assembly are integrated in the housing, and the housing is fixed to the bottom of the base; The output end of the motor is connected to one end of the linear transmission assembly through a transmission mechanism, and the other end of the linear transmission assembly passes through the housing and the base and is connected to a disconnection protection mechanism disposed in the moving block; The linear transmission assembly includes: a thrust screw, a roller, a nut and a transmission sleeve. The thrust screw, the nut and the transmission sleeve are coaxial. The nut is sleeved on the thrust screw. There are multiple rollers and they are located between the thrust screw and the nut. Both ends of the rollers are meshed with the nut, and the middle of the rollers is meshed with the thrust screw. The transmission sleeve is sleeved on the thrust screw and one end is fixedly connected to the nut. The other end of the transmission sleeve passes through the shell and the base and extends into the moving block, and is connected to the disconnection protection mechanism arranged in the moving block. Under the action of the roller and the nut, the rotational motion of the thrust screw can be converted into a linear reciprocating motion of the transmission sleeve relative to the thrust screw.

3. The finger according to claim 2, characterized in that: The disconnection protection mechanism includes a groove and a spring sheet formed at one end of the transmission sleeve extending into the moving block; The groove presents a "V"-shaped structure in the axial direction of the transmission sleeve. The moving block is a hollow structure. The spring sheet is fixedly arranged in the hollow structure of the moving block. The shape of the spring sheet matches the shape of the groove. The other end of the transmission sleeve penetrates the housing and the base and then extends into the moving block to abut against the spring sheet. The groove and the spring sheet are engaged with each other, so that the power source and the moving block can be detachably connected. When the outer side of the knuckle is subjected to excessive impact force, the knuckle will bend inward, driving the moving block to move downward relative to the transmission sleeve. During the downward movement, the moving block compresses the spring sheet and drives the spring sheet to produce relative displacement with the groove. If the relative displacement between the spring sheet and the groove causes the spring sheet to disengage from the groove, the moving block disengages from the transmission sleeve, thereby reducing the impact force on the power source. When the inner side of the knuckle is subjected to excessive impact force, the knuckle will stretch outward, driving the moving block to move upward relative to the transmission sleeve. During the upward movement, the moving block compresses the spring piece and drives the spring piece to produce relative displacement with the groove. If the relative displacement between the spring piece and the groove causes the spring piece to disengage from the groove, the moving block disengages from the transmission sleeve, thereby reducing the impact force on the power source.

4. The finger according to claim 2, characterized in that: The disconnection protection mechanism includes: a groove provided on the transmission sleeve and a wave column screw; The groove is an arc-shaped groove structure in the axial direction of the transmission sleeve, and the moving block is a hollow structure. A wave column screw is screwed in the hollow structure of the moving block. The steel ball end of the wave column screw is located in the moving block, and the shape of the steel ball end matches the shape of the groove. The other end of the transmission sleeve penetrates the shell and the base and then extends into the moving block. The steel ball end of the wave column screw and the groove of the transmission sleeve are mutually engaged and matched; so that the power source and the moving block can be detachably connected; When the outer side of the knuckle is subjected to excessive impact force, the knuckle will bend inward, driving the moving block to move downward relative to the transmission sleeve. In the process of moving downward, the moving block drives the steel ball end of the wave column screw to produce relative displacement with the groove. If the relative displacement between the steel ball end of the wave column screw and the groove causes the steel ball end of the wave column screw to be separated from the groove, the moving block will be separated from the transmission sleeve, thereby reducing the impact force on the power source; When the inner side of the knuckle is subjected to excessive impact force, the knuckle will stretch outward, driving the moving block to move upward relative to the transmission sleeve. In the process of moving upward, the moving block drives the steel ball end of the wave column screw to produce relative displacement with the groove. If the relative displacement between the steel ball end of the wave column screw and the groove causes the steel ball end of the wave column screw to disengage from the groove, the moving block will disengage from the transmission sleeve, thereby reducing the impact force on the power source.

5. The finger according to claim 2, characterized in that: The disconnection protection mechanism includes: a first spring, a second spring, a mounting plate, a hollow truncated table and a connecting truncated table; The mounting plate is fixedly arranged at a position of the base close to the rotating frame, a second through hole is opened in the moving block, the second through hole is a through hole of a "convex" structure, and the hollow truncated cone is located between the second through hole and the connecting truncated cone; The shape of the hollow truncated cone matches the shape of the second through hole, the connecting truncated cone is located at the large diameter end inside the hollow truncated cone, the other end of the transmission sleeve penetrates through the shell and the base and then extends into the hollow truncated cone and is fixedly connected to the connecting truncated cone, a first spring is arranged between the hollow truncated cone and the mounting plate, and a second spring is arranged between the moving block and the base; so that the power source and the moving block can be detachably connected; When the outer side of the knuckle is subjected to impact force, the knuckle will bend inward, driving the moving block to move downward relative to the transmission sleeve, and the hollow truncated table moves downward with the moving block. The downwardly moving hollow truncated table stretches the first spring, so that the hollow truncated table produces relative displacement with the connecting truncated table and detaches from the connecting truncated table, so that the moving block detaches from the transmission sleeve, thereby reducing the impact force on the power source; When the inner side of the knuckle is subjected to impact force, the knuckle will stretch outward, driving the moving block to move upward relative to the transmission sleeve. The upward moving block stretches the second spring, causing the moving block to produce relative displacement with the hollow table and detach from the hollow table, causing the moving block to detach from the transmission sleeve, thereby reducing the impact force on the power source.

6. The finger according to claim 5, characterized in that: The disconnection protection mechanism also includes: a first "L"-shaped mounting bracket and a second "L"-shaped mounting bracket; The first "L"-shaped mounting frame is arranged on the top surface of the connecting truncated cone, and the second "L"-shaped mounting frame is arranged on the bottom surface of the hollow truncated cone; One end of the first spring is fixedly connected to the first "L"-shaped mounting bracket, the other end of the first spring is fixedly connected to the hollow truncated cone, one end of the second spring is fixedly connected to the second "L"-shaped mounting bracket, and the other end of the second spring is fixedly connected to the moving block; The first spring provides a preload force toward the knuckle to the hollow truncated cone, and the second spring provides a preload force toward the power source to the moving block. When the external force does not exceed the magnitude of the preload force, the moving block, the hollow truncated cone and the connecting truncated cone are relatively fixedly connected under the action of the preload force of the first spring and the second spring; When the outer side of the knuckle is subjected to impact force, the knuckle will bend inward, driving the moving block to move downward relative to the transmission sleeve, and the hollow truncated table moves downward with the moving block. The downwardly moving hollow truncated table stretches the first spring, so that the hollow truncated table produces relative displacement with the connecting truncated table and detaches from the connecting truncated table, allowing the moving block to detach from the transmission sleeve, thereby reducing the impact force on the power source; When the inner side of the knuckle is subjected to impact force, the knuckle will stretch outward, driving the moving block to move upward relative to the transmission sleeve. The moving block moving upward stretches the second spring, allowing the moving block to separate from the transmission sleeve, thereby reducing the impact force on the power source; When the inner side of the knuckle is subjected to impact force, the knuckle will stretch outward, driving the moving block to move upward relative to the transmission sleeve. The upward moving block stretches the second spring, causing the moving block to produce relative displacement with the hollow table and detach from the hollow table, allowing the moving block to detach from the transmission sleeve, thereby reducing the impact force on the power source.

7. The finger according to claim 2, characterized in that: The transmission mechanism includes a driving gear, a double gear, a gear pin and a driven gear; The driving gear is coaxial with the output shaft of the motor and fixedly connected, the two ends of the gear pin are respectively rotatably connected to the housing, and the double gear is coaxial with the gear pin and fixedly connected; The duplex gear comprises two coaxially arranged large and small gears, the driving gear meshes with the large gear of the duplex gear, the small gear of the duplex gear meshes with the driven gear, the driven gear is coaxial with the thrust screw of the linear transmission assembly and is fixedly connected to the end of the thrust screw away from the transmission sleeve.

8. The finger according to claim 2, characterized in that: A bearing is arranged at a position of the thrust screw rod close to the transmission mechanism, and the bearing is clamped to the housing.

9. The finger according to claim 2, characterized in that: The linear guide assembly includes: a guide rail and a slider, the guide rail is fixedly connected to the base, the slider is fixedly connected to the moving block, and the slider can move linearly along the guide rail, so that the moving block and the base are slidably connected through the linear guide assembly.

10. A dexterous hand, characterized in that: include: The finger according to any one of claims 1 to 9 above.

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