手指驱动结构、灵巧手手指和灵巧手

Abstract

本公开涉及机器人技术领域，具体涉及一种手指驱动结构、灵巧手手指和灵巧手，解决了相关技术中的手指驱动结构容易在过载时发生损坏的问题。该手指驱动结构包括支撑件、第一驱动件、第一齿轮、第二齿轮、弹性件和锁紧件。在正常传动过程中(即，没有发生过载现象)，弹性件的压紧力可以沿第一齿轮的轴向压紧第一齿轮与第二齿轮，使第二齿轮能够随第一齿轮同轴转动，从而实现力的传递。在发生过载现象时，过大的力矩或应力使弹性件的压紧力无法沿第一齿轮的轴向压紧第一齿轮与第二齿轮，从而使第二齿轮与第一齿轮之间发生打滑现象，减少了力矩或应力的传递，进行减小了手指驱动结构因过载导致损坏的概率。

Claims

1. A finger drive structure, characterized by, The finger drive structure, used to drive the rotation of the first phalanx, includes: Support components; A first driving component is disposed on the support component; A first gear is connected to the first driving member and rotates around a first axis under the drive of the first driving member. The first gear has a first through hole. The second gear is coaxially arranged with the first gear and can be driven to the first knuckle. The second gear has a second through hole. An elastic element, wherein a first end of the elastic element abuts against the end face of the second gear away from the first gear, and the elastic element has a third through hole extending from the first end of the elastic element to the second end of the elastic element; The locking member includes a first limiting part, a connecting part, and a second limiting part connected in sequence. The first limiting part abuts against the end face of the first gear away from the second gear. The connecting part passes through the first through hole, the second through hole, and the third through hole in sequence. The second limiting part abuts against the second end of the elastic member.

2. The finger-driving structure according to claim 1, characterized in that, The connecting part includes a shaft-like structure. The first limiting part includes a first bearing, and the second limiting part includes a second bearing. The support member has a first abutting structure and a second abutting structure that are arranged opposite to each other along the axial direction of the shaft-like structure. The two ends of the shaft-like structure are respectively connected to the inner ring of the first bearing and the inner ring of the second bearing. The end face of the first bearing away from the second bearing abuts against the first abutting structure, and the end face of the second bearing away from the first bearing abuts against the second abutting structure. And / or, The connecting part includes a shaft-shaped structure, both ends of which have external threads. The first limiting part has a first threaded hole, and the second limiting part has a second threaded hole. The external threads at both ends of the shaft-shaped structure are respectively screwed into the first threaded hole and the second threaded hole. And / or, The elastic element includes a compression spring.

3. The finger drive structure according to claim 1, wherein Also includes: The third gear is coaxially connected to the output shaft of the first drive member and meshes with the first gear. The third gear rotates around the second axis under the drive of the first drive member, and the first gear rotates around the first axis under the drive of the third gear. The second axis is parallel to the first axis, and the number of teeth of the third gear is less than the number of teeth of the first gear.

4. The finger drive structure according to claim 1, wherein Also includes: The fourth gear is rotatably connected to the support member and meshes with the second gear. Driven by the second gear, it rotates around a third axis, which is parallel to the second axis. The number of teeth of the fourth gear is greater than the number of teeth of the second gear. The fifth gear meshes with the fourth gear and rotates around the fourth axis under the drive of the fourth gear. The fourth axis is parallel to the third axis, and the number of teeth of the fifth gear is greater than the number of teeth of the fourth gear. A first speed reducer is disposed on the support member. The input end of the first speed reducer is coaxially connected to the fifth gear, and the output end of the first speed reducer is connected to the first finger joint.

5. The finger drive structure according to claim 4, wherein It is also used to drive the rotation of the second phalanx, and the finger drive structure further includes: A second driving component is disposed on the support component; The sixth gear is connected to the second driving member and rotates around the fifth axis under the drive of the second driving member; The seventh gear is rotatably connected to the support member and meshes with the sixth gear. It rotates around the sixth axis under the drive of the sixth gear. The sixth axis is parallel to the fifth axis. The number of teeth of the seventh gear is greater than the number of teeth of the sixth gear. The eighth gear is coaxially connected to the seventh gear and rotates with the seventh gear around the sixth axis. The number of teeth of the eighth gear is less than the number of teeth of the seventh gear. The ninth gear meshes with the eighth gear and rotates around the seventh axis under the drive of the eighth gear. The seventh axis is parallel to the sixth axis. The number of teeth of the ninth gear is greater than the number of teeth of the eighth gear. A second speed reducer is disposed on the support member. The input end of the second speed reducer is coaxially connected to the ninth gear, and the output end of the second speed reducer is connected to the second finger joint.

6. The finger-driving structure according to claim 5, characterized in that, The first phalanx has a first arc-shaped limiting groove on the side facing the support member, and the second phalanx has a second arc-shaped limiting groove on the side facing the support member. The first arc-shaped limiting groove extends circumferentially along the fourth axis, and the second arc-shaped limiting groove extends circumferentially along the seventh axis. The support member has a first limiting protrusion on the side facing the first arc-shaped limiting groove, and a second limiting protrusion on the side facing the second arc-shaped limiting groove. The first limiting protrusion is disposed circumferentially along the fourth axis and extends into the first arc-shaped limiting groove, and the second limiting protrusion is disposed circumferentially along the seventh axis and extends into the second arc-shaped limiting groove. And / or, The first phalanx has a third limiting protrusion on the side facing the support member, and the second phalanx has a fourth limiting protrusion on the side facing the support member. The third limiting protrusion is disposed circumferentially along the fourth axis and the fourth limiting protrusion is disposed circumferentially along the seventh axis. The support member has a third arc-shaped limiting groove on the side facing the third limiting protrusion and a fourth arc-shaped limiting groove on the side facing the fourth limiting protrusion. The third arc-shaped limiting groove extends circumferentially along the fourth axis and the fourth arc-shaped limiting groove extends circumferentially along the seventh axis. The third limiting protrusion extends into the third arc-shaped limiting groove and the fourth limiting protrusion extends into the fourth arc-shaped limiting groove.

7. The finger drive structure according to claim 5, wherein The support member includes a first shaft portion and a second shaft portion. The first shaft portion is coaxially arranged with the output end of the first reducer and is arranged opposite to the output end of the first reducer in the extension direction of the fourth axis. The second shaft portion is coaxially arranged with the output end of the second reducer and is arranged opposite to the output end of the second reducer in the extension direction of the seventh axis. The first finger joint is rotatably connected to the first shaft portion, and the second finger joint is rotatably connected to the second shaft portion.

8. The finger drive structure according to claim 7, wherein The first shaft portion has a first wiring hole, the second shaft portion has a second wiring hole, and the support member also has a third wiring hole and a fourth wiring hole. The first wiring hole connects the third wiring hole to the outside, and the second wiring hole connects the fourth wiring hole to the outside. The finger-driving structure also includes: A drive board is connected to the support member. The third and fourth wiring holes both extend to the drive board. Cables can pass through the first and third wiring holes in sequence and connect to the drive board. Cables can also pass through the second and fourth wiring holes in sequence and connect to the drive board.

9. The finger drive structure according to any one of claims 1 to 8, wherein Also includes: A tactile sensor, disposed on the outer surface of the support member, is configured to sense the physical characteristics of an object in contact with the finger-driven structure; And / or, A pressure sensor, disposed on the outer surface of the support member, is configured to detect the pressure exerted on the finger drive structure; And / or, An indicator light, located on the outer surface of the support member, is configured to provide feedback on the working status of the finger-driving structure or the load on the finger-driving structure through brightness and color.

10. A dexterous hand finger, characterized by, include: First phalanx; At least one finger drive structure according to any one of claims 1 to 9, wherein the second gear of the finger drive structure is drively connected to the first phalanx to drive the first phalanx to rotate relative to the support member of the finger drive structure.

11. A dexterous hand, characterized in that, include: At least one dexterous hand finger as described in claim 10.

Images