Finger driving mechanism based on ball screw structure and dexterous hand

Abstract

The invention provides a finger driving mechanism based on a ball screw structure and a dexterous hand, the finger driving mechanism comprises a cover body, a rotor unit, a driving control unit and a ball screw unit, the rotor unit is arranged at the tail of the cover body, and a hollow hole is formed in the head end of the rotor unit; the driving control unit is arranged on the peripheral surface of the rotor unit and is used for driving the rotor unit to axially rotate around the rotor unit; the ball screw unit is arranged on the head portion of the cover body and comprises a screw nut and a screw, the screw nut and the rotor unit are coaxially connected to achieve circumferential synchronous rotation, the tail end of the screw penetrates through the screw nut and then is arranged in a hollow hole of the rotor unit, and the screw is connected with a finger structure of the robot. The circumferential rotation of the lead screw nut is converted into the axial linear reciprocating motion of the lead screw, and then the finger structure is driven to move flexibly. The cost can be reduced, the overall axial size of the finger driving mechanism is reduced, the output efficiency is improved, and batch production is facilitated.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a finger drive mechanism and dexterous hand based on a ball screw structure. Background Technology

[0002] A dexterous hand is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. The characteristics of a dexterous hand are that it can complete various expected tasks through programming, and it can also automatically complete some operations by combining with a vision system. Its structure and performance combine the advantages of both human and mechanical grippers.

[0003] Existing humanoid dexterous hand finger mechanisms use one or more actuators for each finger to perform grasping and releasing actions similar to human fingers. Multiple fingers can be combined to form a multi-finger dexterous hand. However, existing humanoid robotic hand structures either use rope-driven structures, resulting in complex structures, high failure rates, and difficult maintenance; or they employ linear actuator structures, placing the linear actuators on the inside of the hand, occupying significant space and interfering with finger gripping movements. Furthermore, in existing robotic hand structures, when the actuators are locked, the fingers are in a locked state, making them susceptible to damage under significant external force when extended. Therefore, there is an urgent need for a more efficient and structurally complex dexterous hand finger driving structure. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the purpose of this application is to provide a finger drive mechanism and a dexterous hand based on a ball screw structure.

[0005] According to one aspect of this application, a finger drive mechanism based on a ball screw structure is provided, comprising: Cover; A rotor unit is located at the tail of the cover, and a hollow hole is provided at the head end of the rotor unit; A drive control unit is disposed on the outer peripheral surface of the rotor unit and is used to drive the rotor unit to rotate around its own axis; A ball screw unit is located at the head of the cover. The ball screw unit includes a screw nut and a screw. The screw nut is coaxially connected to the rotor unit to achieve synchronous circumferential rotation. The tail end of the screw passes through the screw nut and is located in the hollow hole of the rotor unit. The screw is connected to the robot's finger structure. The circumferential rotation of the screw nut is converted into the axial linear reciprocating motion of the screw, thereby driving the finger structure to move flexibly.

[0006] Optionally, the cover includes a front cover, a main body shell, a middle cover, and a tail cover connected sequentially from the first end to the last end; the tail cover adopts a structure with an open first end and a closed last end, the tail end of the rotor unit is located inside the tail cover, the first end of the rotor unit passes through the middle cover and is located inside the main body shell, the front cover has a cover body through hole in the middle, and the first end of the lead screw passes through the cover body through hole and is connected to an external finger structure.

[0007] Optionally, the rotor unit includes a magnet, a rotor, a rotor tail bearing, and a rotor front bearing; the tail cover contains a magnet, the outer ring of the rotor front bearing is connected to the inner circumferential surface of the main body shell, the outer ring of the rotor tail bearing is connected to the inner circumferential surface of the middle cover, the head end of the rotor is located on the inner ring of the rotor front bearing, and the head of the rotor has a hollow hole along its own axial direction, and the tail end of the rotor passes through the rotor tail bearing and is connected to the magnet.

[0008] Optionally, the drive control unit includes a drive control board and a stator winding; the drive control board is coaxially disposed on the outer circumferential surface of the rotor, the stator winding is coaxially spaced on the outer circumference of the rotor, the stator winding is connected to the inner circumferential surface of the main body shell, the drive control board is located at the tail side of the stator winding, the drive control board is electrically connected to the stator winding, the drive control board is used to output drive current to the stator winding, the stator winding generates a magnetic field under the excitation of the drive current, thereby driving the rotor equipped with magnets to rotate circumferentially around its own rotation axis.

[0009] Optionally, the gaps inside the stator winding are filled with an insulating adhesive.

[0010] Optionally, a guide rail is provided on the inner circumferential surface of the main body shell, the lead screw nut is connected to the inside of the main body shell through a nut support bearing, the first end of the rotor is located at the tail end of the lead screw nut, and the tail end of the lead screw passes through the guide rail and the lead screw nut in sequence and is located in the hollow hole of the rotor to shorten the overall length of the finger drive mechanism.

[0011] Optionally, the inner ring of the main body housing is provided with an annular bearing bracket, the nut support bearing is disposed between the guide rail and the bearing bracket, and there is a gap between the outer ring of the nut support bearing and the inner ring of the main body housing, and the outer ring of the lead screw nut is connected to the inner ring of the nut support bearing.

[0012] Optionally, the rotor has a flat structure at its head end, and the lead screw nut has a force-transmitting flat structure at its tail end that matches the flat structure of the rotor, so that the torque and rotation of the rotor are transmitted to the lead screw nut.

[0013] Optionally, the finger drive mechanism further includes an encoder located inside the tail cover. The encoder is used to sense changes in the magnetic field of the magnet to obtain real-time rotational information of the rotor and the lead screw nut, thereby obtaining real-time axial position information of the lead screw.

[0014] According to another aspect of this application, a dexterous hand is provided, the dexterous hand comprising the finger drive mechanism based on the ball screw structure described in any of the preceding claims.

[0015] This application provides a finger drive mechanism based on a ball screw structure, which adopts a combination structure of a rotor unit, a drive control unit, and a ball screw unit. The drive control unit drives the rotor unit to rotate, and the screw nut rotates under the drive of the rotor unit to realize the extension and retraction of the screw. The ball screw unit converts the rotational motion into linear motion. Since the ball screw unit has a deceleration characteristic, the reducer can be omitted, reducing costs. At the same time, the screw is set in the hollow hole of the rotor unit, which can reduce the overall axial dimension of the finger drive mechanism, increase the output torque of the drive control unit, and improve the output efficiency.

[0016] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0017] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is an exploded view of a finger-driving mechanism in one embodiment of this application; Figure 2 This is a three-dimensional schematic diagram of a finger-driving mechanism in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of a finger driving mechanism in one embodiment of this application, wherein (a) is a side view of the finger driving mechanism, and (b) is... Figure 3 (a) Sectional view at AA; Figure 4 This is a schematic diagram of the connection between the main body shell and the cover in one embodiment of this application.

[0018] Figure 5 This is a schematic diagram of the interior of the tail cover and the main body shell in one embodiment of this application; wherein, (a) is a three-dimensional view of the interior of the tail cover and the main body shell; and (b) is an exploded view of the tail cover and the main body shell. Figure 6 This is a schematic diagram of a lead screw drive structure in one embodiment of this application; wherein, (a) is a three-dimensional view of the lead screw drive structure; and (b) is an exploded view of the lead screw drive structure. Figure 7This is a cross-sectional view of a lead screw drive structure in one embodiment of this application; wherein, (a) is a cross-sectional view of the lead screw drive structure. Figure 1 (b) is a cross-sectional view of the screw drive structure. Figure 2 (c) is a cross-sectional view of the lead screw drive structure. Figure 3 .

[0019] In the diagram: 1. Tail cover; 2. Encoder; 3. Magnet; 4. Drive control board; 5. Middle cover; 6. Rotor tail bearing; 7. Rotor; 8. Stator winding; 9. Rotor front bearing; 10. Main body shell; 11. Lead screw nut; 12. Nut support bearing; 13. Retaining ring; 14. Guide rail; 15. Lead screw; 16. Front cover; 17. Anti-rotation flat structure; 18. Force transmission flat structure. Detailed Implementation

[0020] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.

[0021] It should be noted that all information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with relevant regulations.

[0022] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0023] 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 technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0024] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0026] The mechanical structure of a humanoid dexterous hand uses one or more actuators for each finger to achieve grasping and releasing actions similar to human fingers. Multiple fingers can be combined to form a multi-finger dexterous hand. However, existing humanoid robotic hand structures use linear push rod structures, which occupy a large amount of palm space and interfere with finger gripping movements. Some linear push rods use T-shaped lead screw structures, resulting in low transmission efficiency, heat generation during transmission, and the self-locking characteristic of T-shaped lead screws, which cannot achieve reverse drive and cause finger inactivity after power failure. Furthermore, planetary roller lead screw structures are costly and difficult to mass-produce. Based on these problems, this application provides a finger drive mechanism based on a ball screw structure to solve the aforementioned issues.

[0027] Reference Figures 1-3 As shown, this application embodiment provides a finger drive mechanism based on a ball screw structure. The mechanism includes a cover, a rotor unit, a drive control unit, and a ball screw unit, wherein: The rotor unit is located at the rear of the cover, and a hollow hole is opened at the front end of the rotor unit; The drive control unit is located on the outer circumferential surface of the rotor unit and is used to drive the rotor unit to rotate around its own axis; The ball screw unit is located at the head of the cover. The ball screw unit includes a screw nut 11 and a screw 15. The screw nut 11 is coaxially connected to the rotor unit to achieve synchronous circumferential rotation. The tail end of the screw 15 passes through the screw nut 11 and is located in the hollow hole of the rotor unit. The screw 15 is connected to the robot's finger structure. The circumferential rotation of the screw nut 11 is converted into the axial linear reciprocating motion of the screw 15, thereby driving the finger structure to move flexibly.

[0028] For example, the tail end is the end of the finger drive mechanism closest to the drive control unit, and the head end is the end of the finger drive mechanism closest to the ball screw unit. The tail portion is the end of the finger drive mechanism facing the drive control unit, and the head portion is the end of the finger drive mechanism facing the ball screw unit.

[0029] The embodiments described above employ a combined structure of a rotor unit, a drive control unit, and a ball screw unit. The drive control unit drives the rotor unit to rotate, and the screw nut 11 rotates under the drive of the rotor unit, realizing the extension and retraction of the screw 15. The ball screw unit converts the rotational motion into linear motion. Since the ball screw unit has deceleration characteristics, the reducer can be omitted, reducing costs. At the same time, the screw is located in the hollow hole of the rotor unit, which can reduce the overall axial dimension of the finger drive mechanism, increase the output torque of the drive control unit, and improve output efficiency.

[0030] In some specific embodiments of this application, the cover includes a front cover 16, a main body shell 10, a middle cover 5, and a tail cover 1 connected sequentially from the first end to the last end; the tail cover 1 adopts a structure with an open first end and a closed last end, the tail end of the rotor unit is located inside the tail cover 1, the first end of the rotor unit passes through the middle cover 5 and is located inside the main body shell 10, a cover through hole is opened in the middle of the front cover 16, and the first end of the lead screw 15 passes through the cover through hole and is connected to the external finger structure.

[0031] In the above embodiments of this application, the tail cover 1 is located at the very end of the finger drive mechanism and is cover-shaped, as shown in the reference... Figure 4 As shown, the front cover 16, the main body shell 10, the middle cover 5 and the tail cover 1 can be connected by laser welding in pairs to ensure the connection strength, but are not limited to this.

[0032] Reference Figure 5 As shown, in some specific embodiments of this application, the rotor unit includes a magnet 3, a rotor 7, a rotor tail bearing 6, and a rotor front bearing 9; the tail cover 1 is provided with a magnet 3, the outer ring of the rotor front bearing 9 is connected to the inner circumferential surface of the main body shell 10, the outer ring of the rotor tail bearing 6 is connected to the inner circumferential surface of the middle cover 5, the head end of the rotor 7 is located on the inner ring of the rotor front bearing 9, and the head of the rotor 7 has a hollow hole along its own axial direction, and the tail end of the rotor 7 passes through the rotor tail bearing 6 and is connected to the magnet 3.

[0033] In the above embodiments of this application, the magnet 3 is a radial flux magnet, meaning that the magnetization direction of the magnet 3 is arranged radially along the rotation center of the rotor 7. A central hole is provided at the tail of the rotor 7, and the magnet 3 can be coaxially fixedly connected to the central hole at the tail of the rotor 7 by means of threads, tight fitting, or adhesive bonding. The inner ring of the middle cover 5 has a stepped hole, and the rotor tail bearing 6 is located at the stepped hole position of the middle cover 5. The rotor 7 passes through the rotor tail bearing 6 and extends into the interior of the tail cover 1. The main body shell 10 is a hollow cylindrical shell with a stepped hole in its inner ring. The rotor front bearing 9 is located at the stepped hole position of the main body shell to ensure the concentricity of the rotor 7's rotation. The cover, magnet 3, rotor 7, rotor tail bearing 6, and rotor front bearing 9 are all coaxially arranged.

[0034] In some specific embodiments of this application, the drive control unit includes a drive control board 4 and a stator winding 8. The drive control board 4 is coaxially disposed on the outer peripheral surface of the rotor 7, and the stator winding 8 is coaxially spaced on the outer peripheral surface of the rotor 7. The stator winding 8 is connected to the inner peripheral surface of the main body shell 10. The drive control board 4 is located at the tail side of the stator winding 8. The drive control board 4 is electrically connected to the stator winding 8. The drive control board 4 is used to output drive current to the stator winding 8. The stator winding 8 generates a magnetic field under the excitation of the drive current, thereby driving the rotor 7, which is equipped with a magnet 3, to rotate circumferentially around its own rotation axis.

[0035] In the above embodiments of this application, the drive control board 4 is hollow and coaxially disposed on the outside of the rotor 7. The drive control board 4 can be a single piece or multiple pieces. Multiple drive control boards 4 are spaced apart by spacers on the drive control board 4. The drive control board 4 is provided with connectors, which are used to transmit signals and current to each other. The last drive control board 4 is fixed to the threaded hole of the middle cover 5, and the middle cover 5 is provided with wire-passing holes to introduce the coil wiring of the stator winding 8 into the drive control board 4. The stator winding 8 is coaxially disposed on the outer ring of the rotor 7. The rotor 7 and the stator winding 8 are coaxially disposed and have a certain air gap. The outer ring of the stator winding 8 can be fixedly connected to the main body shell 10 by radial screws, slots, adhesive, etc.

[0036] In some specific embodiments of this application, the gaps inside the stator winding 8 are filled with an insulating adhesive.

[0037] In the above embodiments of this application, the stator winding 8 is filled with a special epoxy resin with high thermal conductivity and insulation to ensure that the heat of the stator winding 8 is conducted and dissipated through the main body shell 10.

[0038] Reference Figure 6 and Figure 7As shown, in some specific embodiments of this application, a guide rail 14 is provided on the inner circumferential surface of the main body shell 10, and the lead screw nut 11 is connected to the inside of the main body shell 10 through the nut support bearing 12. The head end of the rotor 7 is located at the tail end of the lead screw nut 11, and the tail end of the lead screw 15 passes through the guide rail 14 and the lead screw nut 11 in sequence and is located in the hollow hole of the rotor 7 to shorten the overall length of the finger drive mechanism.

[0039] In the above embodiments of this application, the rotor 7 has a hollow hole structure at its head end, allowing the lead screw 15 to extend into the hollow hole. This reduces the axial dimension of the finger drive mechanism, facilitating its integration into the fingers of a dexterous hand for direct drive. The lead screw 15 is coaxially disposed inside the lead screw nut 11. The lead screw 15 is a shaft with a step, and the diameter at the head end is larger than the diameter at the tail end. (Refer to...) Figure 7 As shown in (b), the lead screw 15 has an anti-rotation flattened structure 17 at its head end to prevent the lead screw 15 from rotating synchronously when the lead screw nut 11 rotates, thus preventing transmission failure. Both ends of the lead screw 15 have holes (threaded holes / precision holes). The head end of the lead screw is precisely fitted coaxially with the limiting guide rail. The guide rail 14 provides guiding support to ensure the accuracy of the extension and retraction of the lead screw 15. The inner hole of the guide rail 14 also has a flattened structure to prevent the lead screw 15 from rotating. The outer ring of the guide rail 14 is coaxially fitted with the main body shell 10. Radial screws, slots, adhesive, etc., can be used to prevent the guide rail 14 from rotating relative to the main body shell 10. The front cover 16 is located at the very end and fits tightly against the guide rail 14. A central hole is provided in the center of the front cover 16, through which the lead screw 15 extends.

[0040] Furthermore, the stator winding 8 and rotor 7 constitute a hollow permanent magnet motor structure. The combination of this hollow permanent magnet motor structure and the ball screw unit allows the screw nut 11 to rotate under the drive of the rotor 7, realizing the extension and retraction of the screw 15. Simultaneously, utilizing the reduction characteristics of the ball screw unit, a reducer is omitted. The explanation of the reduction characteristics is as follows: The core of a ball screw unit is the conversion between rotary and linear motion. The lead of the screw determines the deceleration effect: for example, with a 2mm lead, the screw nut needs to rotate 50 times for the screw to extend or retract 100mm. During this process, the speed of rotary motion is converted into a lower linear motion speed to achieve deceleration. Using this ball screw unit replaces an additional reducer, eliminating the need for a separate reduction mechanism. This reduces the overall axial dimension of the mechanism and lowers costs. According to the law of conservation of energy, the reduced speed amplifies the torque, thus increasing the output torque of the drive control unit and improving output efficiency. The ball screw structure achieves a balance between drive accuracy and cost, facilitating mass production.

[0041] Furthermore, the ball screw unit can also achieve reverse drive, meaning that when an axial force is applied to the screw, causing it to move linearly, it can drive the screw nut and rotor to rotate. This reverse drive characteristic allows the screw to convert axial force into rotor rotation. The finger drive mechanism provided in this application solves the problems of large size, difficulty in integration into the dexterous hand, low transmission efficiency, inability to achieve reverse drive, and high cost associated with direct-drive linear actuators in dexterous hands.

[0042] In some specific embodiments of this application, the inner ring of the main body shell 10 is provided with an annular bearing bracket, the nut support bearing 12 is disposed between the guide rail 14 and the bearing bracket, and there is a gap between the outer ring of the nut support bearing 12 and the inner ring of the main body shell 10, and the outer ring of the lead screw nut 11 is connected to the inner ring of the nut support bearing 12.

[0043] In the above embodiments of this application, the tail end of the guide rail 14, the head end of the nut support bearing 12, and the head end of the lead screw nut 11 form a closed retaining ring area. A retaining ring 13 is provided at the head end of the lead screw nut 11, and the retaining ring 13 is located within the retaining ring area. The retaining ring 13 cooperates with the outer ring of the lead screw nut to ensure that the position of the lead screw nut 11 does not shift. The outer ring of the nut support bearing 12 does not contact the main body housing 10 to prevent over-positioning and jamming. The two end faces of the nut support bearing 12 contact the bearing bracket on the main body housing 10 and the two sides of the guide rail 14, respectively, to prevent the lead screw nut 11 from undergoing axial displacement. The outer periphery of the lead screw nut 11 is stepped, and the stepped end face is in close contact with the inner ring end face of the nut support bearing 12.

[0044] In some specific embodiments of this application, the first end of the rotor 7 is provided with a flat structure, and the tail end of the lead screw nut 11 is provided with a force-transmitting flat structure 18 that matches the flat structure of the rotor 7, so that the torque and rotation of the rotor 7 are transmitted to the lead screw nut 11.

[0045] In the above embodiments of this application, the front end of the rotor 7 is provided with a flat structure, and the rotor 7 extends into the inner hole of the lead screw nut 11. The inner hole of the lead screw nut 11 is also provided with a force-transmitting flat structure 18, which can stably transmit the torque and rotation of the rotor 7 to the lead screw nut 11.

[0046] In some specific embodiments of this application, the finger drive mechanism also includes an encoder 2, which is located inside the tail cover 1. The encoder 2 is used to sense the magnetic field change of the magnet 3 to obtain the real-time rotation information of the rotor 7 and the lead screw nut 11, and then obtain the real-time axial position information of the lead screw 15.

[0047] In the above embodiments of this application, the encoder 2 is located inside the tail cover 1, directly behind the magnet 3 (i.e., on the tail side), with a gap between the encoder 2 and the magnet 3. The tail cover 1 has a cable outlet for the encoder 2, which is electrically connected to an external data acquisition system. When the rotor 7 rotates, the detection end of the encoder 2 senses the periodic changes in the magnetic field generated by the magnet 3 to acquire the real-time rotation parameters of the lead screw nut 11. The data acquisition system then converts the rotation parameters of the lead screw nut 11 into the real-time axial position parameters of the lead screw 15 based on the preset lead parameters of the lead screw 15.

[0048] Based on the same inventive concept, another embodiment of this application provides a dexterous hand, which includes a finger drive mechanism based on a ball screw structure in any of the above embodiments.

[0049] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0050] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

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The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism based on a ball screw structure. The application relates to a finger driving mechanism The inner circumferential surface of the main body shell is provided with a guide rail, the screw nut is connected to the inside of the main body shell through a nut support bearing, the leading end of the rotor is arranged at the trailing end of the screw nut, and the trailing end of the screw rod is arranged in the hollow hole of the rotor in sequence after passing through the guide rail and the screw nut, so as to shorten the overall length of the finger driving mechanism.

7. The finger driving mechanism based on the ball screw structure according to claim 6, characterized in that, The inner circle of the main body shell is provided with an annular bearing support, the nut support bearing is arranged between the guide rail and the bearing support, and there is a gap between the outer circle of the nut support bearing and the inner circle of the main body shell, and the outer circle of the screw nut is connected to the inner circle of the nut support bearing.

8. The finger driving mechanism based on the ball screw structure according to claim 3, characterized in that, The leading end of the rotor is provided with a flat position structure, the trailing end of the screw nut is provided with a force transmission flat position structure matched with the flat position structure of the rotor, so that the torque and rotation of the rotor are transmitted to the screw nut.

9. The finger driving mechanism based on the ball screw structure according to claim 3, characterized in that, The finger driving mechanism further comprises an encoder arranged inside the tail cover, the encoder is used to sense the magnetic field change of the magnet to obtain the real-time rotation information of the rotor and the screw nut, and further obtain the real-time axial position information of the screw rod.

10. A dexterous hand characterized by, The dexterous hand comprises the finger driving mechanism based on the ball screw structure according to any one of claims 1-9.

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