Linear stepping motor, bionic finger and bionic dexterous hand

Abstract

The present invention belongs to the field of manipulator technology, and discloses a linear stepping motor, a bionic finger and a bionic dexterous hand. The linear stepping motor comprises an outer shell and a stator arranged in the outer shell, fixed to the inner wall of the outer shell; a driving nut arranged in the outer shell for rotation, and the driving nut is arranged through the inner ring of the stator; a rotor arranged around the outer periphery of the driving nut; a screw rod slidably arranged in the outer shell in a linear direction, one end of the screw rod extends out of the outer shell, and the driving nut is threadedly connected to the screw rod. After the stator is energized, the rotor and the driving nut are driven to rotate together, so as to drive the screw rod to linearly extend and retract relative to the outer shell. The linear stepping motor provided by the present invention has self-locking performance, and has higher transmission efficiency and positioning accuracy. It is suitable for high-speed and high-precision grasping action control of bionic fingers and bionic dexterous hands, and has a compact structure, which is conducive to miniaturization design.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a linear stepping motor, a bionic finger and a bionic dexterous hand. Background Art

[0002] The bionic dexterous hand is a complex device that integrates multiple bionic fingers, designed to simulate the overall function and dexterity of the human hand. Through advanced control algorithms and sensing technology, the bionic dexterous hand is able to perform precise object manipulation and grasping in complex operating environments.

[0003] At present, the grasping action of bionic fingers is achieved by a motor driving the rotation of each knuckle through a tendon rope. This driving form requires continuous power input to the motor to maintain the grasping posture, and there are problems such as poor transmission efficiency and positioning accuracy, low space utilization and output power.

[0004] Therefore, there is an urgent need for a linear stepping motor, a bionic finger and a bionic dexterous hand to solve the above-mentioned technical problems. Summary of the invention

[0005] The objects of the present invention are:

[0006] 1. Provide a linear stepper motor with self-locking performance, higher transmission efficiency and positioning accuracy, suitable for high-speed and high-precision grasping action control of bionic fingers and bionic dexterous hands, compact structure, and conducive to miniaturization design;

[0007] 2. Provide a bionic finger and a bionic dexterous hand, realize the grasping action of the bionic finger through a linear stepper motor, and the outer shell of the linear stepper motor is integrated with the outer shell of the driving finger joint to improve space utilization and increase motor power.

[0008] To achieve this object, the present invention adopts the following technical solutions:

[0009] In a first aspect, a linear stepping motor is provided, comprising an outer shell and:

[0010] A stator, fixed to the inner wall of the outer shell;

[0011] A driving nut is rotatably disposed in the outer shell, and the driving nut is passed through the inner ring of the stator;

[0012] A rotor, wound around the outer periphery of the driving nut;

[0013] The screw rod is slidably arranged in the outer shell in a linear direction, one end of the screw rod extends out of the outer shell, and the drive nut is threadedly connected to the screw rod. When the stator is energized, the rotor and the drive nut are driven to rotate together to drive the screw rod to linearly extend and retract relative to the outer shell.

[0014] Preferably, the linear stepping motor further comprises:

[0015] A radial bearing is provided at one end of the driving nut extending away from the screw rod, the inner ring of the radial bearing is tightly sleeved on the outer circumference of the driving nut, and the outer ring of the radial bearing is fixed to the inner wall of the outer shell;

[0016] A thrust bearing, wherein a thrust step is arranged at one end of the drive nut close to the extended end of the screw rod, an inner flange is arranged at the outer shell corresponding to the opening through which the screw rod extends, a thrust shaft plate of the thrust bearing abuts against the thrust step, and a thrust seat plate of the thrust bearing is fixed to the inner flange.

[0017] Preferably, the linear stepper motor also includes a locking block, which is clamped on the outer shell and extends into the inner cavity of the outer shell. A limiting step is provided at the end of the drive nut away from the extension of the screw rod. The locking block is pressed against the side of the outer ring of the radial bearing away from the extension of the screw rod, and the inner ring of the radial bearing is pressed against the limiting step on the side close to the extension of the screw rod.

[0018] Preferably, the inner diameter of the inner flange is smaller than the inner diameter of the thrust bearing, and the inner flange completely covers the thrust bearing to completely protect the thrust bearing.

[0019] Preferably, the radial bearing is a deep groove ball bearing.

[0020] Preferably, the thrust bearing is a thrust roller bearing or a thrust sliding bearing.

[0021] Preferably, the rotor is made of magnetic steel;

[0022] The stator comprises an iron core and a coil. The iron core is fixed to the inner wall of the outer shell. A winding groove is provided on a side of the iron core facing the outer shell, and the coil is wound in the winding groove.

[0023] Preferably, the drive nut is made of polymer plastic material.

[0024] Preferably, the screw rod is made of metal alloy material.

[0025] In a second aspect, a bionic finger is provided, comprising an end knuckle and a plurality of driving knuckles which are connected to rotate in sequence, wherein the driving knuckles comprise the linear stepping motor as described above, and one end of the lead screw extending out of the outer shell is transmission-connected to the adjacent driving knuckle or the end knuckle to drive the latter to rotate, and the outer shell of the linear stepping motor is integrated with the outer shell of the driving knuckle.

[0026] In a third aspect, a bionic dexterous hand is provided, comprising the bionic finger and palm structure as described above, wherein the bionic finger is movably connected to the palm structure.

[0027] Beneficial effects of the present invention:

[0028] The linear stepper motor provided by the present invention drives the rotor and the driving nut to rotate together by energizing the stator, and the driving nut then drives the screw rod threadedly connected thereto to slide relative to the outer shell to realize the conversion of rotational power into linear power. On the one hand, the self-locking between the driving nut and the screw rod can realize the maintenance of the telescopic position without the need for continuous power input; on the other hand, the screw rod is driven to be telescopic by the driving nut, which has higher rigidity and can effectively improve the transmission efficiency and positioning accuracy, and is very suitable for high-speed and high-precision grasping action control of bionic fingers and bionic dexterous hands. In addition, the driving nut acts as the rotating axis of the linear stepper motor, which simplifies the structure of the linear stepper motor, making it more compact and small, which is conducive to miniaturized design.

[0029] The bionic finger and bionic dexterous hand provided by the present invention realize the grasping action of the bionic finger through a linear stepper motor. The outer shell of the linear stepper motor is integrated with the outer shell of the driving finger joint, that is, the outer shell of the stepper motor serves as the outer shell structure of the bionic finger. The overall structure is more compact, and the space utilization rate is improved. A linear stepper motor with higher output power can be arranged in a limited space, thereby improving the output power and outputting a larger and more stable grasping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a partial structural sectional view of the linear stepping motor provided by the present invention.

[0031] In the figure:

[0032] 10. outer shell; 101. inner flange;

[0033] 1. Drive nut; 11. Thrust step; 12. Limit step; 2. Screw; 3. Radial bearing; 31. Inner ring; 32. Outer ring; 4. Thrust bearing; 41. Thrust shaft plate; 42. Thrust seat plate; 5. Locking block; 6. Stator; 61. Iron core; 62. Coil; 7. Rotor. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0035] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0037] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0038] This embodiment provides a bionic dexterous hand, which includes a bionic finger and a palm structure, wherein the bionic finger is movably connected to the palm structure. The bionic finger includes a terminal finger joint and a plurality of driving finger joints which are sequentially connected in rotation, and the driving finger joint includes a linear stepping motor, which is transmission-connected to an adjacent driving finger joint or terminal finger joint to drive the latter to rotate.

[0039] Further, such as Figure 1As shown, the linear stepper motor includes an outer shell 10 and a stator 6, a rotor 7, a driving nut 1 and a screw rod 2 arranged in the outer shell 10, wherein the stator 6 is fixed to the inner wall of the outer shell 10, the driving nut 1 is rotatably arranged in the outer shell 10, and the driving nut 1 is penetrated through the inner ring of the stator 6, and the rotor 7 is wound around the outer periphery of the driving nut 1; the screw rod 2 is slidably arranged in the outer shell 10 along a linear direction, and one end of the screw rod 2 (i.e. Figure 1 The upper end of the middle screw rod 2 extends out of the outer shell 10 and is drivingly connected to the adjacent driving knuckle or terminal knuckle; the driving nut 1 is threadedly connected to the screw rod 2, and when the stator 6 is energized, the rotor 7 and the driving nut 1 are driven to rotate together, so as to drive the screw rod 2 to linearly extend and retract relative to the outer shell 10, thereby driving the driving knuckle or terminal knuckle connected thereto to rotate. The outer shell 10 of the linear stepper motor is integrated with the outer shell of the driving knuckle.

[0040] Specifically, the bionic finger and bionic dexterous hand provided in this embodiment realize the grasping action of the bionic finger through a linear stepper motor. On the one hand, the linear stepper motor drives the rotor 7 and the drive nut 1 to rotate together by energizing the stator 6, and the drive nut 1 then drives the screw 2 threadedly connected to it to slide relative to the outer shell 10 to realize the conversion of rotational power to linear power. The self-locking between the drive nut 1 and the screw 2 can achieve the maintenance of the telescopic position without continuous power input; and the drive nut 1 drives the screw 2 to extend and retract, which has higher rigidity and can effectively improve the transmission efficiency and positioning accuracy. It is very suitable for high-speed and high-precision grasping action control of bionic fingers and bionic dexterous hands. In addition, the drive nut 1 acts as the rotating axis of the linear stepper motor, which simplifies the structure of the linear stepper motor, making it more compact and small, which is conducive to miniaturization design and application in bionic fingers. Secondly, the outer shell 10 of the linear stepper motor is integrated with the outer shell of the driving knuckle, that is, the outer shell 10 of the stepper motor serves as the outer shell structure of the bionic finger. The overall structure is more compact, which improves space utilization. A linear stepper motor with higher output power can be arranged in a limited space to increase the output power and output a greater and more stable gripping force.

[0041] For example, the rotor 7 is made of magnetic steel, and the rotor 7 is connected to the outer periphery of the driving nut 1 by adhesive fastening. Figure 1 As shown, the stator 6 includes an iron core 61 and a coil 62. The iron core 61 is tightly fixed to the inner wall of the outer shell 10. A winding groove is provided on the side of the iron core 61 facing the outer shell 10. The coil 62 is wound around the winding groove. After alternating current is passed through the coil 62, the rotor 7 and the driving nut 1 are driven to rotate together.

[0042] For example, Figure 1 As shown, the driving nut 1 is rotatably arranged in the outer shell 10 through a bearing. Specifically, the linear stepping motor further includes a radial bearing 3 and a thrust bearing 4.

[0043] Among them, Figure 1 As shown, the radial bearing 3 is arranged at the end of the driving nut 1 extending away from the screw rod 2, the inner ring 31 of the radial bearing 3 is tightly sleeved on the outer periphery of the driving nut 1, and the outer ring 32 of the radial bearing 3 is fixed to the inner wall of the outer shell 10. The radial bearing 3 can withstand the radial load of the driving nut 1.

[0044] For example, Figure 1 As shown, the linear stepper motor also includes a locking block 5, which is clamped in the outer shell 10 and extends into the inner cavity of the outer shell 10. A limiting step 12 is set at the end of the driving nut 1 away from the screw rod 2. The locking block 5 is pressed against the side of the outer ring 32 of the radial bearing 3 away from the screw rod 2, and the inner ring 31 of the radial bearing 3 is pressed against the limiting step 12 on the side close to the screw rod 2, thereby locking the radial bearing 3 between the outer shell 10 and the driving nut 1, and when maintenance and adjustment are required, the radial bearing 3 can be removed by removing the locking block 5.

[0045] In this embodiment, the radial bearing 3 is a deep groove ball bearing. Of course, in other embodiments of the present invention, the radial bearing 3 can also be an angular contact ball bearing, a needle roller bearing, etc.

[0046] like Figure 1 As shown, the thrust bearing 4 is arranged at the end of the driving nut 1 close to the extended end of the screw rod 2, a thrust step 11 is arranged at the end of the driving nut 1 close to the extended end of the screw rod 2, an inner flange 101 is arranged at the outer shell 10 corresponding to the opening of the extended end of the screw rod 2, a thrust shaft plate 41 of the thrust bearing 4 abuts against the thrust step 11, and a thrust seat plate 42 of the thrust bearing 4 is fixed to the inner flange 101, and the thrust bearing 4 can withstand the axial load of the driving nut 1.

[0047] Since the linear stepper motor is used to drive the grasping action of the bionic finger, its movement resistance mainly exists in the stage of retraction of the screw rod 2. Therefore, the axial load of the screw rod 2 toward the outer shell 10 close to the opening end through the driving nut 1 is the largest. The thrust bearing 4 is arranged here to effectively bear the unidirectional axial force generated during the grasping process and improve the bearing capacity. The thrust bearing 4 cooperates with the radial bearing 3 to achieve both qualitative and load-bearing functions.

[0048] Further, such as Figure 1 As shown, the inner diameter of the inner flange 101 is smaller than the inner diameter of the thrust bearing 4 , and the inner flange 101 completely covers the thrust bearing 4 to completely protect the thrust bearing 4 .

[0049] Exemplarily, the thrust bearing 4 is a thrust roller bearing or a thrust sliding bearing.

[0050] For example, the drive nut 1 can be made of high polymer plastic materials such as polytetrafluoroethylene and polyurethane, which have excellent high temperature resistance and wear resistance. The screw rod 2 is made of metal alloy materials such as S45C steel and SUJ2 steel, which have high strength, wear resistance and high temperature resistance. The selection and matching of the drive nut 1 and the screw rod 2 can improve the transmission efficiency between the two, reduce structural wear, and increase the service life of the linear stepper motor.

[0051] For example, Figure 1 As shown, the outer shell 10 is configured as a cylindrical structure, the extension direction of the screw rod 2 is the same as the axial direction of the outer shell 10, and the cylindrical structure of the outer shell 10 is adapted to the shape of the knuckles of the bionic finger.

[0052] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A linear stepping motor, characterized in that: It comprises an outer shell (10) and arranged in the outer shell (10): A stator (6) fixed to the inner wall of the outer shell (10); A driving nut (1) is rotatably disposed in the outer shell (10), and the driving nut (1) is inserted into the inner ring of the stator (6); A rotor (7) wound around the outer periphery of the driving nut (1); A screw rod (2) is slidably disposed on the outer shell (10) in a linear direction, one end of the screw rod (2) protrudes from the outer shell (10), the drive nut (1) is threadedly connected to the screw rod (2), and when the stator (6) is energized, it drives the rotor (7) and the drive nut (1) to rotate together, thereby driving the screw rod (2) to linearly extend and retract relative to the outer shell (10); A radial bearing (3) is arranged at an end of the driving nut (1) extending away from the screw rod (2), the inner ring (31) of the radial bearing (3) being tightly sleeved on the outer circumference of the driving nut (1), and the outer ring (32) of the radial bearing (3) being fixed to the inner wall of the outer shell (10); A thrust bearing (4), wherein a thrust step (11) is provided at one end of the drive nut (1) close to the end through which the screw rod (2) extends, an inner flange (101) is provided at the outer shell (10) corresponding to the opening through which the screw rod (2) extends, a thrust shaft plate (41) of the thrust bearing (4) abuts against the thrust step (11), and a thrust seat plate (42) of the thrust bearing (4) is fixed to the inner flange (101).

2. The linear stepper motor according to claim 1, characterized in that: The linear stepper motor further comprises a locking block (5), wherein the locking block (5) is clamped on the outer shell (10) and extends into the inner cavity of the outer shell (10), and a limiting step (12) is provided at the end of the drive nut (1) away from the screw rod (2), and the locking block (5) is pressed against the side of the outer ring (32) of the radial bearing (3) away from the screw rod (2), and the inner ring (31) of the radial bearing (3) is pressed against the limiting step (12) on the side close to the screw rod (2).

3. The linear stepper motor according to claim 1, characterized in that: The inner diameter of the inner flange (101) is smaller than the inner diameter of the thrust bearing (4), and the inner flange (101) completely covers the thrust bearing (4).

4. The linear stepper motor according to claim 1, characterized in that: The radial bearing (3) is a deep groove ball bearing; and / or The thrust bearing (4) is a thrust roller bearing or a thrust sliding bearing.

5. The linear stepper motor according to any one of claims 1 to 4, characterized in that: The rotor (7) is made of magnetic steel; The stator (6) comprises an iron core (61) and a coil (62); the iron core (61) is fixed to the inner wall of the outer shell (10); a winding groove is provided on a side of the iron core (61) facing the outer shell (10); and the coil (62) is wound in the winding groove.

6. The linear stepping motor according to any one of claims 1 to 4, characterized in that: The driving nut (1) is made of polymer plastic material.

7. The linear stepper motor according to any one of claims 1 to 4, characterized in that: The screw rod (2) is made of a metal alloy material.

8. A bionic finger, characterized in that: It comprises an end finger joint and a plurality of driving finger joints which are connected to rotate in sequence, wherein the driving finger joint comprises a linear stepper motor as described in any one of claims 1 to 7, wherein one end of the lead screw (2) extends out of the outer shell (10) and is transmission-connected to the adjacent driving finger joint or the end finger joint to drive the latter to rotate, and the outer shell (10) of the linear stepper motor is integrally arranged with the outer shell of the driving finger joint.

9. A bionic dexterous hand, characterized in that: It comprises the bionic finger and palm structure as claimed in claim 8, wherein the bionic finger is movably connected to the palm structure.

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