Transmission structure of bionic mechanical finger and bionic manipulator

Abstract

A transmission structure of a bionic mechanical finger is suitable for being installed in a joint frame body of the bionic mechanical finger, and the joint frame body comprises a first joint frame body, a second joint frame body and a third joint frame body. The transmission structure comprises a motor, a worm and gear group I and a worm and gear group II; the motor is installed on the second joint frame body, a main gear is arranged on a rotating shaft of the motor, and the motor can drive the main gear to rotate through the rotating shaft; the worm and gear group I is mounted at the joint of the second joint frame body and the third joint frame body; the worm and gear group II is mounted at the joint of the second joint frame body and the first joint frame body; the worm and gear set I and the worm and gear set II are located on the two sides of the main gear respectively. When the motor operates, the main gear drives the worm and gear set I and the worm and gear set II to move. The transmission structure improves the degree of freedom of the manipulator, and is simple in structure, light in overall weight, stable in operation, large in gripping force and low in production cost.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence, and particularly to a transmission structure of a bionic mechanical finger and a bionic manipulator. Background Art

[0002] A bionic manipulator is an automatic operating device that can imitate some action functions of a human hand and arm to grasp, carry objects or operate tools according to a fixed program. It has the characteristics of saving manpower, good stability and high safety. The transmission structure of the bionic mechanical finger in the prior art generally realizes the grasping and handling operation through the movement of the robotic arm and the grasping of the robotic hand, and performs bending and stretching through transmission for grasping. The currently available wire transmission and link mechanism transmission on the market have small grasping force due to structural problems, will loosen in the non-powered state, cannot be self-locked, resulting in unstable operation. And for the wire transmission and link mechanism transmission to achieve better operation stability and large grasping force, high-strength and high-quality materials must be used, and heavy additional equipment needs to be added, resulting in an excessive overall weight and high cost. Summary of the Invention

[0003] The present invention provides a transmission structure of a bionic mechanical finger and a bionic manipulator, which is an improvement on the basis of the transmission structure of the bionic mechanical finger disclosed in the patent No. ZL201810747476X. The chain transmission structure in the patent No. ZL201810747476X is improved into a new structure of a gear transmission mechanism. The purpose is to improve the degree of freedom of the manipulator, enable it to better simulate the grasping operation of a real human hand, and has a simple structure, light overall weight, stable operation, large grasping force and low production cost, so as to solve the above problems existing in the prior art.

[0004] The technical solution adopted by the present invention is: a transmission structure of a bionic mechanical finger, adapted to be installed inside the joint frame of the bionic mechanical finger. The joint frame includes a first joint frame, a second joint frame and a third joint frame. The rear end of the first joint frame is hinged to the front end of the second joint frame, the rear end of the second joint frame is hinged to the front end of the third joint frame, and the front end of the first joint frame is used as a free end; the transmission structure includes a motor, a first worm and worm gear set and a second worm and worm gear set; the motor is installed on the second joint frame, a main gear is arranged on the rotating shaft of the motor, and the motor can drive the main gear to rotate through the rotating shaft; the first worm and worm gear set is installed at the connection between the second joint frame and the third joint frame; the second worm and worm gear set is installed at the connection between the second joint frame and the first joint frame; the first worm and worm gear set and the second worm and worm gear set are respectively located on both sides of the main gear; when the motor operates, the main gear drives the first worm and worm gear set and the second worm and worm gear set to move.

[0005] Its further technical solution is as follows: The worm and worm gear set I includes worm I and worm gear I; One end of the worm I is provided with a secondary gear I; The secondary gear I and the worm I rotate coaxially together; The worm I is rotatably mounted inside the second joint frame body; The secondary gear I meshes with the main gear; The worm gear I is fixedly mounted inside the third joint frame body; When the motor runs, the main gear drives the secondary gear I to rotate, thereby driving the worm and worm gear set I to move.

[0006] Its further technical solution is as follows: The worm and worm gear set II includes worm II and worm gear II; One end of the worm II is provided with a secondary gear II; The secondary gear II and the worm II rotate coaxially together; The worm II is rotatably mounted inside the second joint frame body; The secondary gear II meshes with the main gear; The worm gear II is fixedly mounted inside the first joint frame body; When the motor runs, the main gear drives the secondary gear II to rotate, thereby driving the worm and worm gear set II to move.

[0007] Its further technical solution is as follows: Three positioning columns evenly distributed with the center of the worm gear I as the center are fixed on the worm gear I; The worm gear I is fixedly mounted inside the third joint frame body through the positioning columns; Three positioning columns evenly distributed with the center of the worm gear II as the center are fixed on the worm gear II; The worm gear II is fixedly mounted inside the first joint frame body through the positioning columns.

[0008] Another related technical solution: A bionic mechanical hand includes a palm frame and five bionic mechanical finger joint frame bodies, and the third joint frame bodies of the five bionic mechanical finger joint frame bodies are fixedly connected to the palm frame in sequence; The transmission structures of the above-mentioned bionic mechanical fingers are installed inside the five bionic mechanical finger joint frame bodies.

[0009] Due to adopting the above technical solutions, the transmission structure of a bionic mechanical finger and the bionic mechanical hand of the present invention have the following beneficial effects: 1. The transmission structure of the bionic mechanical finger of the present invention is a pure gear transmission, with a simple structure. Among them, the worm and worm gear transmission structure has self-locking property and is locked when there is no power, ensuring stable start and stop during transmission operation. For example: when the motor does not move, the worm and worm gear transmission mechanism is self-locked, and the joint cannot stretch and bend, and the joint remains stationary. At present, the cable transmission (such as wire transmission) and link transmission on the market have extremely low stability and can be toggled without power.

[0010] 2. The transmission structure of the bionic mechanical finger of the present invention has a large grasping force. Through the transmission ratio of the worm and worm gear transmission, the finger grasping force can be increased. At present, the wire transmission and link transmission on the market have a quite low grasping force at the fingertip. To achieve the corresponding grasping force, corresponding post-equipment needs to be configured. This post-equipment has high requirements and requires carrying heavy equipment to be used normally.

[0011] 3. The transmission structure of a bionic mechanical finger of the present invention has low requirements for materials, is easy to assemble, easy to produce, and has a low cost.

[0012] In summary, the transmission structure of a bionic mechanical finger and the structure of a bionic mechanical hand of the present invention are simple and reasonable, with the characteristics of large grasping force, stable and reliable operation, and low cost.

[0013] The following further describes the technical features of the transmission structure of a bionic mechanical finger and a bionic mechanical hand of the present invention in conjunction with the accompanying drawings and embodiments. Description of the Drawings

[0014] Figure 1 is a cross-sectional view of the internal structure of the transmission structure of a bionic mechanical finger in an embodiment; Figure 2 is a schematic diagram of the internal structure of the transmission structure of a bionic mechanical finger in an embodiment Figure 1 ; Figure 3 is a schematic diagram of the internal structure of the transmission structure of a bionic mechanical finger in an embodiment Figure 2 ; Figure 4 is a schematic diagram of the external structure of the transmission structure of a bionic mechanical finger in an embodiment; Figure 5 is a schematic diagram of a bionic mechanical hand of the present invention Figure 1 ; Figure 6 is a schematic diagram of a bionic mechanical hand of the present invention Figure 2 .

[0015] In the figure: 1 - First joint frame; 2 - Second joint frame; 3 - Third joint frame; 4 - Motor; 5 - Main gear; 6 - Worm and worm gear set I, 61 - Worm I, 62 - Worm gear I, 63 - Driven gear I; 7 - Worm and worm gear set II, 71 - Worm II, 72 - Worm gear II, 73 - Driven gear II; 8 - Positioning column; 9 - Palm frame. Detailed Embodiments Embodiment 1:

[0016] The transmission structure of a bionic mechanical finger of the present invention is an improvement on the basis of the patent No. 201810747476.X, patent name: Transmission structure of bionic mechanical finger and bionic mechanical hand, and the chain transmission structure in the patent No. 201810747476.X is improved into a pure gear transmission structure.

[0017] The transmission structure of a bionic mechanical finger of the present invention, as Figures 1 - 4As shown in the figure, it is adapted to be installed inside the joint frame of a bionic mechanical finger. The joint frame includes a first joint frame 1, a second joint frame 2, and a third joint frame 3. The rear end of the first joint frame 1 is hingedly connected to the front end of the second joint frame 2. The rear end of the second joint frame 2 is hingedly connected to the front end of the third joint frame 3. The front end of the first joint frame 1 serves as a free end. The third joint frame 3 can be fixed to the palm frame 9. The transmission structure includes a motor 4, a worm and gear set I 6, and a worm and gear set II 7. The motor 4 is installed on the second joint frame 2. For example, the bracket or end plate of the motor 4 is fixed inside the second joint frame 2, and the rotating shaft of the motor 4 is installed on the second joint frame 2 through a bearing. A main gear 5 is provided on the rotating shaft of the motor 4, and the motor 4 can drive the main gear 5 to rotate through the rotating shaft. The worm and gear set I 6 is installed at the junction of the second joint frame 2 and the third joint frame 3. The worm and gear set II 7 is installed at the junction of the second joint frame 2 and the first joint frame 1. The worm and gear set I 6 and the worm and gear set II 7 are respectively located on both sides of the main gear 5. When the motor 4 operates, the main gear 5 drives the worm and gear set I 6 and the worm and gear set II 7 to move.

[0018] The worm and gear set I 6 includes a worm I 61 and a worm wheel I 62. One end of the worm I 61 is provided with a driven gear I 63. The driven gear I 63 and the worm I 61 rotate coaxially together. The worm I 61 is rotatably mounted inside the second joint frame 2, and the driven gear I 63 meshes with the main gear 5. The worm wheel I 62 is fixedly mounted inside the third joint frame 3. When the motor 4 operates, the main gear 5 drives the driven gear I 63 to rotate, thereby driving the worm and gear set I 6 to move. The movement of the worm and gear set I 6 drives the second joint frame 2 to rotate.

[0019] The worm and gear set II 7 includes a worm II 71 and a worm wheel II 72. One end of the worm II 71 is provided with a driven gear II 73. The driven gear II 73 and the worm II 71 rotate coaxially together. The worm II 71 is rotatably mounted inside the second joint frame 2. The driven gear II 73 meshes with the main gear 5. The worm wheel II 72 is fixedly mounted inside the first joint frame 1. When the motor 4 operates, the main gear 5 drives the driven gear II 73 to rotate, thereby driving the worm and gear set II 7 to move. The movement of the worm and gear set II 7 drives the first joint frame 1 to rotate.

[0020] In this embodiment, both ends of the worm I 61 are installed on the second joint frame 2 through bearings, and both ends of the worm II 71 are installed on the second joint frame 2 through bearings. The driven gear I 63 and the driven gear II 73 are respectively located on both sides of the main gear 5 and mesh with the main gear 5.

[0021] To improve the stability of the transmission structure during operation, three positioning columns 8 evenly distributed with the center of the first worm wheel 62 as the center are fixed on the first worm wheel 62; the first worm wheel 62 is fixedly installed inside the third joint frame 3 through the positioning columns 8, at the connection between the second joint frame 2 and the third joint frame 3; three positioning columns 8 evenly distributed with the center of the second worm wheel 72 as the center are fixed on the second worm wheel 72; the second worm wheel 72 is fixedly installed inside the first joint frame 1 through the positioning columns 8, at the connection between the second joint frame 2 and the first joint frame 1.

[0022] The working principle of the transmission structure of this bionic mechanical finger: When the motor 4 operates, the motor 4 controls the rotation of its rotating shaft, and the main gear 5 is driven to rotate by the rotating shaft of the motor. Since the first driven gear 63 and the second driven gear 73 are meshed with the main gear 5, the main gear 5 drives the first driven gear 63 and the second driven gear 73 to rotate, causing the first worm and worm wheel group 6 and the second worm and worm wheel group 7 to start operating. According to the worm transmission principle, and because both ends of the positioning column 8 on the first worm wheel 62 are fixedly connected to the rear end of the third joint frame 3 in a locked manner, and the third joint frame 3 is fixed to the palm frame 9, the worm 61 moves on the first worm wheel 62, and the movement of the worm 61 drives the second joint frame 2 to rotate, realizing the bending or stretching movement at the second joint of the finger; similarly, according to the worm transmission principle, and because both ends of the positioning column 8 on the second worm wheel 72 are fixedly connected to the front end of the first joint frame 1 in a locked manner, the second worm wheel 72 moves on the worm 71, and the rotation of the second worm wheel 72 drives the rotation of the first joint frame 1, realizing the bending or stretching movement at the first joint of the finger.

[0023] The present invention uses a worm and worm wheel group in the transmission structure. By utilizing the characteristic that the transmission ratio between the gears of the worm and worm wheel group is relatively large, the force borne by the finger is increased relative to that of other designs, the grasping force of the finger is increased, the force generated by a small motor becomes larger under the action of the transmission ratio of the worm and worm wheel group, and it can be self-locked to make the grasping stable and will not loosen without power. Embodiment 2:

[0024] A bionic manipulator, as Figure 5 、 Figure 6 shown, includes a palm frame 9 and five joint frames of bionic mechanical fingers. The third joint frames 3 of the five joint frames of bionic mechanical fingers are sequentially fixedly connected to the palm frame 9; the transmission structures of the bionic mechanical fingers described in Embodiment 1 are installed inside the joint frames of the five bionic mechanical fingers. The fingers of this bionic manipulator can all bend and stretch relative to the palm frame 9 independently, and have the characteristic of stable grasping.

[0025] The parts not involved in the present invention are the same as or can be implemented by the prior art. The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is only limited to the descriptions of the above embodiments. For those of ordinary skill in the technical field to which the present invention pertains, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should all be regarded as falling within the patent protection scope determined by the claims submitted for the present invention.

Claims

1. A transmission structure of a bionic mechanical finger, adapted to be installed inside the joint frame of the bionic mechanical finger. The joint frame includes a first joint frame, a second joint frame and a third joint frame. The rear end of the first joint frame is hingedly connected to the front end of the second joint frame. The rear end of the second joint frame is hingedly connected to the front end of the third joint frame. The front end of the first joint frame serves as a free end. It is characterized in that: The transmission structure includes a motor, a worm and worm gear set I, and a worm and worm gear set II; the motor is installed on the second joint frame body, a main gear is arranged on the rotating shaft of the motor, and the motor can drive the main gear to rotate through the rotating shaft; The worm and worm gear set I is installed at the connection of the second joint frame body and the third joint frame body; the worm and worm gear set II is installed at the connection of the second joint frame body and the first joint frame body; the worm and worm gear set I and the worm and worm gear set II are respectively located on both sides of the main gear; when the motor operates, the main gear drives the worm and worm gear set I and the worm and worm gear set II to move.

2. The transmission structure of a bionic mechanical finger according to claim 1, characterized in that: The worm and worm gear set I includes a worm I and a worm gear I; a driven gear I is arranged at one end of the worm I; the driven gear I and the worm I rotate coaxially together; the worm I is rotatably arranged inside the second joint frame body; the driven gear I meshes with the main gear; the worm gear I is fixedly arranged inside the third joint frame body; when the motor operates, the main gear drives the driven gear I to rotate, thereby driving the worm and worm gear set I to move.

3. The transmission structure of a bionic mechanical finger according to claim 1 or 2, characterized in that: The worm and worm gear set II includes a worm II and a worm gear II; a driven gear II is arranged at one end of the worm II; the driven gear II and the worm II rotate coaxially together; the worm II is rotatably arranged inside the second joint frame body; the driven gear II meshes with the main gear; the worm gear II is fixedly arranged inside the first joint frame body; when the motor operates, the main gear drives the driven gear II to rotate, thereby driving the worm and worm gear set II to move.

4. The transmission structure of a bionic mechanical finger according to claim 3, characterized in that: Three positioning columns evenly distributed with the center of the worm gear I as the center are fixed on the worm gear I; the worm gear I is fixedly arranged inside the third joint frame body through the positioning columns; three positioning columns evenly distributed with the center of the worm gear II as the center are fixed on the worm gear II; the worm gear II is fixedly arranged inside the first joint frame body through the positioning columns.

5. A bionic manipulator, comprising a palm frame and five bionic mechanical finger joint frames, and the third joint frames of the five bionic mechanical finger joint frames are fixedly connected to the palm frame in sequence; characterized in that: The transmission structure of the bionic mechanical finger described in claim 1 is installed inside each of the five bionic mechanical finger joint frame bodies.

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