Chain transmission dexterous hand finger structure

Abstract

The invention relates to the technical field of robots, in particular to a chain transmission dexterous hand finger structure which comprises a connecting base, a pin shaft is rotationally connected to the connecting base and connected with a near knuckle, the near knuckle is connected with a chain wheel through a driving part, the chain wheel is in transmission connection with a second chain wheel through a chain, and the second chain wheel is connected with a middle knuckle through a second pin shaft. The middle knuckle is connected with a third chain wheel through a second driving piece, the third chain wheel is in transmission connection with a fourth chain wheel through a second chain, the fourth chain wheel is connected with the fingertip through a third pin shaft, and the device achieves rotation of the fingers of the dexterous hand in a chain transmission mode, and compared with a tendon rope and connecting rod transmission mode in the prior art, the device is small in size and convenient to transmit torque; the response speed and the working efficiency are high.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a finger structure of a chain-driven dexterous hand. Background Art

[0002] With the development of their own intelligence, humanoid robots, as the optimal carrier, have rapidly developed. Dexterous hands, as the end effectors of humanoid robots, are crucial to their integration into human environments. The mainstream dexterous hands on the market have three main transmission types: tendon-cable, connecting rod, and gear transmission. Tendon-cable is particularly representative of high-degree-of-freedom dexterous hands.

[0003] However, the tendon-and-string dexterous hands in the existing technology have disadvantages such as insufficient precision, low gripping force, easy wear, and high cost, and therefore have not been able to be applied in large quantities. Summary of the Invention

[0004] The present invention provides a chain-driven dexterous hand finger structure to solve the problem raised in the background technology.

[0005] In order to achieve the above-mentioned purpose of the invention, the present invention provides the following technical solutions: a chain-driven dexterous hand finger structure, comprising: a connecting seat, a pin shaft rotatably connected to the connecting seat, the pin shaft is connected to the proximal finger joint, the proximal finger joint is connected to the sprocket through a driving member, the sprocket is connected to sprocket two through a chain, sprocket two is connected to the middle finger joint through pin shaft two, the middle finger joint is connected to sprocket three through driving member two, sprocket three is connected to sprocket four through chain two, and sprocket four is connected to the fingertip through pin shaft three.

[0006] Preferably, the pin, pin 2 and pin 3 have the same structure, the cross-section of the pin is D-shaped, the pin is plug-fitted with the D-shaped through slot at the end of the proximal knuckle, the pin 2 is plug-fitted with the D-shaped through slot 2 at the end of the middle knuckle, the pin 2 is plug-fitted with the D-shaped through hole in the middle of the sprocket 2, the pin 3 is plug-fitted with the D-shaped through slot 3 at the tip of the finger, and the pin 3 is plug-fitted with the D-shaped through hole 2 on the sprocket 4.

[0007] Preferably, sprocket five is connected to the pin shaft, sprocket five is transmission-connected to sprocket six through chain three, sprocket six is ​​rotationally connected to the connecting seat, sprocket six is ​​connected to the output end of the reducer, the output shaft of the reducer is rotationally connected to the connecting seat, and the input end of the reducer is connected to the output end of the motor.

[0008] Preferably, a bevel gear is connected to the pin shaft, the bevel gear is meshed with bevel gear 2, bevel gear 2 is connected to the output shaft of reducer 2, the output shaft of reducer 2 is rotatably connected to the connecting seat, the input end of reducer 2 is connected to the output end of motor 2, and the output end of motor 2 is arranged perpendicular to the pin shaft.

[0009] Preferably, the driving member includes: a gear, the end of the connecting seat facing the proximal knuckle is connected to the gear, the gear is coaxially arranged with the pin shaft, the gear is meshed with gear 2, gear 2 is rotatably connected to the proximal knuckle through a rotating shaft, and the rotating shaft is connected to the sprocket.

[0010] Preferably, driving member 2 includes: gear 3, the end of the proximal phalanx facing the middle phalanx is connected to gear 3, gear 3 is coaxially arranged with pin shaft 2, gear 3 is meshed with gear 4, gear 4 is rotatably connected to the middle phalanx through rotating shaft 2, and sprocket 3 is connected to rotating shaft 2.

[0011] Preferably, a mounting ring is connected to the pin shaft, a torsion spring is sleeved on the mounting ring, the horizontal end of the top of the torsion spring is connected to the top wall of the proximal knuckle, and the bottom of the torsion spring is connected to the top of the connecting seat.

[0012] Preferably, the bottom of the tension spring is connected to the inner wall of the proximal finger joint, the top of the tension spring is connected to the mounting shaft, the mounting shaft is slidably connected to the middle of the inclined slide groove, the inclined slide groove is opened on the side wall of the proximal finger joint, the top of the inclined slide groove is set toward the connecting seat, and a tensioning sprocket is rotatably connected to the mounting shaft, the tensioning sprocket is set above sprocket two, and the tensioning sprocket is connected to sprocket two through a chain.

[0013] Preferably, the top wall of the middle finger joint is connected to the top of the positioning shaft, the bottom of the positioning shaft is connected to the top of the rubber column, the bottom of the rubber column is connected to the top of the guide block, the bottom of the guide block is connected to the top of the guide bar, and the guide bar slides with the top of the chain 2.

[0014] Preferably, the connecting seat and the fingertips are respectively sleeved in a rubber tube, the proximal knuckle and the middle knuckle are respectively sleeved in a second rubber tube, the rubber tube is connected to the adjacent second rubber tube through a rubber hose, and the adjacent second rubber tubes are connected through a second rubber hose. The connecting seat is placed in the palm shell, the inner wall of the palm shell is connected to the side wall of the mounting tube, and a plurality of rubber sheets are provided at the palm of the palm shell, and an inflatable cavity is formed between the rubber sheets and the palm shell.

[0015] The beneficial effects of the present invention are as follows:

[0016] In the solution of the present invention:

[0017] The device uses chain transmission to achieve the rotation of the fingers of the dexterous hand. Compared with the tendon rope and connecting rod transmission methods in the existing technology, it is not only small in size but also easy to transmit torque, with fast response speed and high working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an exploded view of the main structure of the present invention;

[0019] Figure 2 A schematic diagram of the meshing connection relationship between the bevel gear and the bevel gear of the present invention;

[0020] Figure 3 It is a perspective view of the main structure of the present invention;

[0021] Figure 4 Schematic diagram of the connection between the gear 5 and the middle finger joint of the present invention;

[0022] Figure 5 This is a schematic diagram of the connection relationship between the fingertip and gear six of the present invention;

[0023] Figure 6 Schematic diagram of the torsion spring structure of the present invention;

[0024] Figure 7 It is a structural schematic diagram of the tension spring of the present invention;

[0025] Figure 8 A schematic diagram of the connection relationship between the guide block and the guide bar of the present invention;

[0026] Figure 9 This is a schematic diagram of the palm shell structure of the present invention;

[0027] Figure 10 is a cross-sectional view of the palm housing of the present invention;

[0028] Figure 11 This is a schematic diagram of the connection between the oil replenishment pipe and the storage tank of the present invention;

[0029] Figure 12 This is a schematic diagram of the connection relationship between the exhaust pipe, the air intake pipe and the storage tank of the present invention;

[0030] Figure 13 This is a schematic diagram of the inclined baffle structure of the present invention;

[0031] Figure 14 Schematic diagram of the ratchet gear structure of the present invention;

[0032] Figure 15 This is a schematic diagram of the filter hole opening positions of the present invention;

[0033] Figure 16 This is a schematic diagram of the second installation position of the spring of the present invention.

[0034] Among them: connecting seat 1, pin 2, near finger joint 3, sprocket 4, chain 5, sprocket 2 6, pin 2 7, middle finger joint 8, sprocket 3 9, chain 2 10, sprocket 4 11, pin 3 12, fingertip 13, sprocket 5 14, chain 3 15, sprocket 6 16, reducer 17, motor 18, bevel gear 19, bevel gear 2 20, reducer 2 21, motor 2 22, gear 23, gear 2 25, rotating shaft 26, gear 3 27, gear 4 28, rotating shaft 2 29, gear 5 30, gear 6 31, mounting ring 32, torsion spring 33, tension spring 35, mounting shaft 36, inclined slide 37, tensioning sprocket 38, positioning shaft 40, rubber column 41, guide block 42. Guide bar 43. Palm shell 44. Mounting tube 45. Rubber sheet 46. Pump shell 47. Piston 48. Screw 49. Motor three 50. Air storage chamber 51. Oil storage chamber 52. Oil delivery pipe 53. Air delivery pipe 54. Oil supply pipe 55. Adjustment pipe 56. Insert rod 57. Through hole 58. Spring 59. Storage tank 60. Piston two 61. Spring two 62. Adjustment pipe two 63. Tube body 64. Electromagnet output shaft 65. Transfer tube 66. Filter hole 67. Liquid guide hole 68. Exhaust hole 69. Exhaust pipe 70. Inlet pipe 71. Storage tank 72. Tilt baffle 73. Air pump 74. Ratchet gear 75. Ratchet bar 76. Connecting rod 77. Spring two 78. Connecting rod two 79. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0036] Example 1: Reference Figures 1-16 A chain-driven dexterous finger structure includes: a connecting base 1, a pin shaft 2 is rotatably connected to the connecting base 1, the pin shaft 2 is connected to the proximal finger joint 3, the proximal finger joint 3 is connected to the sprocket 4 through a driving member, the sprocket 4 is connected to the second sprocket 6 through a chain 5, the second sprocket 6 is connected to the middle finger joint 8 through the second pin shaft 7, the middle finger joint 8 is connected to the third sprocket 9 through the second driving member, the third sprocket 9 is connected to the fourth sprocket 11 through the second chain 10, and the fourth sprocket 11 is connected to the fingertip 13 through the third pin shaft 12.

[0037] The second pin 7 is rotatably connected to the proximal phalanx 3 , and the third pin 12 is rotatably connected to the middle phalanx 8 .

[0038] The principles of the above scheme are:

[0039] The proximal phalanx 3, the middle phalanx 8 and the fingertip 13 form a finger shape. When the mechanism needs to bend, the rotation of the pin shaft 2 drives the proximal phalanx 3 to rotate relative to the connecting seat 1. The driving member connected to the proximal phalanx 3 drives the sprocket 4 to rotate. The sprocket 4 is connected to the second sprocket 6 through the chain 5. The second sprocket 6 drives the second pin shaft 7 and the proximal phalanx 3 to rotate relative to each other, thereby driving the middle phalanx 8 to rotate. The second driving member 2 on the middle phalanx 8 drives the third sprocket 9 to rotate. The third sprocket 9 drives the fourth sprocket 11 to rotate through the second chain 10. The fourth sprocket 11 drives the third pin shaft 12 to rotate on the middle phalanx 8 through the third pin shaft 12, thereby synchronously driving the fingertip 13 to rotate.

[0040] Chain 5 and chain 2 10 have the same structure;

[0041] The principles and beneficial effects of the above scheme are:

[0042] Since chain 5 and chain 2 10 have the same structure, the pitch of the chain parts is 1.905mm, specifically a miniature bushing roller chain, so the structure of the parts is extremely small, not only suitable for installation inside the robot finger, but also can accurately transmit torque;

[0043] The device uses a chain drive to achieve the rotation of the fingers of the dexterous hand. Compared with the tendon rope and connecting rod transmission methods in the existing technology, it is not only small in size but also convenient for transmitting torque, with fast response speed and high working efficiency.

[0044] Since the chain parts in the device replace the tendon parts in the prior art, the transmission parts in the present application have the characteristics of high strength and wear resistance compared to the prior art, and are therefore suitable for the device to work under high strength and high load conditions for a long time;

[0045] The use of chain parts as transmission components greatly increases the service life and control accuracy of the dexterous hand, making it easier to determine the relative position relationship between the connecting seat 1, the proximal phalanx 3, the middle phalanx 8 and the fingertip 13, and further reduces the difficulty of algorithm solution when programming the phalanx parts in the future.

[0046] Example 2: Reference Figures 1-16 , pin 2, pin 2 7 and pin 3 12 have the same structure. The cross-section of pin 2 is D-shaped. Pin 2 is plugged into the D-shaped through groove at the end of the proximal finger joint 3, pin 2 7 is plugged into the D-shaped through groove 2 at the end of the middle finger joint 8, pin 2 7 is plugged into the D-shaped through hole in the middle of sprocket 2 6, pin 3 12 is plugged into the D-shaped through groove 3 at the end of the fingertip 13, and pin 3 12 is plugged into the D-shaped through hole 2 on the sprocket four 11.

[0047] The principles and beneficial effects of the above scheme are:

[0048] The pin 2, the second pin 7 and the third pin 12 have the same structure, and their cross-sectional shape is specifically D-shaped. The pin parts can be plugged into and matched with the corresponding D-shaped through slots, the second D-shaped through slots and the third D-shaped through slots, which not only facilitates the installation of the pin parts and the finger-jointed parts, but also increases the stability of the pin parts after installation;

[0049] The plug-in fit between the pin and the D-shaped through-slot structure facilitates the relative fixation between the pin and the knuckle, reduces the number of fixing structures for the pin and fully utilizes the space inside the device.

[0050] After the pin shaft component is installed, the pin shaft can be connected to the through groove by glue or welding, which increases the diversity of component assembly methods and improves the convenience of device assembly; further, the pin shaft 2 7 is plugged into the D-shaped through hole in the middle of the sprocket 2 6, which reduces the difficulty of assembling the pin shaft 2 7 and the sprocket 2 6, and can accurately transmit the rotation of the sprocket 2 6 to the pin shaft 2 7, further increasing the accuracy of the finger structure when bending and straightening.

[0051] Example 3: Reference Figures 1-16 The pin shaft 2 is connected to a sprocket five 14, and the sprocket five 14 is connected to the sprocket six 16 through the chain three 15. The sprocket six 16 is rotatably connected to the connecting seat 1, and the sprocket six 16 is connected to the output end of the reducer 17. The output shaft of the reducer 17 is rotatably connected to the connecting seat 1, and the input end of the reducer 17 is connected to the output end of the motor 18.

[0052] A bevel gear 19 is connected to the pin shaft 2, which is meshed with a bevel gear 20. The bevel gear 20 is connected to the output shaft of the reducer 21. The output shaft of the reducer 21 is rotatably connected to the connecting seat 1. The input end of the reducer 21 is connected to the output end of the motor 22. The output end of the motor 22 is arranged perpendicular to the pin shaft 2.

[0053] The principles and beneficial effects of the above scheme are:

[0054] The pin shaft 2 can be driven by a chain drive or a bevel gear drive. When the pin shaft 2 needs to be rotated, the motor 18 can be started. The motor 18 works in conjunction with the reducer 17. The output shaft of the reducer 17 rotates, and then the sprocket six 16 rotates. The sprocket six 16 drives the sprocket five 14 to rotate through the chain three 15, thereby realizing the rotation of the pin shaft 2. The chain drive method can transmit a large torque to the pin shaft 2, as well as extremely high output accuracy, and the mechanism has extremely high working efficiency. At this time, the reducer 17 and the motor 18 are arranged perpendicular to the proximal knuckle 3;

[0055] In addition, the second motor 22 can be started, and the second motor 22 cooperates with the second reducer 21 to work. The output shaft of the second reducer 21 drives the second bevel gear 20 to rotate, and the bevel gear 19 meshing with the second bevel gear 20 rotates, and the bevel gear 19 drives the pin shaft 2 to rotate. At this time, the second motor 22 and the second reducer 21 are arranged collinearly with the proximal knuckle 3;

[0056] Choosing chain drive or bevel gear drive can adjust the relative positions of the motor and reducer with the dexterous fingers, making the mechanism suitable for different sizes of robotic hands, improving the practicality of the device and reducing the difficulty of assembling the fingers on different devices;

[0057] It can be further seen that compared with the chain transmission method, the bevel gear transmission has higher transmission accuracy and transmission speed, and is extremely suitable for use in scenarios with high speed and high transmission accuracy requirements. The use of chain transmission can greatly reduce the cost of manufacturing the device, and is suitable for use in scenarios with harsh environments. It also has a long maintenance cycle, simple maintenance, and a long service life of components. Therefore, different transmission methods for driving the pin shaft 2 to rotate can be selected according to the actual use scenario of the device, and comprehensively considered in combination with the user's economic conditions. Therefore, the device has strong adaptability and high practicality.

[0058] Example 4: Reference Figures 1-16 The driving member includes: a gear 23, the end of the connecting seat 1 facing the proximal knuckle 3 is connected to the gear 23, the gear 23 is coaxially arranged with the pin shaft 2, the gear 23 is meshed with the gear 2 25, the gear 2 25 is rotatably connected to the proximal knuckle 3 through the rotating shaft 26, and the rotating shaft 26 is connected to the sprocket 4.

[0059] Driving member two includes: gear three 27, the end of the proximal phalanx 3 facing the middle phalanx 8 is connected to gear three 27, gear three 27 is coaxially arranged with pin shaft two 7, gear three 27 is meshed and connected with gear four 28, gear four 28 is rotatably connected to the middle phalanx 8 through rotating shaft two 29, and sprocket three 9 is connected to rotating shaft two 29.

[0060] The inner wall of the end of the middle finger joint 8 facing the fingertip 13 is connected to the gear five 30, the gear five 30 is meshed with the gear six 31, the pin three 12 is coaxially arranged with the gear six 31, and the gear six 31 is connected to the end of the fingertip 13.

[0061] Gear 2 25 is placed inside the proximal phalanx 3 , and gear 3 27 is placed inside the middle phalanx 8 .

[0062] The principles and beneficial effects of the above scheme are:

[0063] When the proximal knuckle 3 rotates, the gear 23 at the end of the connecting seat 1 is meshed with the second gear 25, and the second gear 25 drives the rotating shaft 26 to rotate relative to the proximal knuckle 3. At the same time, the sprocket 4 rotates, and the rotation of the sprocket 4 drives the chain 5 to move;

[0064] When the middle phalanx 8 rotates, gear 3 27 is meshed with gear 4 28. Since gear 3 27 is fixed to the proximal phalanx 3, gear 4 28 rotates, synchronously rotating shaft 29, driving sprocket 3 9 to rotate, and further driving chain 2 10 to move;

[0065] The device utilizes the rotation of the proximal phalanx 3 and the middle phalanx 8 to mesh the gear 23 with the gear 25, and the gear 3 27 with the gear 4 28, thereby respectively realizing the rotation of the sprocket 4 and the sprocket 3 9, thereby reducing the setting of the power device, making full use of the internal space of the proximal phalanx 3 and the middle phalanx 8, and reducing the difficulty of device manufacturing;

[0066] When the fingertip 13 rotates, the meshing connection between the gear 5 30 and the gear 6 31 helps to improve the stability of the rotation between the two.

[0067] The arrangement of gear 23, gear three 27 and gear five 30 not only fully utilizes the space inside the device but also ensures the stability of the device when bending and straightening.

[0068] Example 5: Reference Figures 1-16 The pin shaft 2 is connected to a mounting ring 32 , and a torsion spring 33 is mounted on the mounting ring 32 . The horizontal end of the top of the torsion spring 33 is connected to the top wall of the proximal knuckle 3 , and the bottom of the torsion spring 33 is connected to the top of the connecting seat 1 .

[0069] The principles and beneficial effects of the above scheme are:

[0070] The mounting ring 32 is connected to the pin shaft 2, and the torsion spring 33 is sleeved on the mounting ring 32. The horizontal end of the top of the torsion spring 33 is connected to the top wall of the proximal knuckle 3. Therefore, when the proximal knuckle 3 rotates relative to the connecting seat 1, the torsion spring 33 twists and stores elastic potential energy. When the proximal knuckle 3 reverses and resets, the torsion spring 33 recovers its deformation. When the chain parts, sprocket parts or gear parts in the device fail, the torsion spring 33 can rely on its own elastic force to drive the proximal knuckle 3 to reverse and reset, and release the clamped object in time; at the same time, it can reduce the difficulty of positioning parts during maintenance of the device, further improve the stability of the device during inspection and maintenance, and greatly improve the efficiency of device inspection and maintenance.

[0071] Example 6: Reference Figures 1-16The bottom of the tension spring 35 is connected to the inner wall of the proximal knuckle 3, and the top of the tension spring 35 is connected to the mounting shaft 36. The mounting shaft 36 is slidably connected to the middle of the inclined slide groove 37. The inclined slide groove 37 is opened on the side wall of the proximal knuckle 3, and the top of the inclined slide groove 37 is set toward the connecting seat 1. The mounting shaft 36 is rotatably connected to the tensioning sprocket 38, and the tensioning sprocket 38 is set above the sprocket 2 6. The tensioning sprocket 38 is connected to the sprocket 2 6 through the chain 5.

[0072] The tension spring 35 is arranged inside the proximal phalanx 3 .

[0073] The principles and beneficial effects of the above scheme are:

[0074] The tensioning sprocket 38 is connected to the sprocket 2 6 through the chain 5. When the chain 5 moves, the tensioning sprocket 38 cooperates with the mounting shaft 36 and the tension spring 35 to apply tension to the chain 5, thereby keeping the chain 5 taut and preventing the chain 5 from falling off inside the device, thereby ensuring that the torque can be transmitted stably.

[0075] Since the mounting shaft 36 is arranged in the middle of the inclined chute 37, when the chain 5 itself works for a period of time, heat accumulates, causing the chain 5 to expand in volume, and the chain 5 applies an upward thrust to the tensioning sprocket 38, causing the length of the tension spring 35 to lengthen; when the chain 5 cools down, its volume decreases, and the upward thrust on the tensioning sprocket 38 stops, causing the length of the tension spring 35 to shorten and return to its original position. The arrangement of the inclined chute 37 reduces the difficulty of installing the mounting shaft 36 and the tensioning sprocket 38;

[0076] Since the tensioning sprocket 38 is slidably connected in the inclined groove 37 through the mounting shaft 36, the height of the tensioning sprocket 38 can change with the height of the top of the chain 5. While applying a reasonable tensioning force to the chain 5, it can prevent excessive pressure on the chain 5 from causing the chain 5 itself to be unable to move.

[0077] Example 7: Reference Figures 1-16 The top wall of the middle finger joint 8 is connected to the top of the positioning shaft 40, the bottom of the positioning shaft 40 is connected to the top of the rubber column 41, the bottom of the rubber column 41 is connected to the top of the guide block 42, and the bottom of the guide block 42 is connected to the top of the guide bar 43, and the guide bar 43 slides with the top of the chain 2 10.

[0078] The guide block 42 and the guide strip 43 are both made of rubber.

[0079] The principles and beneficial effects of the above scheme are:

[0080] Compared with the chain 5, the length of the chain 2 10 is shorter. In order to avoid the tensioning sprocket parts from excessively occupying the space in the middle finger joint 8 and to reduce the volume of the tensioning mechanism and the difficulty of installing the parts, a guide block 42 and a guide bar 43 are provided, which are respectively slidably connected to the chain 2 10. The bottom of the guide block 42 is slidably connected to the top of the chain 2 10, and the two sides of the guide bar 43 are slidably connected to the two inner walls of the top of the chain 2 10. When the temperature of the chain 2 10 itself changes, the volume will increase or decrease. At this time, the guide block 42 and the guide bar 43 and the rubber column 41 made of rubber and having elasticity will compensate for the change in the shape of the chain 2 10, thereby preventing the chain 2 10 from loosening in the device during operation.

[0081] Example 8: Reference Figures 1-16 The connecting seat 1 and the fingertip 13 are respectively set in a rubber tube, the proximal knuckle 3 and the middle knuckle 8 are respectively set in a rubber tube 2, the rubber tube is connected to the adjacent rubber tube 2 through a rubber hose, and the adjacent rubber tube 2 is connected through a rubber hose 2. The connecting seat 1 is placed in the palm shell 44, and the inner wall of the mounting tube 45 of the palm shell 44 is connected to the side wall of the rubber tube. A plurality of rubber sheets 46 are provided at the palm of the palm shell 44, and an inflatable cavity is formed between the rubber sheet 46 and the palm shell 44.

[0082] The palm housing 44 is connected to the motor 18 or the second motor 22 , and the rubber tube is rotatably connected to the output shaft of the reducer 17 or the output shaft of the second reducer 21 .

[0083] The principles and beneficial effects of the above scheme are:

[0084] The connecting seat 1 and the fingertip 13 are respectively fitted with a rubber tube with an open end, and the open ends of the two rubber tubes are arranged opposite to each other. The finger joint 3 and the middle finger joint 8 are respectively fitted into a rubber tube 2 with two ends open. The rubber tube is connected to the adjacent rubber tube 2 through a rubber hose, and the adjacent rubber tube 2 is connected through a rubber hose 2. The rubber hose and the rubber hose 2 have the same structure and still have extremely high structural strength and sealing effect after repeated bending. The rubber tube, the rubber tube 2, the rubber hose and the rubber hose 2 can seal the finger. At this time, the sealing mechanism composed of the rubber tube, the rubber tube 2, the rubber hose and the rubber hose 2 can work in an environment with dust and water, ensuring that the interior of the device will not be contaminated by external dust. At the same time, debris will not accumulate between the finger joint parts to prevent the device from malfunctioning.

[0085] The rubber tube parts have friction, so it is easy for fingers to clamp items;

[0086] The setting of the palm shell 44 can be used to install the connecting base 1. The palm shell 44 can be used in conjunction with multiple fingers to clamp and grab objects. The connection between the mounting tube 45 and the rubber tube increases the stability of the fingers on the palm shell 44; further setting of the rubber sheet 46 can increase the friction of the palm of the palm shell 44, thereby improving the device's ability to grab objects.

[0087] Example 9: Reference Figures 1-16 The inner wall of the palm shell 44 is connected to the pump shell 47, and the piston 48 is connected to the pump shell 47 in a sliding seal. The middle part of the piston 48 is threadedly connected to the screw 49, and the screw 49 rotates with the pump shell 47. The end of the screw 49 outside the pump shell 47 is connected to the output end of the motor three 50, and the motor three 50 is connected to the inner wall of the palm shell 44. The end surface of the piston 48 facing the motor three 50 and the inner wall of the pump shell 47 form an air storage chamber 51, and the other end surface of the piston 48 and the inner wall of the pump shell 47 form an oil storage chamber 52. Lubricating oil is stored in the oil storage chamber 52. The inner wall of the oil storage chamber 52 is connected to the end of an oil pipe 53, and the other end of the oil pipe 53 penetrates into the interior of the rubber tube. The inner wall of the air storage chamber 51 is connected to the end of an air pipe 54, and the other end of the air pipe 54 is connected to the side wall of the palm shell 44 and is arranged toward the inflation chamber.

[0088] The principles and beneficial effects of the above scheme are:

[0089] When the finger is bent, the motor 3 50 is started, driving the screw 49 to rotate, and the piston 48 moves toward the direction of the motor 3 50 under the sliding cooperation of the pump housing 47. Since the oil storage chamber 52 is connected to the inside of the finger through the oil pipe 53, lubricating oil is also stored in the finger. The movement of the piston 48 draws the lubricating oil in the finger into the oil storage chamber 52 through the oil pipe 53. The flow of lubricating oil can not only lubricate the parts in the finger, but also reduce the pressure in the finger, assist in bending the finger, and reduce the difficulty of bending the finger. At the same time, the provision of lubricating oil can reduce the friction between the parts and reduce the noise of the device during operation. Furthermore, since the sprocket part and the chain group are provided in the device for transmission connection, the two themselves have a long working life, and the service life of the device can be further greatly extended by the provision of lubricating oil.

[0090] When the finger is straightened, the motor 3 50 is started again, the screw 49 rotates in the opposite direction, and the piston 48 moves away from the motor 3 50, thereby reducing the volume of the oil storage chamber 52. The lubricating oil in the oil storage chamber 52 enters the interior of the finger through the oil pipe 53, replenishing the lubricating oil and increasing the pressure in the finger, thereby assisting in resetting the finger and improving the stability of the device during operation. At this time, the reverse flow of the lubricating oil lubricates the interior of the finger again, wherein the reverse flow of the lubricating oil increases the volume of the external sealing structure of the finger. It can be seen that the replenished lubricating oil has a certain flow effect between the components, ensuring the lubrication effect of the mechanism on the internal parts of the finger;

[0091] When the volume of the oil storage chamber 52 increases, the volume of the adjacent air storage chamber 51 decreases, and the air stored in the air storage chamber 51 is discharged through the air pipe 54. The discharged air enters the inflation chamber to inflate. The bending of the finger and the increase in the volume of the rubber sheet 46 are synchronized, simulating the real working state of human fingers and palms. The expansion of the rubber sheet 46 increases the contact area between the palm and the object, and cooperates with the fingers to grip the object, thereby improving the stability of the fingers when working.

[0092] When the volume of the oil storage chamber 52 decreases, the volume of the air storage chamber 51 increases, and the air supply pipe 54 replenishes air into the air storage chamber 51. At this time, the volume of the rubber sheet 46 decreases, which facilitates the release of the items and prevents the items from getting stuck on the palm.

[0093] Example 10: Reference Figures 1-16 , an oil replenishment pipe 55 is connected to the side wall of the pump housing 47, and an adjusting pipe 56 is connected to the side wall of the end portion of the oil replenishment pipe 55 placed in the oil storage chamber 52. The open end of the adjusting pipe 56 is arranged toward the piston 48, and a plunger 57 is connected in a sliding seal in the adjusting pipe 56. The end portion of the plunger 57 placed in the oil storage chamber 52 contacts and cooperates with the piston 48. A through hole 58 is formed through the plunger 57, and the through hole 58 is connected to the oil replenishment pipe 55. A one-way valve is provided in the oil replenishment pipe 55, and the other end of the plunger 57 is connected to the inner wall of the adjusting pipe 56 through a spring 59. The end portion of the oil replenishment pipe 55 placed outside the pump housing 47 is connected to the inner wall of the storage tank 60, and a piston 2 61 is slidingly sealed in the storage tank 60. The end surface of the piston 2 61 away from the oil replenishment pipe 55 is connected to the storage tank 60 through a spring 2 62, and the storage tank 60 is connected to the inner wall of the palm housing 44.

[0094] The principles and beneficial effects of the above scheme are:

[0095] After repeated bending of the fingers, the lubricating oil in the device will be consumed to a certain extent due to sedimentation, oxidation, etc. When the piston 48 is in the initial position, it applies pressure to the insertion rod 57, and the through hole 58 and the oil supply pipe 55 are in a conductive state. Since lubricating oil is stored between the inner wall of the storage tank 60 and the end face of the second piston 61 away from the second spring 62, the other end face of the second piston 61 and the storage tank 60 are connected by the second spring 62. If lubricating oil is lost in the oil storage chamber 52, the pressure in the oil storage chamber 52 decreases, and the elastic force of the second spring 62 is greater than the pressure in the oil storage chamber 52, the lubricating oil in the oil supply pipe 55 enters the oil storage chamber 52 through the one-way valve;

[0096] When the piston 48 moves toward the motor 3 50, the spring 59 lengthens under the action of elastic force, and the rod 57 moves toward the piston 48, thereby ending the connection between the through hole 58 and the oil supply pipe 55. Although the pressure in the oil storage chamber 52 decreases, the oil supply pipe 55 that has ended the connection will not release the lubricating oil in the storage tank 60, and the lubricating oil in the storage tank 60 will not enter the oil storage chamber 52, thereby preventing the pressure in the oil storage chamber 52 from being too high when the device is reset.

[0097] Furthermore, since a one-way valve is provided in the mechanism, when the insertion rod 57 becomes stuck in the regulating tube 56, the through hole 58 and the oil supply tube 55 are in a conducting state, and the piston 48 moves away from the motor 3 50. The closing of the one-way valve will not cause the lubricating oil in the oil storage chamber 52 to enter the storage tank 60 when the piston 48 is reset, thereby preventing the pressure inside the finger from being too low, resulting in the finger being unable to extend and reset.

[0098] Example 11: Reference Figures 1-16The oil delivery pipe 53 is connected to the regulating pipe 2 63, and the regulating pipe 2 63 is connected to the pipe body 64 in a sliding seal. The inner wall of the pipe body 64 is connected to the end of the sealing disk and is connected to the electromagnet output shaft 65. The electromagnet is connected to the inner wall of the palm shell 44. The open end of the pipe body 64 is slidably sealed with the side wall of the transfer pipe 66. The transfer pipe 66 is coaxially connected to the inner wall of the regulating pipe 2 63. A plurality of filter holes 67 are penetrated on the inner wall of one side of the pipe body 64, and a liquid guide hole 68 is penetrated on the inner wall of the other side of the pipe body 64. The hole 68 is set toward the pump housing 47, the filter hole 67 and the liquid guide hole 68 are both connected to the oil delivery pipe 53, an exhaust hole 69 is opened on the side wall of the transfer tube 66, and the end of the exhaust pipe 70 is connected to the regulating tube 2 63. The exhaust hole 69 and the exhaust pipe 70 are coaxially arranged. The exhaust hole 69 and the filter hole 67 are staggered. The end of the intake pipe 71 is connected to the inner wall of the end of the transfer tube 66. The other end of the exhaust pipe 70 is connected to the side wall of the storage tank 72. The inner walls of the two ends of the storage tank 72 are connected by inclined baffles 73. Then, the bottom of the inclined baffle 73 is connected to the inner wall of the storage tank 72, the bottom surface of the inclined baffle 73 is set toward the other end of the exhaust pipe 70, the top of the inclined baffle 73 is set at a gap with the inner wall of the storage tank 72, the inner wall of the end of the storage tank 72 is connected to the other end of the intake pipe 71, the other end of the intake pipe 71 is set above the top of the inclined baffle 73, the intake pipe 71 is connected to the air pump 74, the output shaft of the air pump 74 is connected to the ratchet gear 75, the inclined surface of the ratchet gear 75 is set toward the storage tank 72 The ratchet gear 75 is meshed with the ratchet bar 76, and a sliding groove is provided on the side wall of the ratchet bar 76. The sliding groove is close to the inner wall of the storage tank 72 and contacts the side wall of the connecting rod 2 79. The connecting rod 2 79 is slidably connected to the sliding groove, and the other side wall of the connecting rod 2 79 is connected to the inner wall of the sliding groove through the spring 2 78. A circular hole is provided at the end of the connecting rod 2 79 away from the ratchet bar 76, and a connecting rod 77 is slidably connected in the circular hole. The bottom end of the connecting rod 77 is connected to the inner wall of the circular hole through the spring 3, and the top of the connecting rod 77 is connected to the electromagnet output shaft 65.

[0099] A hollow rubber ring is connected to the inner wall of the transfer tube 66 , and a second one-way valve is provided in the air inlet pipe 71 .

[0100] The principles and beneficial effects of the above scheme are:

[0101] When the lubricating oil flows, it will carry metal debris or oxides in the fingers into the pipe parts or the oil storage chamber 52. In order to prevent the impurities from clogging the pipe parts in the device, a filter hole 67 is set to intercept the impurities. The lubricating oil enters the oil storage chamber 52 through the liquid guide hole 68. When the interception capacity of the filter hole 67 reaches the upper limit, the electromagnet is started, and the electromagnet output shaft 65 drives the tube body 64 to move in the direction of the motor 3 50. The liquid guide hole 68 is closed and the oil delivery pipe 53 is sealed through the side wall of the tube body 64 to prevent the leakage of the lubricating oil. The exhaust hole 69 and the exhaust pipe 70 are connected to the filter hole 67. At the same time, the electromagnetic The movement of the connecting rod 77 and the second connecting rod 79 connected to the iron output shaft 65 drives the ratchet bar 76 to move, and then the ratchet gear 75 rotates, and the output shaft of the air pump 74 rotates synchronously, and then the air pump 74 starts to work. The air stored in the storage tank 72 enters the air inlet pipe 71, and after passing through the second one-way valve, the air squeezes the hollow rubber ring, and then the air is temporarily stored in the transfer pipe 66. When the filter hole 67 and the exhaust pipe 70 are completely connected, the volume of the hollow rubber ring increases, so that the air in the transfer pipe 66 blows the impurities intercepted on the filter hole 67 and cleans the impurities, reducing the difficulty of the device to clean the filter hole 67;

[0102] The hollow rubber ring can buffer the air rushing into the transfer tube 66 and release the air after the filter hole 67 is connected to the exhaust pipe 70. The one-way valve 2 can prevent the air from flowing back into the storage tank 72, ensuring that the air flowing through the filter hole 67 has sufficient pressure to remove impurities. The hollow rubber ring can also prevent the formation of extremely high pressure in the transfer tube 66, preventing the air pump 74 and the electromagnet from malfunctioning.

[0103] The air cleaned from the filter pores 67 enters the storage tank 72 through the exhaust pipe 70, and blows the impurities carried in the air onto the end surface of the inclined baffle 73. The inclined baffle 73 guides the impurities and cooperates with the storage tank 72 to collect them, preventing them from entering the intake pipe 71 again.

[0104] Since the impurities blown off contain a small amount of lubricating oil, the impurities themselves have a certain viscosity and will adhere to the inclined baffle 73. Therefore, the storage tank 72 can collect the impurities in a unified manner, and the setting of the inclined baffle 73 can prevent the impurities from flowing back into the intake pipe 71. In order to prevent the lubricating oil with impurities in the storage tank 72 from entering the intake pipe 71 again, the storage tank 72 needs to be cleaned after the unified collection of impurities is completed.

[0105] When the tube body 64 needs to be reset, the electromagnet is started again, and the electromagnet output shaft 65 moves in the opposite direction, synchronously driving the ratchet bar 76 to move in the opposite direction through the connecting rod 77 and the second connecting rod 79. Due to the setting of the one-way valve 2, the output shaft of the air pump 74 can only rotate in one direction. When the electromagnet is reset, the output shaft will not be reversed. Therefore, in order to prevent the ratchet bar 76 from being unable to reset, spring 2 78 and spring 3 are provided. Spring 3 can make the ratchet bar 76 and the second connecting rod 79 and the connecting rod 77 move relative to each other during the resetting process, and when resetting, under the restriction of spring 2 78, the second connecting rod 79 can move relative to the ratchet bar 76, reducing the wear on the ratchet gear 75 and ensuring that the ratchet bar 76 can be smoothly reset to prepare for the next work.

[0106] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A chain-driven dexterous hand finger structure, characterized in that: include: A connecting seat (1) is rotatably connected to a pin shaft (2) on the connecting seat (1), the pin shaft (2) is connected to a proximal finger joint (3), the proximal finger joint (3) is connected to a sprocket (4) through a driving member, the sprocket (4) is connected to a second sprocket (6) through a chain (5), the second sprocket (6) is connected to a middle finger joint (8) through a second pin shaft (7), the middle finger joint (8) is connected to a third sprocket (9) through a second driving member, the third sprocket (9) is connected to a fourth sprocket (11) through a second chain (10), and the fourth sprocket (11) is connected to a fingertip (13) through a third pin shaft (12).

2. The chain-driven dexterous hand finger structure according to claim 1, characterized in that: The pin (2), the second pin (7) and the third pin (12) have the same structure. The cross section of the pin (2) is D-shaped. The pin (2) is plugged into the D-shaped through slot at the end of the proximal phalanx (3). The second pin (7) is plugged into the second D-shaped through slot at the end of the middle phalanx (8). The second pin (7) is plugged into the D-shaped through hole in the middle of the second sprocket (6). The third pin (12) is plugged into the third D-shaped through slot at the end of the fingertip (13). The third pin (12) is plugged into the second D-shaped through hole on the fourth sprocket (11).

3. The chain-driven dexterous hand finger structure according to claim 2, characterized in that: The pin shaft (2) is connected with a sprocket five (14), which is connected to a sprocket six (16) through a chain three (15), and the sprocket six (16) is connected to the connecting seat (1) in rotation, and the sprocket six (16) is connected to the output end of the reducer (17), the output shaft of the reducer (17) is connected to the connecting seat (1) in rotation, and the input end of the reducer (17) is connected to the output end of the motor (18).

4. The chain-driven dexterous hand finger structure according to claim 3, characterized in that: The pin shaft (2) is connected with a bevel gear (19), the bevel gear (19) is meshed with the bevel gear 2 (20), the bevel gear 2 (20) is connected with the output shaft of the reducer 2 (21), the output shaft of the reducer 2 (21) is rotatably connected with the connecting seat (1), the input end of the reducer 2 (21) is connected with the output end of the motor 2 (22), and the output end of the motor 2 (22) is vertically arranged with the pin shaft (2).

5. The chain-driven dexterous hand finger structure according to claim 4 is characterized in that the driving member include: The end of the connecting seat (1) facing the proximal knuckle (3) is connected to the gear (23), the gear (23) and the pin shaft (2) are coaxially arranged, the gear (23) is meshed and connected with the second gear (25), the second gear (25) is rotatably connected to the proximal knuckle (3) through the rotating shaft (26), and the rotating shaft (26) is connected to the sprocket (4).

6. The chain-driven dexterous hand finger structure according to claim 5, characterized in that: The driving member 2 comprises: a gear 3 (27), the end of the proximal phalanx (3) facing the middle phalanx (8) is connected with the gear 3 (27), the gear 3 (27) is coaxially arranged with the pin 2 (7), the gear 3 (27) is meshed and connected with the gear 4 (28), the gear 4 (28) is rotatably connected with the middle phalanx (8) through the rotating shaft 2 (29), and the rotating shaft 2 (29) is connected with the sprocket 3 (9).

7. The chain-driven dexterous hand finger structure according to claim 6, characterized in that: The pin shaft (2) is connected with a mounting ring (32), and a torsion spring (33) is sleeved on the mounting ring (32). The horizontal end of the top of the torsion spring (33) is connected to the top wall of the proximal knuckle (3), and the bottom of the torsion spring (33) is connected to the top of the connecting seat (1).

8. The chain-driven dexterous hand finger structure according to claim 7, characterized in that: The bottom of the tension spring (35) is connected to the inner wall of the proximal finger joint (3), and the top of the tension spring (35) is connected to the installation shaft (36). The installation shaft (36) is slidably connected to the middle of the inclined slide groove (37). The inclined slide groove (37) is opened on the side wall of the proximal finger joint (3). The top of the inclined slide groove (37) is set toward the connecting seat (1). A tensioning sprocket (38) is rotatably connected to the installation shaft (36). The tensioning sprocket (38) is set above the sprocket 2 (6). The tensioning sprocket (38) is connected to the sprocket 2 (6) through the chain (5).

9. The chain-driven dexterous hand finger structure according to claim 6, characterized in that: The top wall of the middle finger joint (8) is connected to the top of the positioning shaft (40), the bottom of the positioning shaft (40) is connected to the top of the rubber column (41), the bottom of the rubber column (41) is connected to the top of the guide block (42), the bottom of the guide block (42) is connected to the top of the guide bar (43), and the guide bar (43) is slidably matched with the top of the chain 2 (10).

10. The chain-driven dexterous hand finger structure according to claim 9, characterized in that: The connecting seat (1) and the fingertip (13) are respectively set in a rubber tube, the proximal phalanx (3) and the middle phalanx (8) are respectively set in a second rubber tube, the rubber tube is connected to the adjacent second rubber tube through a rubber hose, and the adjacent second rubber tubes are connected through a second rubber hose. The connecting seat (1) is placed in a palm shell (44), the inner wall of the palm shell (44) is connected to the side wall of the mounting tube (45), and a plurality of rubber sheets (46) are provided at the palm of the palm shell (44), and an air-filled cavity is formed between the rubber sheet (46) and the palm shell (44).

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