Dextrous hand anti-shock device

Abstract

The embodiment of the application provides a dexterous hand anti-impact device, which comprises an adapter seat and a flange plate; a first end surface of the adapter seat is used for fixed connection with the dexterous hand, and a second end surface of the adapter seat is provided with an elastic spherical buckle assembly which is configured to rotate around the adapter seat under the action of external force; a first end surface of the flange plate is provided with a V-shaped groove which comprises a buckle hole and a first guide groove, and the turning part of the V-shaped groove is the buckle hole, and a second end surface of the flange plate is used for fixed connection with a mechanical arm; when the adapter seat and the flange plate are in a combined state, the spherical protrusion of the elastic spherical buckle assembly is embedded in the buckle hole. In this way, when the dexterous hand is impacted by external force, the external force is transmitted to the elastic spherical buckle assembly, the elastic spherical buckle assembly is configured to rotate around the adapter seat under the action of external force, so that the spherical protrusion is lifted from the buckle hole and slides out along the first guide groove, the rigid connection between the adapter seat and the flange plate is changed, and then the dexterous hand is prevented from being damaged.

Description

Technical Field

[0001] This application relates to the field of embodied intelligence technology, and more particularly to a dexterous hand shockproof device. Background Technology

[0002] With the gradual development of humanoid robots, dexterous hands, one of the most important end effectors in humanoid robots, have also ushered in a series of technological breakthroughs.

[0003] Currently, when a dexterous hand is mounted on a robotic arm to control the dexterous hand to pick up objects, the dexterous hand is subjected to impact forces from all directions during the process, which can lead to damage to the dexterous hand itself. Therefore, existing technologies have the technical problem of low lifespan of dexterous hands. Utility Model Content

[0004] This application provides a dexterity hand shockproof device to solve the technical problem of low lifespan of dexterity hands in the prior art.

[0005] In one aspect, this application provides a dexterous hand impact protection device, including: an adapter and a flange;

[0006] The first end face of the adapter is used for fixed connection with the dexterous hand, and the second end face of the adapter is provided with an elastic spherical snap-fit ​​assembly, which is configured to rotate around the adapter under the action of external force; the first end face of the flange is provided with a V-groove, which includes a snap-fit ​​hole and a first guide groove, and the bend of the V-groove is the snap-fit ​​hole; the second end face of the flange is used for fixed connection with the robotic arm; wherein, when the adapter and the flange are in the combined state, the spherical protrusion of the elastic spherical snap-fit ​​assembly is embedded in the snap-fit ​​hole.

[0007] When the dexterous hand is subjected to an external impact, it will transmit the external force to the elastic spherical snap-fit ​​assembly. The elastic spherical snap-fit ​​assembly is configured to rotate around the adapter seat under the action of the external force, thereby causing the spherical protrusion to lift out of the snap-fit ​​hole and slide out along the first guide groove, changing the rigid connection between the adapter seat and the flange, thus preventing damage to the dexterous hand.

[0008] In one possible implementation, the elastic spherical snap-fit ​​assembly includes: a spherical snap-fit ​​and a compression spring; a first end of the spherical snap-fit ​​is rotatably connected to an adapter; a second end face of the adapter has a first receiving cavity for receiving the compression spring, one end of the compression spring abuts against the bottom surface of the first receiving cavity, the other end of the compression spring abuts against the second end of the spherical snap-fit, and a third end of the spherical snap-fit ​​has a spherical protrusion; wherein, the first end of the spherical snap-fit ​​is located between the second end and the third end of the spherical snap-fit. By setting the second end of the spherical snap-fit ​​to abut against one end of the compression spring, when the dexterous hand is subjected to an external impact, the compression spring can be compressed, causing the spherical protrusion to disengage from the snap-fit ​​hole and slide out along the first guide groove, thereby achieving force relief and preventing damage to the dexterous hand.

[0009] In one possible implementation, the dexterous hand impact protection device further includes: a tension spring, a swivel, and a sliding block; the third end face of the flange is provided with a second receiving cavity, the first end of the tension spring is located in the second receiving cavity and is fixedly connected to the bottom surface of the second receiving cavity; the first end of the swivel is provided with a third receiving cavity, and the third receiving cavity is provided with a sliding groove, the sliding block and the sliding groove form a sliding fit, the second end of the tension spring is located in the third receiving cavity and is fixedly connected to the sliding block; the third end face of the adapter is provided with a fourth receiving cavity, the second end of the swivel can extend into the fourth receiving cavity and engage with the adapter; wherein, when the flange and the adapter are in the combined state, the end faces of the flange and the adapter that contact each other are the third end face of the flange and the third end face of the adapter, respectively.

[0010] By setting the second end of the swivel to engage with the adapter, and setting the second end of the tension spring to be fixedly connected to the slider inside the swivel, while also setting the first end of the tension spring to be fixedly connected to the flange, the dexterous hand fixed on the adapter will not fall and be damaged after the adapter and flange separate when the dexterous hand is subjected to external force.

[0011] In one possible implementation, the free length of the tension spring is D, A is the length of the sliding groove, B is the depth of the second receiving cavity, the length of A is not less than D, and D is greater than or equal to B+10mm.

[0012] By setting the length of A to be no less than D, and D to be greater than or equal to B+10mm, the length of the tension spring can be fully retracted into the third storage cavity when the adapter is combined with the flange. At the same time, the swivel buckle is engaged with the adapter for easy operation.

[0013] In one possible implementation, the second end of the thimble is provided with a second limiting block; the fourth storage cavity is a cylindrical storage cavity, and a spring plunger and a first limiting block are provided on the same circumferential ring of the fourth storage cavity, and the circumferential interval between the spring plunger and the first limiting block is greater than or equal to the circumferential width of the second limiting block.

[0014] By setting a spring plunger and a first limiting block on the same circumferential ring of the fourth storage cavity, the circumferential distance between the spring plunger and the first limiting block is greater than or equal to the circumferential width of the second limiting block, so that the spring plunger generates a "stepping over" feeling when the buckle is inserted and rotated. When the second limiting block rotates past the spring plunger, it is stopped by the first limiting block, thus fixing the buckle.

[0015] In one possible implementation, the first end face of the flange is provided with a snap plate, and a V-groove is located on the snap plate.

[0016] The V-groove is located on the buckle plate, which facilitates the processing of the V-groove.

[0017] In one possible implementation, the panel is made of 304 stainless steel.

[0018] The use of 304 stainless steel for the buckle plate improves the wear resistance of the V-groove, thereby extending the service life of the dexterous hand shockproof device.

[0019] In one possible implementation, the first end face of the flange is further provided with a second guide groove; when the adapter and the flange are combined, the second guide groove is used to guide the elastic spherical snap-fit ​​assembly to rotate around the adapter, so that the spherical protrusion of the elastic spherical snap-fit ​​assembly is embedded in the snap-fit ​​hole.

[0020] By providing a second guide groove, the spherical protrusion of the elastic spherical buckle assembly can be easily inserted into the buckle hole.

[0021] In one possible implementation, the depth of the snap-fit ​​hole is greater than the depth of the first guide groove.

[0022] By setting the depth of the snap-fit ​​hole to be greater than the depth of the first guide groove, abnormal loosening of the adapter and flange is prevented.

[0023] In one possible implementation, a first guide groove is formed on the first end face of the flange along a predetermined helical path.

[0024] By setting a first guide groove along a predetermined spiral path on the first end face of the flange, it is more conducive to the separation and stress relief of the adapter seat and the flange.

[0025] This application provides a dexterous hand impact protection device, comprising an adapter and a flange. The first end face of the adapter is used for fixed connection with the dexterous hand, and the second end face of the adapter is provided with an elastic spherical snap-fit ​​assembly configured to rotate around the adapter under external force. The first end face of the flange is provided with a V-groove, which includes a snap-fit ​​hole and a first guide groove, with the snap-fit ​​hole at the bend of the V-groove. The second end face of the flange is used for fixed connection with the robotic arm. When the adapter and the flange are in the connected state, the spherical protrusion of the elastic spherical snap-fit ​​assembly is embedded in the snap-fit ​​hole. Thus, when the dexterous hand is subjected to an external impact, the external force is transmitted to the elastic spherical snap-fit ​​assembly, which is configured to rotate around the adapter under the external force. This causes the spherical protrusion to lift out of the snap-fit ​​hole and slide out along the first guide groove, changing the rigid connection between the adapter and the flange, thereby preventing damage to the dexterous hand. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is one of the structural schematic diagrams of a dexterous hand impact protection device in a separated state according to an embodiment of this application;

[0028] Figure 2 yes Figure 1 A magnified view of a portion of the image;

[0029] Figure 3 This is one of the structural schematic diagrams of a dexterous hand impact protection device in a combined state provided in the embodiments of this application;

[0030] Figure 4 This is a schematic diagram of the structure of a dexterous hand impact protection device provided in this application in a completely separated state;

[0031] Figure 5 This is a partial exploded view of a dexterous hand shockproof device provided in this application. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such usage can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0034] As humanoid robots are rapidly becoming more widely adopted, dexterous hands, as key end effectors, need to balance precise manipulation with high reliability. Advances in multi-degree-of-freedom actuation, compliant control, and tactile perception have enhanced the capabilities of dexterous hands, but their lifespan remains a bottleneck for the industry.

[0035] Some specific scenarios where the lifespan of dexterous hands becomes a bottleneck:

[0036] 1. Dexterous hand sweeps sideways across the shelf;

[0037] 2. The target object slides and collides during the grasping process by the dexterous hand;

[0038] 3. Dexterous hands collide with each other.

[0039] In summary, the short lifespan of dexterous hands is mainly due to damage from impacts and collisions.

[0040] To address this issue, this application proposes a dexterity hand anti-impact device 10 to solve the technical problem that the dexterity hand is easily subjected to impact forces from all directions during use, which can lead to damage to the dexterity hand body and consequently a short lifespan.

[0041] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0042] See Figure 1 , Figure 1 This is one of the structural schematic diagrams of a dexterous hand impact protection device 10 in a separated state according to an embodiment of this application;

[0043] The dexterous hand shockproof device 10 includes: an adapter 100 and a flange 200;

[0044] The first end face E1 of the adapter 100 is used for fixed connection with the dexterous hand. The second end face E2 of the adapter 100 is provided with an elastic spherical snap-fit ​​assembly 101, which is configured to rotate around the adapter 100 under the action of external force. The first end face F1 of the flange 200 is provided with a V-groove 201, which includes a snap-fit ​​hole 2011 and a first guide groove 2012. The turning point of the V-groove 201 is the snap-fit ​​hole 2011. The second end face F2 of the flange 200 is used for fixed connection with the robotic arm. When the adapter 100 and the flange 200 are in the combined state, the spherical protrusion of the elastic spherical snap-fit ​​assembly 101 is embedded in the snap-fit ​​hole 2011.

[0045] It should be noted that the first end face E1 of the adapter 100 can be two or four, and no further restrictions are imposed here.

[0046] However, the number of first end faces E1 of the adapter 100 is adapted to the number of first end faces F1 of the flange 200.

[0047] See Figure 2 , Figure 2 yes Figure 1 A magnified view of a portion of the image.

[0048] See Figure 3 , Figure 3 This is one of the structural schematic diagrams of a dexterous hand anti-impact device 10 in a combined state provided in the embodiments of this application.

[0049] It should be understood that when the adapter 100 and the flange 200 are in the engaged state, it means that the spherical protrusion of the elastic spherical snap-fit ​​assembly 101 is embedded in the snap-fit ​​hole 2011, and the elastic spherical snap-fit ​​assembly 101 can only rotate around the adapter 100 under the action of external force. Therefore, when the adapter 100 and the flange 200 are in the engaged state, the adapter 100 and the flange 200 are in a rigid connection state.

[0050] It should be noted that, referring to Figure 1 With the engagement direction a, the spherical protrusion of the elastic spherical snap-fit ​​assembly 101 on the adapter 100 can be embedded into the snap of the flange 200.

[0051] Working principle: In the dexterous hand anti-impact device 10 provided in this application embodiment, the dexterous hand is fixedly installed on the first end face E1 of the adapter 100, and the second end face of the flange 200 is fixedly connected to the dexterous hand. The adapter 100 and the flange 200 are rigidly connected in the coupled state. When the dexterous hand is impacted by an external force, the external force will be transmitted to the adapter 100. Since the adapter 100 and the flange 200 are rigidly connected, and the flange 200 is fixed on the robotic arm, a relative displacement tendency will occur between the adapter 100 and the flange 200. This causes the elastic spherical snap-fit ​​assembly 101 of the adapter 100 to rotate around the adapter 100, and the spherical protrusion disengages from the snap-fit ​​hole 2011 and slides out along the first guide groove 2012. Figure 3 The separation direction b in the middle is used to unload the force and avoid damage to the dexterous hand.

[0052] This application provides a dexterous hand impact protection device 10, which includes an adapter 100 and a flange 200. The first end face E1 of the adapter 100 is used for fixed connection with the dexterous hand, and the second end face E2 of the adapter 100 is provided with an elastic spherical snap-fit ​​assembly 101. The elastic spherical snap-fit ​​assembly 101 is configured to rotate around the adapter 100 under the action of external force. The first end face of the flange 200 is provided with a V-groove 201, which includes a snap-fit ​​hole 2011 and a first guide groove 2012. The turning point of the V-groove 201 is the snap-fit ​​hole 2011. The second end face of the flange 200 is used for fixed connection with the robotic arm. When the adapter 100 and the flange 200 are in a combined state, the spherical protrusion of the elastic spherical snap-fit ​​assembly 101 is embedded in the snap-fit ​​hole 2011. In this way, when the dexterous hand is subjected to an external impact, it will transmit the external force to the elastic spherical snap fastener assembly 101. The elastic spherical snap fastener assembly 101 is configured to rotate around the adapter 100 under the action of the external force, thereby causing the spherical protrusion to lift out of the snap hole 2011 and slide out along the first guide groove 2012, changing the rigid connection between the adapter 100 and the flange 200, thereby preventing damage to the dexterous hand.

[0053] See Figure 4 , Figure 4 This is a schematic diagram of the structure of a dexterous hand anti-impact device 10 provided in this application in a completely separated state.

[0054] The elastic spherical buckle assembly 101 includes: a spherical buckle 1011 and a compression spring 1012; the first end of the spherical buckle is rotatably connected to the adapter 100; the second end face E2 of the adapter 100 is provided with a first storage cavity for storing the compression spring, one end of the compression spring abuts against the bottom surface of the first storage cavity, the other end of the compression spring abuts against the second end of the spherical buckle, and the third end of the spherical buckle is provided with a spherical protrusion; wherein, the first end of the spherical buckle is located between the second end and the third end of the spherical buckle.

[0055] In this embodiment of the application, by setting the second end of the spherical buckle to abut against one end of the compression spring, when the dexterous hand is impacted by an external force, the compression spring can be compressed to make the spherical protrusion disengage from the buckle hole 2011 and slide out along the first guide groove 2012, thereby achieving force relief and thus preventing damage to the dexterous hand.

[0056] See Figure 5 , Figure 5 This is a partial exploded view of a dexterous hand shockproof device 10 provided in this application.

[0057] The dexterous hand anti-impact device 10 also includes: a tension spring 20, a swivel buckle 30, and a sliding block; the third end face F3 of the flange 200 is provided with a second receiving cavity, the first end of the tension spring 20 is located in the second receiving cavity and is fixedly connected to the bottom surface of the second receiving cavity; the first end of the swivel buckle 30 is provided with a third receiving cavity, and a sliding groove is provided in the third receiving cavity, the sliding block and the sliding groove form a sliding fit, the second end of the tension spring 20 is located in the third receiving cavity and is fixedly connected to the sliding block; the third end face E3 of the adapter 100 is provided with a fourth receiving cavity, the second end of the swivel buckle 30 can extend into the fourth receiving cavity and achieve a snap-fit ​​connection with the adapter 100; wherein, when the flange 200 and the adapter 100 are in the combined state, the end faces of the flange 200 and the adapter 100 that contact each other are the third end face of the flange 200 and the third end face E3 of the adapter 100, respectively.

[0058] Working principle: The sliding block slides in the sliding groove, and the second end of the tension spring 20 is fixedly connected to the sliding block. Therefore, the second end of the tension spring 20 can extend into the third storage cavity of the swivel 30 along with the sliding block. This allows the tension spring 20 to be stored when the adapter 100 and the flange 200 are in the engaged state.

[0059] In this embodiment, by setting the second end of the snap fastener 30 to engage with the adapter 100, and setting the second end of the tension spring 20 to be fixedly connected to the slider inside the snap fastener 30, and also setting the first end of the tension spring 20 to be fixedly connected to the flange 200, when the dexterous hand is subjected to external force, after the adapter 100 and the flange 200 separate, since the snap fastener 30 is fixed to the adapter 100, the tension spring 20 prevents the dexterous hand fixed on the adapter 100 from falling and being damaged.

[0060] Optionally, in some embodiments, the free length of the tension spring is D, A is the length of the sliding groove, B is the depth of the second receiving cavity, the length of D is greater than or equal to A, and D is greater than or equal to B+10 mm.

[0061] It should be understood that the free length of tension spring 20 refers to the length of tension spring 20 under external force.

[0062] Design principle: The length of D is greater than or equal to the length of A so that the space inside the swivel 30 can completely accommodate the tension spring 20, which facilitates the connection between the adapter 100 and the flange 200; D is greater than or equal to B+10mm so that there is enough operating space when the swivel 30 is engaged with the adapter 100.

[0063] By setting the length of D to be greater than or equal to the length of A, and D to be greater than or equal to B+10mm, the length of the tension spring 20 can be fully retracted into the third storage cavity when the adapter 100 is combined with the flange 200. At the same time, the swivel buckle 30 is engaged with the adapter 100 for easy operation.

[0064] Optionally, in some embodiments, the second end of the swivel 30 is provided with a second limiting block; the fourth storage cavity is a cylindrical storage cavity, and a spring plunger and a first limiting block are provided on the same circumferential ring of the fourth storage cavity, and the circumferential interval between the spring plunger and the first limiting block is greater than or equal to the circumferential width of the second limiting block.

[0065] By setting a spring plunger and a first limiting block on the same circumferential ring of the fourth storage cavity, the circumferential distance between the spring plunger and the first limiting block is greater than or equal to the circumferential width of the second limiting block, so that the spring plunger generates a "stepping over" feeling when the buckle 30 is inserted and rotated. When the second limiting block rotates past the spring plunger, it is stopped by the first limiting block, thus fixing the buckle 30.

[0066] Optionally, in some embodiments, the first end face of the flange 200 is provided with a buckle plate, and the V-groove 201 is located on the buckle plate.

[0067] The V-groove 201 is located on the buckle plate, which facilitates the processing of the V-groove 201 and reduces processing costs.

[0068] Optionally, in some embodiments, the material of the buckle is 304 stainless steel.

[0069] By using 304 stainless steel for the buckle plate, the wear resistance of the V-groove 201 is improved, thereby increasing the service life of the dexterous hand shockproof device 10 and reducing the processing cost of the dexterous hand shockproof device 10.

[0070] Optionally, in some embodiments, the first end face of the flange 200 is further provided with a second guide groove 202; when the adapter 100 and the flange 200 are combined, the second guide groove 202 is used to guide the elastic spherical snap fastener assembly 101 to rotate around the adapter 100, so that the spherical protrusion of the elastic spherical snap fastener assembly 101 is embedded in the snap hole 2011.

[0071] By providing a second guide groove 202, the spherical protrusion of the elastic spherical buckle assembly 101 can be easily inserted into the buckle hole 2011.

[0072] Optionally, in some embodiments, the depth of the snap hole 2011 is greater than the depth of the first guide groove 2012.

[0073] By setting the depth of the snap-fit ​​hole 2011 to be greater than the depth of the first guide groove 2012, abnormal loosening of the adapter 100 and the flange 200 is prevented.

[0074] Optionally, in some embodiments, the first guide groove 2012 is formed on the first end face of the flange 200 along a predetermined helical path.

[0075] It should be noted that the predetermined spiral path can be an Archimedean spiral r = a + bθ, with the starting point located at the opening of the V-groove 201 and the ending point connected to the snap-fit ​​hole 2011. Example parameters: r is an Archimedean spiral, a = 6 mm, b = 1.2 mm / radian, and the spiral angle θ is 120°.

[0076] By setting the first guide groove 2012 to be formed on the first end face of the flange 200 along a predetermined spiral path, it is more conducive to the separation and stress relief of the adapter seat 100 and the flange 200.

[0077] The embodiments of this application have been described above with reference to Figure 1. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A dexterous hand impact protection device, characterized in that, The dexterous hand impact protection device includes: an adapter and a flange; The first end face of the adapter is used for fixed connection with the dexterous hand, and the second end face of the adapter is provided with an elastic spherical buckle assembly, which is configured to rotate around the adapter under the action of external force. The first end face of the flange is provided with a V-groove, the V-groove includes a snap-fit ​​hole and a first guide groove, the turning point of the V-groove is the snap-fit ​​hole, and the second end face of the flange is used for fixed connection with the robotic arm. When the adapter and the flange are in a coupled state, the spherical protrusion of the elastic spherical snap-fit ​​assembly is embedded in the snap-fit ​​hole.

2. The dexterous hand impact protection device according to claim 1, characterized in that, The elastic spherical buckle assembly includes: a spherical buckle and a compression spring; The first end of the spherical buckle is rotatably connected to the adapter; The second end face of the adapter is provided with a first storage cavity, which is used to store the compression spring. One end of the compression spring abuts against the bottom surface of the first storage cavity, and the other end of the compression spring abuts against the second end of the spherical buckle. The third end of the spherical buckle is provided with the spherical protrusion. The first end of the spherical buckle is located between the second end and the third end of the spherical buckle.

3. The dexterous hand impact protection device according to claim 1, characterized in that, The dexterity hand impact protection device also includes: a tension spring, a swivel buckle, and a sliding block; The third end face of the flange is provided with a second receiving cavity, and the first end of the tension spring is located in the second receiving cavity and is fixedly connected to the bottom surface of the second receiving cavity; The first end of the thimble is provided with a third storage cavity, and the third storage cavity is provided with a sliding groove. The sliding block and the sliding groove form a sliding fit. The second end of the tension spring is located in the third storage cavity and is fixedly connected to the sliding block. The third end face of the adapter is provided with a fourth storage cavity, and the second end of the swivel can extend into the fourth storage cavity and engage with the adapter. When the flange and the adapter are in the coupled state, the end faces of the flange and the adapter that are in contact with each other are the third end face of the flange and the third end face of the adapter, respectively.

4. The dexterous hand impact protection device according to claim 3, characterized in that, The free length of the tension spring is D, A is the length of the sliding groove, and B is the depth of the second receiving cavity. The length of D is greater than or equal to A, and D is greater than or equal to B + 10 mm.

5. The dexterous hand impact protection device according to claim 3, characterized in that, The second end of the swivel is provided with a second limiting block; The fourth storage cavity is a cylindrical storage cavity. A spring plunger and a first limiting block are provided on the same circumferential ring of the fourth storage cavity. The circumferential distance between the spring plunger and the first limiting block is greater than or equal to the circumferential width of the second limiting block.

6. The dexterous hand impact protection device according to claim 1, characterized in that, The flange has a buckle plate on its first end face, and the V-groove is located on the buckle plate.

7. The dexterous hand impact protection device according to claim 6, characterized in that, The buckle plate is made of 304 stainless steel.

8. The dexterous hand impact protection device according to claim 1, characterized in that, The first end face of the flange is also provided with a second guide groove; When the adapter and the flange are engaged, the second guide groove guides the elastic spherical snap-fit ​​assembly to rotate around the adapter, thereby causing the spherical protrusion of the elastic spherical snap-fit ​​assembly to embed into the snap-fit ​​hole.

9. The dexterous hand impact protection device according to claim 1, characterized in that, The depth of the snap-fit ​​hole is greater than the depth of the first guide groove.

10. The dexterous hand impact protection device according to claim 1, characterized in that, The first guide groove is formed on the first end face of the flange along a predetermined spiral path.

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