Finger and dexterous hand

Abstract

The present application provides a finger and a dexterous hand, which adds a finger disconnection protection mechanism and a moving block in the driving mechanism, and 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 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, thereby causing 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 be used to disconnect the output end of the power source from the moving block, 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.

Description

Technical Field

[0001] The present application relates to the technical field of robotic arms, and in particular to a finger and a dexterous hand. Background Art

[0002] With the development of intelligent and bionic technologies, humanoid intelligent robots are becoming a key research focus. As the end effector of these robots, the dexterous robotic hand possesses a functional structure similar to that of a human hand. This hand-like structure ensures the dexterous hand possesses advantages such as strong dexterity, excellent human-machine interaction, and suitability for teleoperation.

[0003] During the debugging or use of the dexterous hand, it is inevitable that the fingers will collide with obstacles. Due to the strong impact force, a large overload will often be generated on the drive mechanism, causing damage to the drive mechanism. Summary of the Invention

[0004] To solve the above problems, the embodiment of the present application aims to provide a finger and a dexterous hand.

[0005] In a first aspect, an embodiment of the present application provides a finger, comprising: a base, a rotating frame, a finger joint, and a driving mechanism;

[0006] A rotating frame is rotatably provided on the top of the base, the distal end of the knuckle is located within the rotating frame and the knuckle is hingedly connected to the rotating frame; a driving mechanism is fixedly provided on the base, and the rotating frame is provided on the top of the driving mechanism; wherein a first rotation axis between the rotating frame and the knuckle and a second rotation axis between the base and the rotating frame are perpendicular to each other;

[0007] 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 a linear guide assembly. A connecting rod is provided between the moving block and the end of the knuckle. One end of the connecting rod is hinged to the knuckle, and the other end of the connecting rod is hinged to the moving block.

[0008] In a second aspect, an embodiment of the present application further provides a dexterous hand, comprising: the fingers described in the first aspect above.

[0009] In the solutions provided in the first to second aspects 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, thereby causing 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 be used to 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, 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.

[0010] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0012] Figure 1 A side view of a first implementation of a finger provided in Example 1 of the present application is shown;

[0013] Figure 2 A front view of a first implementation of a finger provided in an embodiment of the present application is shown;

[0014] Figure 3 A partial cross-sectional view of a first implementation of a finger provided in an embodiment of the present application is shown;

[0015] Figure 4 The embodiment of the present application provides Figure 3 A local enlarged schematic diagram of the X in the middle;

[0016] 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;

[0017] Figure 6 A schematic diagram of the three-dimensional structure of the double gears in the first implementation of the finger provided in an embodiment of the present application is shown;

[0018] Figure 7 A schematic diagram of the spring structure provided in an embodiment of the present application is shown;

[0019] Figure 8 A partial structural diagram of a second implementation of a finger provided in an embodiment of the present application is shown;

[0020] Figure 9 A partial structural diagram of a third implementation of a finger provided in an embodiment of the present application is shown;

[0021] Figure 10 A cross-sectional view of a connected frustum in a third implementation of a finger provided in an embodiment of the present application is shown;

[0022] Figure 11 A partial structural diagram of a fourth implementation method of a finger provided in an embodiment of the present application is shown.

[0023] 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; 4134, driven gear; 414, linear transmission assembly; 4141, thrust screw; 4142, roller; 4143, nut; 4144, transmission sleeve; 415, bearing; 42 0. Moving block; 421. First through hole; 430. Linear guide assembly; 431. Guide rail; 432. Slider; 440. Connecting rod; 450. Disconnection protection mechanism; 451. Groove; 452. Shrapnel; 453. Wave column screw; 454. Mounting plate; 455. First spring; 456. Second spring; 457. Second through hole; 458. Hollow cone; 459. Connecting cone; 45A. First "L"-shaped mounting bracket; 45B. Second "L"-shaped mounting bracket. DETAILED DESCRIPTION

[0024] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply 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 understood as a limitation on this application.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0026] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0027] With the development of intelligent and bionic technologies, humanoid intelligent robots are becoming a key research focus. As the end effector of these robots, the dexterous robotic hand possesses a functional structure similar to that of a human hand. This hand-like structure ensures the dexterous hand possesses advantages such as strong dexterity, excellent human-machine interaction, and suitability for teleoperation.

[0028] During the debugging or use of the dexterous hand, it is inevitable that the fingers will collide with obstacles. Due to the strong impact force, a large overload will often be generated on the drive mechanism, causing damage to the drive mechanism.

[0029] Based on this, the following embodiments of the present application propose a finger and a dexterous hand, which adds a finger disconnection protection mechanism and a moving block in the driving mechanism, and 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 disconnection protection 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, 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.

[0030] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and embodiments. Example

[0031] See also Figure 1 A side view of a first implementation of the finger is shown, see Figure 2 A front view of a first embodiment of the finger is shown, see Figure 3A partial cross-sectional view of a first embodiment of the finger is shown and see Figure 4 shown Figure 3 The partially enlarged schematic diagram at the X in the middle shows a finger in this embodiment, including: a base 100, a rotating frame 200, a finger joint 300 and a driving mechanism 400.

[0032] A rotating frame 200 is rotatably provided on 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 provided on the top of the driving mechanism 400; wherein, a first rotation axis between the rotating frame 200 and the knuckle 300 and a second rotation axis between the base 100 and the rotating frame 200 are perpendicular to each other.

[0033] The driving mechanism 400 includes a power source 410, a moving block 420, a linear guide assembly 430, a connecting rod 440 and a disconnection protection mechanism 450. The power source 410 is fixed to 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 and the base 100 are slidingly connected through the linear guide assembly 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.

[0034] The cross section of the base 100 is "L" shaped, and the rotating frame 200 is a "U" shaped structure; Figure 1 As shown, the finger joint 300 is hinged to the rotating frame 200 at hinge point A; one end of the connecting rod 440 is hinged to the finger joint 300 at hinge point B, and the other end of the connecting rod 440 is hinged to the moving block 420 at hinge point C.

[0035] The power source 410 includes a housing 411 , a motor 412 , a transmission mechanism 413 and a linear transmission assembly 414 .

[0036] The motor 412 , the transmission mechanism 413 and the linear transmission assembly 414 are integrated in a housing 411 , and the housing 411 is fixed to the bottom of the base 100 .

[0037] The output end of the motor 412 is connected to one end of the linear transmission assembly 414 through the transmission mechanism 413 . The other end of the linear transmission assembly 414 passes through the housing 411 and the base 100 and is connected to the disconnection protection mechanism 450 provided in the moving block 420 .

[0038] See also Figure 5The cross-sectional view of the linear transmission assembly in the first implementation method of the finger shown, the linear transmission assembly 414 includes: a thrust screw 4141, a roller 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 and they are located between the thrust screw 4141 and the nut 4143, the two ends of the roller 4142 are engaged with the nut 4143, and the middle part of the roller 4142 is engaged with the thrust screw 4141.

[0039] The transmission sleeve 4144 is sleeved on the thrust screw 4141 and one end is fixedly connected to the nut 4143. The other end of the transmission sleeve 4144 passes through the shell 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.

[0040] See also Figure 6 The three-dimensional structure diagram of the double gear in the first implementation of the finger shown is as follows: the transmission mechanism 413 includes a driving gear 4131, a double gear 4132, a gear pin 4133 and a driven gear 4134.

[0041] The driving gear 4131 is coaxial with and fixedly connected to the output shaft of the motor 412 . Both ends of the gear pin 4133 are rotatably connected to the housing 411 . The double gear 4132 is coaxial with and fixedly connected to the gear pin 4133 .

[0042] The double gear 4132 includes two coaxially arranged large and small gears. The driving gear 4131 is engaged with the large gear of the double gear 4132, and the small gear of the double gear 4132 is engaged with the driven gear 4134. The driven gear 4134 is coaxial with the thrust screw 4141 of the linear transmission assembly 414 and is fixedly connected to the end of the thrust screw 4141 away from the transmission sleeve 4144.

[0043] Optionally, a bearing 415 is provided at a portion of the thrust screw 4141 close to the transmission mechanism 413 , and the bearing 415 is snap-connected to the housing 411 .

[0044] Specifically, if Figure 3 As shown, the linear guide assembly 430 includes: a guide rail 431 and a slider 432. The guide rail 431 is fixedly connected to the base 100, and the slider 432 is fixedly connected to the moving block 420. The slider 432 can move linearly along the guide rail 431, so that the moving block 420 and the base 100 are slidingly connected through the linear guide assembly 430.

[0045] Specifically, if Figure 3 and Figure 4 As shown, and see Figure 7 As shown in the schematic diagram of the spring structure, the disconnection protection mechanism 450 in the first implementation mode of the finger proposed in this embodiment includes a groove 451 and a spring 452 opened at one end of the transmission sleeve 4144 extending into the moving block 420.

[0046] 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 spring piece 452 is fixedly arranged in the hollow structure of the moving block 420. The shape of the spring piece 452 matches the shape of the groove 451. The other end of the transmission sleeve 4144 passes through the shell 411 and the base 100 and then extends into the moving block 420 to abut against the spring piece 452. The groove 451 and the spring piece 452 are engaged with each other, so that the power source 410 and the moving block 420 can be detachably connected.

[0047] When the outer side of the knuckle 300 is subjected to 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, the moving block 420 compresses the spring piece 452 and drives the spring piece 452 to produce relative displacement with the groove 451. If the relative displacement between the spring piece 452 and the groove 451 causes the spring 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.

[0048] When the inner side of the knuckle 300 is subjected to 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, the moving block 420 compresses the spring piece 452 and drives the spring piece 452 to produce relative displacement with the groove 451. If the relative displacement between the spring piece 452 and the groove 451 causes the spring 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.

[0049] The spring piece 452 can provide a certain pre-tightening force to the transmission sleeve 4144 . When the external force does not exceed the magnitude of the pre-tightening force, the moving block 420 and the transmission sleeve 4144 are fixedly connected relative to each other.

[0050] Furthermore, under the action of the pre-tightening force of the spring piece 452 , if the force separating the spring piece 452 and the transmission sleeve 4144 is less than the maximum driving force of the power source 410 , the disconnection protection mechanism 450 can also prevent the power source 410 from overloading.

[0051] See also Figure 8The diagram shows a partial structure of the second implementation of the finger. The disconnection protection mechanism 450 in the second implementation of the finger proposed in this embodiment includes: a groove 451 opened on the transmission sleeve 4144 and a wave column screw 453.

[0052] The groove 451 is an arc-shaped groove structure in the axial direction of the transmission sleeve 4144. The moving block 420 is a hollow structure. A wave column screw 453 is screwed in the hollow structure of the moving block 420. The steel ball end of the wave column screw 453 is located in the moving block 420. The shape of the steel ball end matches the shape of the groove 451. The other end of the transmission sleeve 4144 penetrates the shell 411 and the base 100 and extends into the moving block 420. The steel ball end of the wave column screw 453 and the groove 451 of the transmission sleeve 4144 are engaged with each other, so that the power source 410 and the moving block 420 can be detachably connected.

[0053] The transmission sleeve 4144 provides a certain pre-tightening force. When the external force does not exceed the magnitude of the pre-tightening force, the moving block 420 and the transmission sleeve 4144 are fixedly connected relative to each other.

[0054] When the outer side of the knuckle 300 is subjected to 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, the moving block 420 drives the steel ball end of the wave column screw 453 to produce 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 will disengage from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0055] When the inner side of the knuckle 300 is subjected to excessive impact force, the knuckle 300 will extend outward, driving the moving block 420 to move upward relative to the transmission sleeve 4144. In the process of moving upward, the moving block 420 drives the steel ball end of the wave column screw 453 to produce 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 will disengage from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0056] See also Figure 9 The partial structural diagram of the third implementation of the finger shown in FIG. Figure 10 The cross-sectional view of the connecting cone in the third implementation of the finger shown in the figure, the disconnection protection mechanism 450 in the third implementation of the finger proposed in this embodiment includes: a first spring 455, a second spring 456, a mounting plate 454, a hollow cone 458 and a connecting cone 459.

[0057] The mounting plate 454 is fixedly arranged at a position of the base 100 close to the rotating frame 200 , and a second through hole 457 is opened in the moving block 420 . The second through hole 457 is a through hole with a “convex” structure, and the hollow cone 458 is located between the second through hole 457 and the connecting cone 459 .

[0058] The shape of the hollow cone 458 matches the shape of the second through hole 457. The connecting cone 459 is located at the large diameter end inside the hollow cone 458. The other end of the transmission sleeve 4144 passes through the shell 411 and the base 100 and then extends into the hollow cone 458 and is fixedly connected to the connecting cone 459. A first spring 455 is provided between the hollow cone 458 and the mounting plate 454, and a second spring 456 is provided between the moving block 420 and the base 100, so that the power source 410 and the moving block 420 can be detachably connected.

[0059] The first spring 455 provides a pre-tightening force to the hollow cone 458 toward the knuckle 300, and the second spring 456 provides a pre-tightening force to the moving block 420 toward the power source 410. When the external force applied to the finger does not exceed the magnitude of the above two pre-tightening forces, the moving block 420, the hollow cone 458 and the connecting cone 459 are fixedly connected relative to each other under the action of the pre-tightening forces of the first spring 455 and the second spring 456.

[0060] The two preload forces mentioned above refer to: the first spring 455 provides a preload force to the hollow cone 458 toward the knuckle 300 , and the second spring 456 provides a preload force to the moving block 420 toward the power source 410 .

[0061] When the outer side of the knuckle 300 is subjected to an impact force, the knuckle 300 will bend inward, driving the moving block 420 to move downward relative to the transmission sleeve 4144. The hollow table 458 moves downward with the moving block 420. The downward moving hollow table 458 stretches the first spring 455, causing the hollow table 458 to produce a relative displacement with the connecting table 459 and detach from the connecting table 459, causing the moving block 420 to detach from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0062] When the inner side of the knuckle 300 is subjected to an impact force, the knuckle 300 will extend outward, driving the moving block 420 to move upward relative to the transmission sleeve 4144, and the hollow table 458 moves downward with the moving block 420. The downward moving hollow table 458 stretches the second spring 456, causing the moving block 420 to produce a relative displacement with the hollow table 458 and detach from the connecting table 459, causing the moving block 420 to detach from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0063] In the third implementation of the finger, the preload force F1 provided by the first spring 455 is not less than the preload force F2 provided by the second spring 456 .

[0064] When the fingers are gripping an object, the transmission sleeve 4144 moves downward, the hollow cone 458 and the connecting cone 459 can be regarded as one body, and the gripping force of the fingers is provided by the second spring 456; when the fingers release the object, the transmission sleeve 4144 moves upward, the hollow cone 458 and the moving block 420 can be regarded as one body, and the finger restoring force is provided by the difference between the pre-tightening force 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 disconnection protection mechanism 450 can also prevent the power source 410 from overloading.

[0065] See also Figure 11 The schematic diagram of the partial structure of the fourth implementation of the finger shown in the figure, the disconnection protection mechanism 450 in the fourth implementation of the finger proposed in this embodiment also includes: a first "L"-shaped mounting bracket 45A and a second "L"-shaped mounting bracket 45B.

[0066] The first “L”-shaped mounting bracket 45A is arranged on the top surface of the connecting truncated cone 459 , and the second “L”-shaped mounting bracket 45B is arranged on the bottom surface of the hollow truncated cone 458 .

[0067] One end of the first spring 455 is fixedly connected to the first "L"-shaped mounting bracket 45A, the other end of the first spring 455 is fixedly connected to the hollow cone 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.

[0068] The first spring 455 provides a pre-tightening force to the hollow cone 458 toward the knuckle 300, and the second spring 456 provides a pre-tightening force to the moving block 420 toward the power source 410. When the external force does not exceed the magnitude of the pre-tightening force, the moving block 420, the hollow cone 458 and the connecting cone 459 are relatively fixedly connected under the action of the pre-tightening force of the first spring 455 and the second spring 456.

[0069] When the outer side of the knuckle 300 is subjected to an impact force, the knuckle 300 will bend inward, driving the moving block 420 to move downward relative to the transmission sleeve 4144. The hollow table 458 moves downward with the moving block 420. The downward moving hollow table 458 stretches the first spring 455, causing the hollow table 458 to produce a relative displacement with the connecting table 459 and detach from the connecting table 459, allowing the moving block 420 to detach from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0070] When the inner side of the knuckle 300 is subjected to an impact force, the knuckle 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 the moving block 420 to produce a relative displacement with the hollow table 458 and detach from the hollow table 458, allowing the moving block 420 to detach from the transmission sleeve 4144, thereby reducing the impact force on the power source 410.

[0071] When the fingers grip an object, the transmission sleeve 4144 moves downward, the hollow cone 458 and the connecting cone 459 can be regarded as one body, and the gripping force of the fingers is provided by the second spring 456; when the fingers release the object, the transmission sleeve 4144 moves upward, the hollow cone 458 and the moving block 420 can be regarded as one body, and the finger restoring force 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 disconnection protection mechanism 450 can also prevent the power source 410 from overloading.

[0072] Furthermore, the number of the knuckles 300 is at least two and the knuckles 300 are rotatably connected to each other.

[0073] Furthermore, the number of the driving mechanism 400 is at least one for driving the knuckle 300 to bend or swing sideways.

[0074] Furthermore, the number of the driving mechanisms 400 is two, so that the knuckle 300 can complete bending and lateral swinging movements.

[0075] This embodiment also provides a dexterous hand, including: the above-mentioned fingers.

[0076] To sum up, this embodiment proposes a finger and a dexterous hand, by adding a finger disconnection protection mechanism and a moving block in 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 causes damage to the driving mechanism, when the finger abnormally touches an obstacle and is subjected to 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 disconnection 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 extending the service life of the finger driving mechanism of the dexterous hand.

[0077] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A finger, characterized in that: include: base, swivel frame, knuckles and drive mechanism; A rotating frame is rotatably provided on the top of the base, the distal end of the knuckle is located within the rotating frame and the knuckle is hingedly connected to the rotating frame; a driving mechanism is fixedly provided on the base, and the rotating frame is provided on the top of the driving mechanism; wherein a first rotation axis between the rotating frame and the knuckle and a 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 guide assembly, a connecting rod and a disconnection protection mechanism. The power source is fixed to 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 slidably connected through the linear guide assembly. A connecting rod is provided between the moving block and the end of the knuckle. One end of the connecting rod is hinged to the knuckle, and the other end of the connecting rod is hinged to the moving block. 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 provided 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. The two ends of the rollers are engaged with the nut, and the middle of the rollers is engaged with the thrust screw. The transmission sleeve is sleeved on the thrust screw and fixedly connected to the nut at one end. The other end of the transmission sleeve passes through the housing and the base and extends into the moving block, where it is connected to the disconnection protection mechanism provided in the moving block. Under the action of the roller and the nut, the rotational motion of the thrust screw can be converted into linear reciprocating motion of the transmission sleeve relative to the thrust screw. The disconnection protection mechanism includes: a first spring, a second spring, a mounting plate, a hollow frustum and a connecting frustum; The mounting plate is fixedly arranged at a position of the base close to the rotating frame, and a second through hole is opened in the moving block. The second through hole is a through hole with a "convex" structure, and the hollow frustum is located between the second through hole and the connecting frustum; 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 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 provided between the hollow truncated cone and the mounting plate, and a second spring is provided between the moving block and the base; so that the power source and the moving block are detachably connected. When the outer side of the knuckle is subjected to an impact force, the knuckle will bend inward, driving the moving block to move downward relative to the transmission sleeve. The hollow truncated table moves downward along with the moving block. The downward moving hollow truncated table stretches the first spring, causing the hollow truncated table to produce relative displacement with the connecting truncated table and detach from the connecting truncated table, causing 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 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.

2. The finger according to claim 1, wherein: The disconnect protection mechanism further includes: a first "L"-shaped mounting bracket and a second "L"-shaped mounting bracket; The first "L"-shaped mounting bracket is arranged on the top surface of the connecting truncated cone, and the second "L"-shaped mounting bracket 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, and 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 pre-tightening force towards the knuckle to the hollow truncated cone, and the second spring provides a pre-tightening force towards the power source to the moving block. When the external force does not exceed the magnitude of the pre-tightening force, the moving block, the hollow truncated cone and the connecting truncated cone are relatively fixedly connected under the action of the pre-tightening force of the first spring and the second spring; When the outer side of the knuckle is subjected to an impact force, the knuckle will bend inward, driving the moving block to move downward relative to the transmission sleeve. The hollow truncated table moves downward along with the moving block. The downward moving hollow truncated table stretches the first spring, causing the hollow truncated table to produce relative displacement with the connecting truncated table and detach 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 an impact force, the knuckle will stretch outward, driving the moving block to move upward relative to the transmission sleeve. The upward moving moving block 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.

3. The finger according to claim 1, wherein: The transmission mechanism includes a driving gear, a duplex gear, a gear pin and a driven gear; The driving gear is coaxial with the output shaft of the motor and is fixedly connected. Both ends of the gear pin are rotatably connected to the housing. The double gear is coaxial with the gear pin and is fixedly connected. The duplex gears include two coaxially arranged gears of different sizes. The driving gear meshes with the large gear of the duplex gears, and the small gear of the duplex gears 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.

4. The finger according to claim 1, wherein: A bearing is provided at a position of the thrust screw rod close to the transmission mechanism, and the bearing is clamped to the housing.

5. The finger according to claim 1, wherein: The linear guide assembly includes: a guide rail and a slider. The guide rail is fixedly connected to the base, and the slider is fixedly connected to the moving block. 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.

6. A dexterous hand, characterized in that: include: The finger according to any one of claims 1 to 5 above.

Images