High-load human-shaped finger joint mechanism

Abstract

The invention provides a high-load human-shaped finger joint mechanism, and relates to the technical field of human-shaped finger joints, the high-load human-shaped finger joint mechanism comprises a first finger section, a second finger section and a cycloidal speed reducer, a motor is arranged in the first finger section or the second finger section, and the axis of the motor is parallel to the axis of the cycloidal speed reducer; the cycloidal speed reducer comprises a pin wheel housing connected with the first finger section, and an input eccentric shaft driven by a motor through gear transmission is arranged in the pin wheel housing. Two cycloidal gears are installed outside the input eccentric shaft, a plurality of roller pins are arranged between the two cycloidal gears and the pin wheel housing, and an output shaft and a shaft cover are installed at the two ends of the input eccentric shaft. A plurality of pin holes are formed in the two cycloidal gears in a circumferential array mode, pins are arranged in the pin holes in one-to-one correspondence in the two cycloidal gears in a penetrating mode, one ends of the pins penetrate through the output shaft to be in interference fit with the second finger section, and the other ends of the pins penetrate through the shaft cover to be connected with nuts; pin sleeves coaxial with the pins are arranged outside the pins, the axes of the two pin holes through which the pins penetrate and the axis of the pins are eccentrically arranged and are always symmetrical about the axis of the pins, and the pin sleeves are always in symmetrical contact with the inner walls of the two corresponding pin holes.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid finger joints, and in particular to a high-load humanoid finger joint mechanism. Background Art

[0002] As an end effector, the humanoid finger in the robot plays a vital role in the interaction between the robot and the environment. The humanoid finger needs to have a degree of freedom and load-bearing capacity close to that of a human hand. Two harmonic reducers or two planetary reducers are used in conventional humanoid finger joints. Due to the size limitation of the humanoid finger joints, the reduction mechanism required to be used is extremely small. Correspondingly, the teeth between the rigid wheel and the flexible wheel in the harmonic reducer and the teeth of the planetary gears in the planetary reducer are smaller, and both have the problem of small modulus and difficult processing. Similarly, when two cycloid reducers are conventionally used, there is also the problem of small modulus and difficult processing. Due to size limitations, the eccentric shaft on the output side is too small, which not only makes it difficult to ensure the processing accuracy, but also leads to weak rigidity and low impact resistance of the entire joint. In order to meet higher usage requirements, it is necessary to provide a high-load humanoid finger joint mechanism to greatly improve the joint's load capacity, bending moment, torque, stiffness, impact resistance, transmission efficiency and other performance. Summary of the invention

[0003] The purpose of the present invention is to provide a high-load humanoid finger joint mechanism, which has the characteristics of high bending moment, high torque, high load, high rigidity, high impact resistance, high transmission efficiency, and long service life.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] A high-load humanoid finger joint mechanism, comprising a finger segment 1 and a finger segment 2 arranged along the length direction of the finger, a cycloid reducer is arranged between the finger segment 1 and the finger segment 2, and a motor with an axis parallel to the axis of the cycloid reducer is arranged in the finger segment 1 or the finger segment 2;

[0006] The cycloid reducer comprises a pin-tooth housing connected to the finger segment 1 and having an axis arranged along the width direction of the finger segment 1, an input eccentric shaft coaxial with the pin-tooth housing is arranged inside the pin-tooth housing, and the motor drives the input eccentric shaft to rotate through gear transmission; cycloid wheels are respectively installed at two eccentric circle positions along the axial direction of the input eccentric shaft, and a plurality of rollers are arranged in a circumferential array around the outer wall of each cycloid wheel and the inner hole of the pin-tooth housing; output shafts and shaft covers are respectively installed at the true circles at both ends of the input eccentric shaft, and the two cycloid wheels are located between the output shaft and the shaft cover, and one of the pin-tooth housing and the output shaft serves as a fixed end and the other as an output end;

[0007] The two cycloid wheels are respectively provided with a plurality of pin holes penetrating therethrough in a circumferential array, the axes of the pin holes are parallel to the axes of the cycloid wheels, and pins are passed through the corresponding pin holes on the two cycloid wheels, one end of the pin passes through the output shaft and is interference-connected with the second finger segment, and the other end passes through the shaft cover and is connected with a nut; a pin sleeve coaxial with the pin is provided outside the pin, and the axes of the two pin holes passed by the pin are eccentrically arranged to the pin axis and are always symmetrical about the pin axis, and the pin sleeve is always in symmetrical contact with the inner walls of the two corresponding pin holes.

[0008] By adopting the above technical solution, the motor drives the input eccentric shaft to rotate through gear transmission, the pin gear housing and the output shaft are used as one fixed end and the other as the output end, the input eccentric shaft drives the cycloid wheel to perform eccentric motion, and the cycloid wheel is meshed with the pin gear housing through the needle roller to drive the pin gear housing to drive the finger segment 1 to rotate, or drive the output shaft to drive the finger segment 2 to rotate. Compared with the prior art, in the present invention, a cycloid reducer is arranged between the finger segment 1 and the finger segment 2, the thickness of the cycloid wheel is increased, and the column pin and the pin sleeve replace the eccentric support shaft originally connecting the output shaft and the shaft cover, which is equivalent to increasing the number of column pins and pin sleeves, increasing the torque, and at the same time using the nut to limit the shaft cover, greatly improving the torque and bending moment capacity of the cycloid reducer. Among them, the motor axis is parallel to the input eccentric shaft axis, and the input eccentric shaft is driven to rotate through gear transmission. In this way, compared with the prior art in which the motor axis is perpendicular to the input eccentric shaft axis and the input eccentric shaft is driven to rotate through the bevel gear transmission, it can avoid the radial component force generated by the bevel gear transmission causing the gap between the bevel gears to become larger and affect the transmission accuracy.

[0009] Furthermore, angular bearings are provided between the outer circle of the output shaft and the inner hole of the needle gear housing, and between the outer circle of the shaft cover and the inner hole of the needle gear housing. The needle gear housing serves as the outer ring of the corresponding angular bearing, and its inner hole is provided with an outer channel matching the corresponding angular bearing. The output shaft and the shaft cover serve as the inner ring of the corresponding angular bearing, and their outer circles are respectively provided with inner channels matching the corresponding angular bearings. The angular bearing corresponding to the shaft cover is pre-tightened by the nut.

[0010] By adopting the above technical solution, the output shaft and the pin gear housing, the shaft cover and the pin gear housing directly serve as the inner and outer rings of the corresponding angular bearings, that is, the angular bearings are integrated. Compared with the original inner and outer ring split structure, the supporting capacity, rigidity and bending moment capacity of the angular bearings are greatly improved. Moreover, under the pre-tightening action of the nut, it is not only convenient to install the angular bearing on the side close to the shaft cover, but also can avoid the loosening of the angular bearing after long-term work to affect its capacity.

[0011] Furthermore, the outer wall of the pin sleeve is provided with a plurality of first sawtooth grooves along the axial direction thereof, and the inner hole of the pin sleeve is provided with a plurality of second sawtooth grooves along the axial direction thereof.

[0012] By adopting the above technical solution, the inner hole of the pin sleeve is in full contact with the outer wall of the column pin, the pin sleeve can slide along the circumferential direction of the column pin, and the outer wall of the pin sleeve is in contact with one of the pin holes on the two cycloidal wheels, that is, there is sliding friction between the inner hole of the pin sleeve and the column pin, and there is also sliding friction between the outer wall of the pin sleeve and the pin hole. The friction resistance of sliding friction is relatively large, so a plurality of first serrated grooves and second serrated grooves are respectively provided on the outer wall and the inner hole of the pin sleeve, so that not only can grease be stored through the first serrated grooves and the second serrated grooves to ensure that there is always grease on the contact surface of the pin sleeve, the column pin and the pin hole, but also the contact area of ​​the pin sleeve, the column pin and the pin hole can be reduced, thereby reducing the friction resistance of the pin sleeve, the column pin and the pin hole.

[0013] Furthermore, a first deep groove ball bearing is provided between the outer walls of the true circles at both ends of the input eccentric shaft and the corresponding inner holes of the output shaft and the shaft cover, and at least two first deep groove ball bearings are provided at both ends of the input eccentric shaft along the axial direction thereof; the outer ring of the first deep groove ball bearing is connected to the corresponding output shaft and the shaft cover, the input eccentric shaft serves as the inner ring of the first deep groove ball bearing, and its outer wall is provided with an inner groove matched with the corresponding first deep groove ball bearing;

[0014] A second deep groove ball bearing is provided between the two eccentric circles of the input eccentric shaft and the corresponding inner hole of the cycloidal wheel, and at least two second deep groove ball bearings are provided in each inner hole of the cycloidal wheel along its axial direction; the outer ring of the second deep groove ball bearing is interference-fitted with the corresponding inner hole of the cycloidal wheel, the input eccentric shaft serves as the inner ring of the second deep groove ball bearing, and the outer wall of its eccentric circle is provided with an inner groove that cooperates with the corresponding second deep groove ball bearing.

[0015] By adopting the above technical solution, a first deep groove ball bearing is arranged between the input eccentric shaft and the output shaft and the shaft cover. The friction resistance of the first deep groove ball bearing is small, the starting torque is small, the input eccentric shaft is easier to start, and the contact surface is small, so the input side does not need a large contact surface and capacity. Among them, an inner groove is arranged on the input eccentric shaft as the inner ring of the first deep groove ball bearing and the second deep groove ball bearing, and the original inner ring of the bearing is cancelled. The diameter of the input eccentric shaft can be enlarged under the same volume, avoiding the input eccentric shaft being too thin and inconvenient to process and insufficient strength, and effectively improving the overall stiffness of the input eccentric shaft. In addition, the outer ring of the second deep groove ball bearing is installed with interference fit with the inner hole of the cycloidal wheel, and the outer groove of the original inner hole of the cycloidal wheel is cancelled as the outer ring of the bearing, which can reduce the roughness requirement for the inner hole processing of the cycloidal wheel. The first deep groove ball bearing and the second deep groove ball bearing used can be purchased on the market with suitable sizes, but the thickness of the bearing of this size is certain, so its capacity can be guaranteed by increasing the number of the first deep groove ball bearing and the second deep groove ball bearing.

[0016] Furthermore, the outer wall of the input eccentric shaft is provided with a processing groove located between two eccentric circles, and the bottom of the processing groove is a transition curve with the same diameter.

[0017] By adopting the above technical solution, the processing groove on the outer wall of the input eccentric shaft facilitates the production and processing of the input eccentric shaft and avoids interference with the grinding wheel. The strength of the input eccentric shaft is determined by its minimum diameter, so the bottom of the processing groove is set to a same diameter curve transition to ensure that the diameter of each position of the processing groove is the same, thereby ensuring the overall strength of the input eccentric shaft.

[0018] Furthermore, retaining rings are provided between the side of the two cycloidal wheels that are away from each other and the output shaft and shaft cover close to them. The outer ring of the first deep groove ball bearing installed in the inner hole of the output shaft is located between the two side walls of the finger segment and the retaining ring close to it, and the outer ring of the first deep groove ball bearing installed in the inner hole of the shaft cover is located between the retaining ring close to it and the nut.

[0019] By adopting the above technical solution, a retaining ring is set to axially limit the cycloid wheel, and at the same time, the two side walls of the finger segment and the retaining ring close to the output shaft are used to axially limit the outer ring of the first deep groove ball bearing between them, and the nut and the retaining ring close to the shaft cover are used to axially limit the first deep groove ball bearing between them, so as to avoid axial displacement of the cycloid wheel and the first deep groove ball bearing during long-term operation.

[0020] Furthermore, an input gear coaxial with the true circle of its end portion is installed at one end of the input eccentric shaft close to the shaft cover, and the motor is provided with one and is located on one side of the pin gear housing, and the motor is connected to an output gear meshing with the input gear; an encoder with an axis parallel to the axis of the pin gear housing is provided on the side of the pin gear housing away from the motor, and the encoder is connected to an encoding gear meshing with the input gear, and the encoder and the motor are respectively arranged in finger segment one and finger segment two.

[0021] By adopting the above technical solution, the motor drives the input eccentric shaft to rotate under the meshing action of the output gear and the input gear. Under the meshing action of the input gear and the encoding gear, the encoder can monitor the input speed of the motor in real time to ensure the input accuracy. The encoder and the motor are respectively arranged in the finger segment 1 and the finger segment 2, and the structure in which the encoder is built into the motor is cancelled. The axial length of the stator and rotor in the motor can be increased within the limited volume of the finger, thereby improving the capacity of the motor to match the capacity of the cycloid reducer.

[0022] Furthermore, an input gear coaxial with the true circle of its end portion is installed at one end of the input eccentric shaft close to the shaft cover, and the motor is provided with one and is located on one side of the pin gear housing, and the motor is connected to an output gear meshing with the input gear; an encoder coaxial with the input gear is also installed on the input eccentric shaft, and the encoder is located between the nut and the input gear.

[0023] By adopting the above technical solution, the motor drives the input eccentric shaft to rotate under the meshing action of the output gear and the input gear. The encoder is set on the input eccentric shaft, which can directly monitor the input speed of the motor in real time to ensure the input accuracy. Setting the encoder on the input eccentric shaft can, on the one hand, eliminate the structure of the encoder built into the motor and improve the motor's capacity. On the other hand, the encoder is directly connected to the input eccentric shaft to ensure detection accuracy.

[0024] Furthermore, the motors are provided with two and are arranged in parallel in finger segment one or finger segment two along the length direction of finger segment one or finger segment two, and the two motors are provided with encoders coaxial therewith; an input gear coaxial with the true circle of the end of the input eccentric shaft close to the shaft cover is installed, and the two motors are connected with output gears coaxial therewith, and a transmission gear meshing with the two output gears is provided between the two output gears, and the output gear close to the input gear meshes with the input gear.

[0025] By adopting the above technical solution, the bending moment and torque capacity of the joint depends on the weaker one of the motor and the cycloid reducer. Therefore, after the capacity of the cycloid reducer is increased, a motor with a higher capacity needs to be configured. The capacity of the motor depends on its volume. When the thickness of the finger is constant, two motors are superimposed to improve the capacity of the motor to match the capacity of the cycloid reducer, thereby ensuring the overall bending moment and torque capacity of the joint. The two motors are meshed with the output gear and the transmission gear, and the output gear and the input gear, so as to realize the superposition of the speed of the two motors and transmit it to the input eccentric shaft.

[0026] Furthermore, the motor comprises two motors respectively arranged on finger segment one and finger segment two, and both motors are provided with encoders coaxial therewith; an input gear coaxial with the true circle of its end is installed at one end of the input eccentric shaft close to the shaft cover, and the two motors are respectively connected with output gears meshing with the input gears.

[0027] By adopting the above technical solution, the two motors transmit the rotation speed to the input eccentric shaft through the meshing of the output gear and the input gear, thereby realizing the superposition input of the rotation speed. By setting the two motors in the finger segment 1 and the finger segment 2 respectively, the transmission gear between the output gears can be eliminated, the transmission accuracy can be improved, and the balance between the finger segment 1 and the finger segment 2 can be maintained, avoiding the increase of the load by setting all the motors in the finger segment 1 or the finger segment 2.

[0028] In summary, the present invention has the following beneficial effects:

[0029] 1. The present invention solves the problem of difficult processing of small-module gears of harmonic reducers and planetary reducers by setting a single large cycloid reducer with a small speed ratio, and the volume of the cycloid reducer is increased, and the bending moment and torque capacity are enhanced, thereby improving the overall bending moment and torque capacity of the joint. At the same time, the small speed ratio can reduce the speed requirement of the motor while meeting the use requirements of the finger joint, reduce the heat generation of the motor and the cycloid reducer, and improve the service life;

[0030] 2. The angular bearing, the pin gear housing, the output shaft and the shaft cover are integrated in the present invention to achieve a compact structure and effectively improve the rigidity and bending moment capacity of the angular bearing, that is, to improve the rigidity, bending moment capacity and impact resistance of the cycloid reducer;

[0031] 3. The present invention uses special structures such as pins, pin sleeves, nuts, pin holes, etc. to cancel the eccentric support shaft originally connecting the output shaft and the shaft cover, which not only increases the number of pins that bear torque, but also can use pins and nuts to achieve the connection between the output shaft and the shaft cover, and pre-tighten the integrated angular bearing through the nut, which greatly improves the torque and bending moment of the cycloid reducer, i.e. the joint. The pins and pin sleeves have simple structures and are easy to process. Compared with the eccentric support shaft, they can greatly improve the strength and rigidity, thereby improving the impact resistance of the cycloid reducer.

[0032] 4. In the present invention, the first rectangular groove and the second rectangular groove are respectively arranged on the outer wall and the inner hole of the pin sleeve, which can not only store grease through the first serrated groove and the second serrated groove to ensure that the contact surface of the pin sleeve, the column pin and the pin hole always has grease, but also reduce the contact area of ​​the pin sleeve, the column pin and the pin hole, thereby reducing the friction resistance of the pin sleeve, the column pin and the pin hole;

[0033] 5. In the present invention, the input eccentric shaft is used as the inner ring of the first deep groove ball bearing and the second deep groove ball bearing, and the inner ring of the bearing is eliminated. Under the same volume, the input eccentric shaft is prevented from being too thin and difficult to process, and the rigidity and processing accuracy of the input eccentric shaft are effectively increased. At the same time, the processing groove bottom on the input eccentric shaft has an equal diameter curve transition, which also effectively ensures the overall strength of the input eccentric shaft;

[0034] 6. The outer ring of the second deep groove ball bearing in the present invention has an interference fit with the inner hole of the cycloidal wheel, and the integrated structure of the outer ring of the second deep groove ball bearing and the inner hole of the cycloidal wheel is eliminated, which can reduce the requirements for the rough machining of the inner hole of the cycloidal wheel. The first deep groove ball bearing and the second deep groove ball bearing are used as input, which effectively improves efficiency and reduces heat generation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of a high-load humanoid finger joint mechanism in the first embodiment;

[0036] Figure 2 It is a structural schematic diagram of a high-load humanoid finger joint mechanism in the second embodiment;

[0037] Figure 3 It is a structural schematic diagram of a high-load humanoid finger joint mechanism in Example 3;

[0038] Figure 4 It is a structural schematic diagram of a high-load humanoid finger joint mechanism in Example 4.

[0039] In the figure, 1, finger segment 1; 2, finger segment 2; 3, cycloid reducer; 4, pin gear housing; 41, needle roller; 5, input eccentric shaft; 51, processing groove; 52, input gear; 6, cycloid wheel; 61, pin hole; 7, output shaft; 8, shaft cover; 9, column pin; 10, nut; 11, pin sleeve; 111, first serrated groove; 112, second serrated groove; 12, angular bearing; 13, first deep groove ball bearing; 14, second deep groove ball bearing; 15, retaining ring; 16, motor; 17, output gear; 18, encoder; 19, encoding gear; 20, transmission gear. DETAILED DESCRIPTION

[0040] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] Embodiment 1:

[0042] A high load humanoid finger joint mechanism, such as Figure 1 As shown, it includes a finger segment 1 and a finger segment 2 arranged along the length direction of the finger, a cycloid reducer 3 is arranged between the finger segment 1 and the finger segment 2, and a motor 16 with an axis parallel to the axis of the cycloid reducer 3 is arranged in the finger segment 1 or the finger segment 2. The cycloid reducer 3 is driven to rotate by the motor 16, thereby driving the finger segment 1 or the finger segment 2 to rotate.

[0043] Specifically, Figure 1 As shown, the cycloid reducer 3 includes a pin gear housing 4 connected to the finger segment 1 and having its axis arranged along the width direction of the finger segment 1. An input eccentric shaft 5 coaxial with the pin gear housing 4 is arranged inside the pin gear housing 4, and the motor 16 drives the input eccentric shaft 5 to rotate through gear transmission. Cycloid wheels 6 are respectively installed at the two eccentric circle positions along the axial direction of the input eccentric shaft 5, and a plurality of rollers 41 arranged in an array around the circumference are arranged between the outer wall of each cycloid wheel 6 and the inner hole of the pin gear housing 4. An output shaft 7 and a shaft cover 8 are respectively installed at the true circles at both ends of the input eccentric shaft 5, and two cycloid wheels 6 are located between the output shaft 7 and the shaft cover 8. The pin gear housing 4 and the output shaft 7 serve as a fixed end and the other as an output end.

[0044] like Figure 1As shown, the basic working principle of the cycloid reducer 3 is the same as that in the prior art. The motor 16 drives the input eccentric shaft 5 to rotate through gear transmission. The pin gear housing 4 and the output shaft 7 serve as one fixed end and the other output end. The input eccentric shaft 5 drives the cycloid wheel 6 to perform eccentric motion. The cycloid wheel 6 engages with the pin gear housing 4 through the needle roller 41 to drive the pin gear housing 4 to drive the finger segment 1 to rotate, or drives the output shaft 7 to drive the finger segment 2 to rotate. The difference is that in this application, the axis of the motor 16 is parallel to the axis of the input eccentric shaft 5, and drives the input eccentric shaft 5 to rotate through gear transmission. Compared with the prior art in which the axis of the motor 16 is perpendicular to the axis of the input eccentric shaft 5 and drives the input eccentric shaft 5 to rotate through bevel gear transmission, it can avoid the radial component force generated by the bevel gear transmission causing the gap between the bevel gears to become larger and affect the transmission accuracy.

[0045] In addition, Figure 1 As shown, a plurality of pin holes 61 are respectively arranged in a circumferential array on the two cycloid wheels 6 to penetrate the two cycloid wheels 6, and the axes of the pin holes 61 are parallel to the axes of the cycloid wheels 6. A column pin 9 is inserted into the corresponding pin holes 61 on the two cycloid wheels 6. One end of the column pin 9 passes through the output shaft 7 and is interference-connected with the finger section 2 2, and the other end passes through the shaft cover 8 and is connected with a nut 10. A pin sleeve 11 is arranged outside the column pin 9 and is coaxial with the column pin 9. The axes of the two pin holes 61 through which the column pin 9 passes are eccentrically arranged and are always symmetrical about the axis of the column pin 9. The pin sleeve 11 is always in symmetrical contact with the inner walls of the two corresponding pin holes 61.

[0046] like Figure 1 As shown, in this embodiment, a pin 9, a pin sleeve 11 and a nut 10 are used to replace the eccentric support shaft originally connecting the output shaft 7 and the shaft cover 8, which not only increases the number of pins 9 that bear torque, but also can use the pins 9 and the nuts 10 to achieve the connection between the output shaft 7 and the shaft cover 8, greatly improving the torque and bending moment of the cycloid reducer 3, i.e., the joint. The pin 9 and the pin sleeve 11 have a simple structure and are easy to process. Compared with the eccentric support shaft, they can greatly improve the strength and rigidity, thereby improving the impact resistance of the cycloid reducer 3.

[0047] Among them, Figure 1As shown, since the inner hole of the pin sleeve 11 is in full contact with the outer wall of the column pin 9, the pin sleeve 11 can slide along the circumferential direction of the column pin 9, and the outer wall of the pin sleeve 11 is in contact with one of the surfaces of the pin holes 61 on the two cycloidal wheels 6, that is, there is sliding friction between the inner hole of the pin sleeve 11 and the column pin 9, and there is also sliding friction between the outer wall of the pin sleeve 11 and the pin hole 61. The friction resistance of sliding friction is relatively large, so a plurality of first sawtooth grooves 111 and second sawtooth grooves 112 are respectively provided on the outer wall and the inner hole of the pin sleeve 11, so that not only can the first sawtooth grooves 111 and the second sawtooth grooves 112 be used to store grease, ensuring that the contact surface of the pin sleeve 11, the column pin 9 and the pin hole 61 always has grease, but also the contact area of ​​the pin sleeve 11, the column pin 9 and the pin hole 61 can be reduced, thereby reducing the friction resistance of the pin sleeve 11, the column pin 9 and the pin hole 61.

[0048] like Figure 1 As shown, in order to further improve the bending moment capacity and rigidity of the cycloid reducer 3, an angular bearing 12 is provided between the outer circle of the output shaft 7 and the inner hole of the pin gear housing 4, and between the outer circle of the shaft cover 8 and the inner hole of the pin gear housing 4. The pin gear housing 4 serves as the outer ring of the corresponding angular bearing 12, and its inner hole is provided with an outer groove matching the corresponding angular bearing 12. The output shaft 7 and the shaft cover 8 serve as the inner ring of the corresponding angular bearing 12, and their outer circles are respectively provided with inner grooves matching the corresponding angular bearing 12. The angular bearing 12 corresponding to the shaft cover 8 is pre-tightened by the nut 10. In this way, the angular bearing 12 is integrated with the output shaft 7, the pin gear housing 4, and the shaft cover 8 to achieve a compact structure and effectively improve the rigidity and bending moment capacity of the angular bearing 12. The angular bearing 12 is pre-tightened by the nut 10 to facilitate the installation of the angular bearing 12 and avoid the loosening of the angular bearing 12 during operation.

[0049] like Figure 1 As shown, a first deep groove ball bearing 13 is provided between the outer wall of the true circle at both ends of the input eccentric shaft 5 and the corresponding inner hole of the output shaft 7 and the inner hole of the shaft cover 8, and at least two first deep groove ball bearings 13 are provided at both ends of the input eccentric shaft 5 along the axial direction thereof. A second deep groove ball bearing 14 is provided between the two eccentric circles of the input eccentric shaft 5 and the corresponding inner hole of the cycloidal wheel 6, and at least two second deep groove ball bearings 14 are provided in the inner hole of each cycloidal wheel 6 along the axial direction thereof. The outer ring of the first deep groove ball bearing 13 is connected to the corresponding output shaft 7 and the shaft cover 8, and the outer ring of the second deep groove ball bearing 14 is interference-fitted with the corresponding inner hole of the cycloidal wheel 6. The input eccentric shaft 5 serves as the inner ring of the first deep groove ball bearing 13 and the second deep groove ball bearing 14, and its outer wall is provided with an inner groove matching the corresponding first deep groove ball bearing 13 and the second deep groove ball bearing 14.

[0050] like Figure 1As shown, the first deep groove ball bearing 13 and the second deep groove ball shaft replace the original needle roller 41 structure, with a small contact surface and small friction resistance. As the input starting torque is small, it is easier to start, effectively improve efficiency, and reduce heat generation. The inner groove is directly set on the input eccentric shaft 5 as the inner ring of the first deep groove ball bearing 13 and the second deep groove ball bearing 14, and the original bearing inner ring is cancelled. The input eccentric shaft 5 can be thickened under the same volume, which effectively improves the processing accuracy and rigidity of the input eccentric shaft 5 and reduces the processing difficulty. In addition, the outer ring of the first deep groove ball bearing 13 and the second deep groove ball bearing 14 is cancelled, which reduces the processing difficulty of the output shaft 7 and the shaft cover 8, and reduces the requirements for the processing roughness of the inner hole of the cycloid wheel 6. In addition, the outer rings of the first deep groove ball bearing 13 and the second deep groove ball bearing 14 of small specifications can be purchased directly. When the axial thickness of the outer ring is certain, the number of the first deep groove ball bearing 13 and the second deep groove ball bearing 14 can be increased to ensure its use capacity.

[0051] like Figure 1 As shown, in order to facilitate the processing of the input eccentric shaft 5, a processing groove 51 located between two eccentric circles is provided on the outer wall of the input eccentric shaft 5, and the overall strength of the input eccentric shaft 5 depends on the smallest diameter thereof. Therefore, in this embodiment, the bottom of the processing groove 51 is a transition curve with the same diameter, ensuring that the diameters of each position of the processing groove 51 are the same, thereby ensuring the overall strength of the input eccentric shaft 5.

[0052] like Figure 1 As shown, after the inner and outer rings of the angular bearing 12 are removed, in order to limit the two cycloidal wheels 6 and the outer ring of the first deep groove ball bearing 13, a retaining ring 15 is provided between the side of the two cycloidal wheels 6 that are away from each other and the output shaft 7 and the shaft cover 8 that are close to them. The outer ring of the first deep groove ball bearing 13 installed in the inner hole of the output shaft 7 is located between the side wall of the finger segment 2 2 and the retaining ring 15 close to it, and the outer ring of the first deep groove ball bearing 13 installed in the inner hole of the shaft cover 8 is located between the retaining ring 15 close to it and the nut 10, so as to avoid axial displacement of the cycloidal wheel 6 and the first deep groove ball bearing 13 during long-term operation.

[0053] like Figure 1 As shown, in order to realize that the motor 16 drives the input eccentric shaft 5 to rotate, an input gear 52 coaxial with the true circle of the end of the input eccentric shaft 5 is installed at one end of the input eccentric shaft 5 close to the shaft cover 8, and the motor 16 is provided with an output gear 17 meshing with the input gear 52. The input eccentric shaft 5 is driven to rotate through the meshing of the input gear 52 and the output gear 17.

[0054] In the prior art, in order to detect the output speed of the motor 16, an encoder 18 is generally built into the motor 16. However, the bending moment and torque capacity of the joint depends on the weaker one of the motor 16 and the cycloid reducer 3. Therefore, in this embodiment, after the capacity of the cycloid reducer 3 is enhanced, Figure 1 As shown, an encoder 18 with an axis parallel to the axis of the pin gear housing 4 is provided on the side of the pin gear housing 4 away from the motor 16, the encoder 18 is connected to an encoding gear 19 meshing with the input gear 52, and the encoder 18 and the motor 16 are respectively arranged in the finger segment 1 and the finger segment 2 2. In this way, the encoder 18 is removed from the inner part, and the axial length of the stator and rotor in the motor 16 can be increased within the limited volume of the finger, thereby improving the capacity of the motor 16 to match the capacity of the cycloid reducer 3.

[0055] Embodiment 2:

[0056] A high load humanoid finger joint mechanism, such as Figure 1 and Figure 2 As shown, in this embodiment, an input gear 52 coaxial with the end of the input eccentric shaft 5 near the shaft cover 8 is installed, and the motor 16 is provided with one and is located on one side of the pin gear housing 4, and the motor 16 is connected to an output gear 17 meshing with the input gear 52. The difference from the first embodiment is that in this embodiment, the encoder 18 is installed on the input eccentric shaft 5 and is located between the nut 10 and the input gear 52, so that the encoding gear 19 in the first embodiment is eliminated, and the input speed of the motor 16 is detected more directly and accurately, thereby improving the detection accuracy.

[0057] Embodiment three:

[0058] A high load humanoid finger joint mechanism, such as Figure 1 and Figure 3 As shown, the difference from the embodiment 1 is that in this embodiment, two motors 16 are provided and arranged in parallel in the finger segment 2 2 along the length direction of the finger segment 2, and the two motors 16 are provided with encoders 18 coaxial therewith. Of course, the two motors 16 can also be arranged in parallel in the finger segment 1. In this way, when the joint torque requirement is higher, the two motors 16 can be superimposed to improve the capacity of the motor 16, so that it matches the capacity of the cycloid reducer 3 and meets the use requirements of the joint. In this case, an input gear 52 coaxial with the true circle of its end is installed at one end of the input eccentric shaft 5 close to the shaft cover 8, and the two motors 16 are connected to the output gear 17 coaxial therewith, and a transmission gear 20 meshing therewith is provided between the two output gears 17, and the output gear 17 close to the input gear 52 meshes with the input gear 52.

[0059] Embodiment 4:

[0060] A high load humanoid finger joint mechanism, such as Figure 3 and Figure 4As shown, the difference from the third embodiment is that the motor 16 is also provided with two motors 16, but the two motors 16 are respectively arranged in the finger segment 1 and the finger segment 2, and the two motors 16 are provided with encoders 18 coaxial therewith. An input gear 52 coaxial with the true circle of the end of the input eccentric shaft 5 is installed at one end close to the shaft cover 8, and the two motors 16 are respectively connected to output gears 17 meshing with the input gear 52, so that the transmission gear 20 in the third embodiment can be eliminated, thereby improving the transmission efficiency.

[0061] Of course, under the condition that the input synchronization degree of motor 16 can be met, three or more motors 16 can be provided. More than two motors 16 can be all provided in finger segment 1 or finger segment 2 2 as in embodiment 3. Alternatively, as in the structure of embodiment 3 and the present embodiment, multiple motors 16 can be respectively provided in finger segment 1 1 and finger segment 2 2. The selection can be made according to the actual usage situation as long as it can be realized.

[0062] The above description shows and describes the preferred embodiments of the present invention. As mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. A high-load humanoid finger joint mechanism, characterized in that: The finger segment comprises a first finger segment (1) and a second finger segment (2) arranged along the length direction of the finger, a cycloid reducer (3) is arranged between the first finger segment (1) and the second finger segment (2), and a motor (16) having an axis parallel to the axis of the cycloid reducer (3) is arranged in the first finger segment (1) or the second finger segment (2); The cycloid reducer (3) comprises a pinion housing (4) connected to the finger segment 1 (1) and having an axis arranged along the width direction of the finger segment 1 (1); an input eccentric shaft (5) coaxial with the pinion housing (4) is arranged inside the pinion housing (4); the motor (16) drives the input eccentric shaft (5) to rotate through gear transmission; cycloid wheels (6) are respectively installed at two eccentric circle positions along the axial direction of the input eccentric shaft (5); a plurality of roller needles (41) arranged in an array around the circumference of each cycloid wheel (6) are arranged between the outer wall of each cycloid wheel (6) and the inner hole of the pinion housing (4); an output shaft (7) and a shaft cover (8) are respectively installed at the true circles at both ends of the input eccentric shaft (5); the two cycloid wheels (6) are located between the output shaft (7) and the shaft cover (8); the pinion housing (4) and the output shaft (7) have one as a fixed end and the other as an output end; The two cycloid wheels (6) are respectively provided with a plurality of pin holes (61) penetrating the two cycloid wheels (6) in a circumferential array, the axes of the pin holes (61) are parallel to the axes of the cycloid wheels (6), and a column pin (9) is inserted into the corresponding pin holes (61) on the two cycloid wheels (6), one end of the column pin (9) passes through the output shaft (7) and is interference-connected with the second finger section (2), and the other end passes through the shaft cover (8) and is connected with a nut (10); a pin sleeve (11) coaxial with the column pin (9) is provided outside the column pin (9), the axes of the two pin holes (61) passed through by the column pin (9) are eccentrically arranged with the axis of the column pin (9) and are always symmetrical about the axis of the column pin (9), and the pin sleeve (11) is always in symmetrical contact with the inner walls of the two corresponding pin holes (61).

2. A high-load humanoid finger joint mechanism according to claim 1, characterized in that: An angular bearing (12) is provided between the outer circle of the output shaft (7) and the inner hole of the pin gear housing (4), and between the outer circle of the shaft cover (8) and the inner hole of the pin gear housing (4). The pin gear housing (4) serves as the outer ring of the corresponding angular bearing (12), and its inner hole is provided with an outer groove matching the corresponding angular bearing (12). The output shaft (7) and the shaft cover (8) serve as the inner ring of the corresponding angular bearing (12), and their outer circles are respectively provided with inner grooves matching the corresponding angular bearing (12). The angular bearing (12) corresponding to the shaft cover (8) is pre-tightened by the nut (10).

3. A high-load humanoid finger joint mechanism according to claim 1, characterized in that: The outer wall of the pin sleeve (11) is provided with a plurality of first sawtooth grooves (111) along the axial direction thereof, and the inner hole of the pin sleeve (11) is provided with a plurality of second sawtooth grooves (112) along the axial direction thereof.

4. A high-load humanoid finger joint mechanism according to claim 1, characterized in that: A first deep groove ball bearing (13) is provided between the true circular outer walls at both ends of the input eccentric shaft (5) and the corresponding inner holes of the output shaft (7) and the shaft cover (8), and at least two first deep groove ball bearings (13) are provided at both ends of the input eccentric shaft (5) along the axial direction thereof; the outer ring of the first deep groove ball bearing (13) is connected to the corresponding output shaft (7) and the shaft cover (8), the input eccentric shaft (5) serves as the inner ring of the first deep groove ball bearing (13), and its outer wall is provided with an inner groove matched with the corresponding first deep groove ball bearing (13); A second deep groove ball bearing (14) is provided between the two eccentric circles of the input eccentric shaft (5) and the inner hole of the corresponding cycloidal wheel (6), and at least two second deep groove ball bearings (14) are provided in the inner hole of each cycloidal wheel (6) along its axial direction; the outer ring of the second deep groove ball bearing (14) is interference-fitted with the inner hole of the corresponding cycloidal wheel (6), the input eccentric shaft (5) serves as the inner ring of the second deep groove ball bearing (14), and the outer wall of its eccentric circle is provided with an inner groove that matches the corresponding second deep groove ball bearing (14).

5. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: The outer wall of the input eccentric shaft (5) is provided with a processing groove (51) located between two eccentric circles, and the bottom of the processing groove (51) is a transition curve with the same diameter.

6. A high-load humanoid finger joint mechanism according to claim 1, characterized in that: A retaining ring (15) is provided between the side of the two cycloid wheels (6) that is away from each other and the output shaft (7) and the shaft cover (8) that are close to the two cycloid wheels (6); the outer ring of the first deep groove ball bearing (13) installed in the inner hole of the output shaft (7) is located between the side wall of the second finger segment (2) and the retaining ring (15) close to the two cycloid wheels (6); and the outer ring of the first deep groove ball bearing (13) installed in the inner hole of the shaft cover (8) is located between the retaining ring (15) close to the two cycloid wheels (6) and the nut (10).

7. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: An input gear (52) coaxial with the end of the input eccentric shaft (5) is installed at one end close to the shaft cover (8); the motor (16) is provided with an output gear (17) meshing with the input gear (52) and is located on one side of the pinion housing (4); the motor (16) is connected to an output gear (17) meshing with the input gear (52); an encoder (18) having an axis parallel to the axis of the pinion housing (4) is provided on the side of the pinion housing (4) away from the motor (16); the encoder (18) is connected to an encoding gear (19) meshing with the input gear (52); and the encoder (18) and the motor (16) are respectively arranged in finger segment one (1) and finger segment two (2).

8. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: An input gear (52) coaxial with the end of the input eccentric shaft (5) is installed at one end close to the shaft cover (8); the motor (16) is provided with an output gear (17) located on one side of the pinion housing (4); the motor (16) is connected to an output gear (17) meshing with the input gear (52); an encoder (18) coaxial with the input gear (52) is also installed on the input eccentric shaft (5), and the encoder (18) is located between the nut (10) and the input gear (52).

9. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: The motors (16) are provided with two motors and are arranged in parallel in the length direction of the finger segment one (1) or the finger segment two (2). The two motors (16) are provided with encoders (18) coaxial with the motors; an input gear (52) coaxial with the end of the input eccentric shaft (5) close to the shaft cover (8) is installed; the two motors (16) are connected with output gears (17) coaxial with the output gears; a transmission gear (20) meshing with the output gears (17) is provided between the two output gears (17), and the output gear (17) close to the input gear (52) meshes with the input gear (52).

10. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: The motor (16) comprises two motors (16) which are respectively arranged on the first finger segment (1) and the second finger segment (2), and the two motors (16) are each provided with an encoder (18) coaxial therewith; an input gear (52) coaxial with the true circle of the end of the input eccentric shaft (5) is installed at one end close to the shaft cover (8), and the two motors (16) are respectively connected with an output gear (17) meshing with the input gear (52).

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