Humanoid finger based on integrated linkage and simulation method thereof

Abstract

The invention discloses an integrated linkage-based human-like finger and a simulation method thereof, a U-shaped fork arm is designed at a metacarpophalangeal joint, the U-shaped fork arm is connected with a phalanx outer frame through a phalanx outer frame bearing, and a driving motor works to drive corresponding screw rods to rotate synchronously and paired rotating rod connecting corner fittings to move up and down; the corresponding concave fisheye seat, fisheye connecting rod, convex fisheye seat and bow-shaped connecting rod are driven to move up and down, the bow-shaped connecting rod moves up and down, the bow-shaped connecting rod on the left side moves up and down to drive a U-shaped fork arm matched with the bow-shaped connecting rod to rotate around a phalanx outer frame bearing, and the U-shaped fork arm rotates at the phalanx outer frame bearing to achieve flexible left-right swing of fingers. The motor and the guide rail are integrated, a connecting rod structure is adopted, strength is high, stability is high, and the swing angle of the fingers can be accurately controlled; the device has multiple degrees of freedom, can efficiently simulate graded bending and free swinging of human fingers with high quality, not only saves internal space and increases structural strength, but also improves assembly convenience and interchangeability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of artificial intelligence robots, and particularly relates to a humanoid finger capable of simulating human fingers to realize left and right swinging and bending and the like. BACKGROUND

[0002] The human hand is very complex, which is composed of nearly 54 bones, accounting for about one fourth of the total number of bones in the human body. At the same time, the muscle structure driving the human hand is also extremely complex. Therefore, interpreting the quite complex functions of the human hand is a problem that has not been solved so far, and most of the functions that the human hand can achieve are completed by the fingers, so it is more important to interpret the functions of the human fingers.

[0003] In order to realize these complex functions of the human fingers by robots, at present, the representative core mechanisms of many humanoid fingers are mainly divided into three types: one is a motor direct driving mechanism; two is a tendon driving mechanism; three is a connecting rod driving mechanism. Among them, the first motor direct driving mechanism has high driving efficiency for the joint and strong ability to arrange the joint at the required position, but it is too dependent on the motor, the high-performance motor increases the cost, and the large weight of the motor will lead to large inertia, so it is difficult to well meet the performance of flexibility and high efficiency by using the motor driving mechanism. The second tendon driving mechanism has the potential to achieve the functions consistent with the human fingers and can generate high fingertip force, but when the two tendons are connected like the antagonistic muscles of the human body, pre-strain needs to be applied, which will lead to efficiency reduction, in addition, when a tendon connects the joint, it will increase the difficulty of controlling the spring side force, so it is also difficult to achieve flexibility and high efficiency. The third connecting rod driving mechanism has the advantages of bidirectional control of the joint, firmness, easy manufacturing and maintenance, but its working space is small and the degree of freedom is low, which leads to the decrease of flexibility of the humanoid finger.

[0004] Therefore, the current humanoid fingers are still difficult to achieve high freedom and high stability functions, such as the dexterous hand robot disclosed in the document with the patent publication number CN114536382A and the name "neural mimic dexterous hand robot", which uses a healthy rope to drive the movement of the robot hand. Due to the healthy rope drive, the swing amplitude of the robot hand is difficult to accurately control, and there is a low precision defect. In addition, because the healthy rope is a flexible transmission component, it is prone to stretching and relaxation during transmission, and the stability is poor. The dexterous hand disclosed in the document with the patent publication number CN119347827A and the name "bionic thumb mechanism and dexterous hand" uses a limiting hole to realize finger driving, which greatly limits the flexible movement of the finger. First, the finger cannot realize left and right swing, and only has a one-dimensional bending in the forward direction. Second, based on the driving mode of the limiting hole, the joints of the finger are connected to each other, one ring after another. Once there is a bending tendency, the joints of the entire finger will be affected by the previous joint, and bending will occur from bottom to top, and straight bending cannot be realized. SUMMARY

[0005] The purpose of the present application is to solve the above-mentioned problems existing in the current humanoid fingers, and to propose a kind of humanoid finger based on integrated linkage and simulation method, which has more efficient dexterity, higher stability and precise controllability.

[0006] To achieve the above-mentioned purpose, the technical scheme adopted by the present application based on the integrated linkage type humanoid finger is as follows: left-right symmetrical structure, including phalanx outer frame, characterized in that: the bottom of the U-shaped fork arm is connected with the phalanx outer frame bearing seat at the top of the phalanx outer frame through the phalanx outer frame bearing in the middle, three straight line moving guide rails are distributed at the three vertices of the equilateral triangle with two on the front side and one on the back side, each straight line moving guide rail is connected with one rotary rod connecting angle piece through a pair of screw nut structures, and each screw rod lower end is coaxially fixedly connected with one driving motor; the lower end of the fisheye connecting rod on the front left side and the front right side is fixedly connected with one concave fisheye seat, and the upper end is fixedly connected with one convex fisheye seat, the concave fisheye seat is connected with the corresponding rotary rod connecting angle piece through one connecting shaft, the convex fisheye seat, the upper end of the left and right side arc connecting rod, the front end and the upper end of the pointer type crank are connected through sixteen connecting shafts; the lower end of the fisheye connecting rod on the back side is fixedly connected with the third convex fisheye seat, the third convex fisheye seat is connected with the first rotary rod connecting angle piece through the fifteenth connecting shaft, the middle segment of the third fisheye connecting rod passes through the cross sleeve, the upper end of the third fisheye connecting rod is connected with the lower end of the pointer type crank through the third connecting shaft, and the lower end of the front right side arc connecting rod is connected with the right arm of the U-shaped fork arm and the right sleeve of the cross sleeve through the twelfth connecting shaft;

[0007] The right side arch type connecting rod is fixedly connected with the bottom end of the second right side frame, and the rear end of the pointer type crank is connected with the bottom end of the first connecting rod through the fourth connecting shaft; the lower end of the left side arch type connecting rod is connected with the left arm of the U-shaped fork and the left sleeve of the cross sleeve through the eleventh connecting shaft, and the bottom end of the first left side frame is fixedly connected with the left side arch type connecting rod; the upper end of the second right side frame is connected with the upper end of the first left side frame through the sixth connecting shaft, the upper end of the second right side frame is connected with the bottom end of the fourth right side frame and the bottom end of the third left side frame through the seventh connecting shaft, and the bottom end of the second connecting rod is connected with the top end of the first connecting rod through the fifth connecting shaft; the top ends of the left and right side frames are connected with the left and right supports below the corresponding fingertips through corresponding connecting shafts, the top end of the second connecting rod is connected with the rear support below the fingertips through the tenth connecting shaft, and the supports below the three fingertips are fixedly connected with the fingertips.

[0008] The technical scheme of the integrated linkage type human-like finger simulation method is that: the driving motor works to drive the corresponding lead screw to rotate synchronously, the matched rotary rod connecting angle piece moves up and down to drive the corresponding concave fish eye seat, fish eye connecting rod, convex fish eye seat and arch type connecting rod to move up and down, the arch type connecting rod moves up and down to drive the matched U-shaped fork arm of the left side arch type connecting rod to rotate around the phalanx outer frame bearing, and the rotation of the U-shaped fork arm drives the matched cross sleeve and the third fish eye connecting rod to swing left and right, so that the human-like finger swings left and right.

[0009] The technical scheme of the integrated linkage type human-like finger simulation method is that: the driving motors on the left side and the right side rotate forward synchronously, the corresponding rotary rod connecting angle pieces move downward synchronously, the driving motor on the rear side reverses synchronously, and the corresponding rotary rod connecting angle piece moves upward synchronously; the top parts of the arch type connecting rods on the left side and the right side move downward through the corresponding left and right connecting shafts, concave fish eye seats, fish eye connecting rods and convex fish eye seats, when the top parts of the arch type connecting rods on the left side and the right side move downward, the front ends of the pointer type cranks move downward synchronously, and the bottom parts of the arch type connecting rods on the left side and the right side rotate around the U-shaped fork arm towards the front and downward, so that the human-like finger metacarpophalangeal joint bends forward.

[0010] Further, when the rear middle rotating rod connecting angle piece moves upward synchronously, the pointer type crank lower end moves upward synchronously through the corresponding No. 15 connecting shaft, convex eye seat and fish eye connecting rod, the pointer type crank moves downward as a whole, and the rear end of the pointer type crank rotates upward, the No. 1 connecting rod moves upward through the No. 4 connecting shaft, and the bottom of the left and right side bow type connecting rods rotates forward and downward around the U-shaped fork arm 29 through the No. 11 connecting shaft and the No. 12 connecting shaft, thereby driving the corresponding left and right side skeletons to rotate forward and downward, the No. 1 connecting rod 4 moves upward, thereby driving the front end of the No. 2 connecting rod to move upward, the top of the left and right side skeletons drives the rear end of the No. 2 connecting rod to move downward, and the No. 2 connecting rod moves downward as a whole but also has a motion amplitude of rotating backward around the No. 5 connecting shaft; at the same time, the top of the left and right side skeletons rotates forward and upward around the No. 7 connecting shaft, thereby driving the corresponding skeleton to rotate forward and downward around the No. 7 connecting shaft through the No. 7 connecting shaft, and the proximal interphalangeal joint of the artificial finger bends forward.

[0011] Further, when the left and right side skeletons rotate forward and downward around the No. 7 connecting shaft, the top drives the front part of the fingertip to rotate forward and downward, and the No. 2 connecting rod moves downward as a whole but also has a motion of rotating backward around the No. 10 connecting shaft, the top of the No. 2 connecting rod drives the rear part of the fingertip to rotate forward and downward, the fingertip rotates forward, and the distal interphalangeal joint of the artificial finger bends forward.

[0012] The artificial finger has the advantages that:

[0013] 1. The U-shaped fork arm is designed at the metacarpophalangeal joint, the U-shaped fork arm is connected with the phalangeal outer frame through a phalangeal outer frame bearing, the U-shaped fork arm rotates at the phalangeal outer frame bearing to realize flexible left and right swinging of the finger, the connecting rod structure is adopted, the strength is high, the stability is strong, and the finger swinging angle can be accurately controlled, the special shapes of the connecting rods are connected ingeniously, and integrated linkage is realized.

[0014] 2. The bottom of the No. 1 left side skeleton and the bottom of the No. 2 right side skeleton are connected with the left and right side bow type connecting rods through bearings and connecting shafts, the top of the No. 1 left side skeleton and the No. 2 right side skeleton are in a “7” type structure, and the structural stability and strength during finger swinging are ensured.

[0015] 3. The motor and the guide rail are integrated products, internal space is saved, structural strength is increased, and assembly convenience and interchangeability are improved.

[0016] 4. The artificial finger is designed as four joint mechanisms of a palm joint, a metacarpophalangeal joint, a proximal interphalangeal joint and a distal interphalangeal joint, has multiple degrees of freedom, and has the functions of efficient and high-quality simulation of human finger hierarchical bending and free swinging, can realize hook-shaped seven-character shape bending, and can also realize straight bending, left and right swinging and other actions.

[0017] 5、The present application is a high-performance and stable working artificial finger, which realizes left and right swing and various state bending above the metacarpophalangeal joint, multi-stage bending forward, even combination of left and right swing and forward bending, realizes integrated linkage, makes the artificial finger more flexible, not only can stably, accurately and flexibly swing left and right and bend forward, but also can realize complex finger multi-dimensional movement through linkage, can perform multi-degree-of-freedom movement in a small space while keeping stable performance. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described in detail below in combination with the drawings and specific embodiments:

[0019] Figure 1 The figure is a schematic diagram of four joint mechanisms of the artificial finger based on integrated linkage in the initial state of the present application;

[0020] Figure 2 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application;

[0021] Figure 3 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application; Figure 2 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application;

[0022] Figure 4 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application; Figure 2 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application;

[0023] Figure 5 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application; Figure 3 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application;

[0024] Figure 6 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application; Figure 4 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application;

[0025] Figure 7 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application; Figure 3 The figure is a schematic diagram of the artificial finger based on integrated linkage in the direction of the present application;

[0026] Reference: 1. Finger tip; 2. Second connecting rod; 3. Fifth connecting shaft; 4. First connecting rod; 5. Cross sleeve; 6. First fisheye connecting rod; 7. Second screw rod; 8. Third fisheye connecting rod; 9. First cylindrical coupling; 10. Second driving motor; 11. Third driving motor; 12. First driving motor; 13. Third cylindrical coupling; 14. Second cylindrical coupling; 15. Third screw rod; 16. First screw rod; 17. Second fisheye connecting rod; 18. Second right side skeleton; 19. First left side skeleton; 20. Seventh connecting shaft; 21. Sixth connecting shaft; 22. Fourth right side skeleton; 23. Third left side skeleton; 24. Eighth connecting shaft; 25. Third sliding block; 26. First linear motion guide rail; 27. Phalanx outer skeleton; 28. Phalanx outer skeleton bearing; 29. U-shaped fork arm; 30. Tenth connecting shaft; 31. First convex fisheye seat; 32. Third convex fisheye seat; 33. First concave fisheye seat; 34. Second rotary rod connecting angle piece; 35. Second linear motion guide rail; 36. Second flange bearing; 37. First flange bearing; 38. Third flange bearing; 39. Third linear motion guide rail; 40. Third rotary rod connecting angle piece; 41. Second concave fisheye seat; 42. Second convex fisheye seat; 43. Second connecting shaft; 44. First sliding block; 45. Second sliding block; 46. Fourth connecting shaft; 47. Third connecting shaft; 48. First connecting shaft; 49. Pointer type crank; 50. Ninth connecting shaft; 51. First rotary rod connecting angle piece; 52. Right side bow type connecting rod; 53. Left side bow type connecting rod; 54. Eleventh connecting shaft; 55. Twelfth connecting shaft; 56. Thirteenth connecting shaft; 57. Fourteenth connecting shaft; 58. Fifteenth connecting shaft; 59. Phalanx outer skeleton bearing seat; 60. First left side brass embedded nut; 61. Second right side brass embedded nut; 62. Third middle brass embedded nut; 63. Sixteenth connecting shaft; 64. Right side bracket below finger tip; 65. Back side bracket below finger tip; 66. Left side bracket below finger tip; 67. Upper support plate of phalanx outer skeleton; 68. Lower support plate of phalanx outer skeleton; 69. Support beam of phalanx outer skeleton; 70. Back plate of phalanx outer skeleton; 100. Metacarpal joint; 200. Metacarpophalangeal joint; 300. Proximal interphalangeal joint; 400. Distal interphalangeal joint. DETAILED DESCRIPTION

[0027] As shown in Figure 1 and Figure 2 , the initial state and orientation of the integrated linkage type human-like finger of the present application is defined as follows: the initial state is that the finger is straightened and the arc surface of the finger tip faces the reader; the position of the finger tip 1 is above or at the top, and the positions of the three driving motors 10, 11 and 12 are below or at the bottom; the arc surface of the finger tip 1 is the front side, and vice versa; the position of the first connecting rod 4 arranged vertically is the middle position of the left and right orientations.

[0028] As shown in Figure 1As shown, the present application is based on integrated linkage type human-like fingers, the overall structure is arranged symmetrically left and right, from bottom to top are palm joint 100, metacarpophalangeal joint 200, proximal interphalangeal joint 300 and distal interphalangeal joint 400, the four joint mechanisms are connected by connecting rods, shafts, bearings, skeletons, angle pieces and the like.

[0029] In combination Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the palm joint 100 includes a phalanx outer frame 27, as shown in Figure 7 The top of the phalanx outer frame 27 is a phalanx outer frame bearing seat 59, the mounting hole of the phalanx outer frame bearing seat 59 penetrates in the front and back direction, the lower end of the phalanx outer frame bearing seat 59 is fixedly connected to the top end of three phalanx outer frame support beams 69 through a U-shaped plate, the three phalanx outer frame support beams 69 are arranged vertically and parallel to each other, distributed at the three vertices of an equilateral triangle, the front two phalanx outer frame support beams 69 are arranged symmetrically left and right, and the rear phalanx outer frame support beam 69 is arranged in the middle behind the front two phalanx outer frame support beams 69, with a distance equal to that between the front two phalanx outer frame support beams 69. Each phalanx outer frame support beam 69 has a mounting hole. The U-shaped opening of the U-shaped plate faces forward, and there are two U-shaped plates, one of which is used to fixedly connect the phalanx outer frame bearing seat 59 above it, and the other is used to stabilize the middle section of the three phalanx outer frame support beams 69. One end of each of the three phalanx outer frame support beams 69 is fixedly connected to a U-shaped base, which is composed of a phalanx outer frame rear plate 70 and a phalanx outer frame upper support plate 67 and a phalanx outer frame lower support plate 68, and the U-shaped opening of the U-shaped base faces forward. The phalanx outer frame upper support plate 67 and the phalanx outer frame lower support plate 68 are the two sides of the U-shaped base, and the phalanx outer frame upper support plate 67 is parallel to the phalanx outer frame lower support plate 68. The phalanx outer frame rear plate 70 is the bottom of the U-shaped base, arranged vertically up and down, and the phalanx outer frame upper support plate 67 is fixedly connected to the upper part of the phalanx outer frame rear plate 70, and the phalanx outer frame lower support plate 68 is fixedly connected to the lower part of the phalanx outer frame rear plate 70. The phalanx outer frame upper support plate 67 and the phalanx outer frame lower support plate 68 are both arranged horizontally, and each has three mounting holes penetrating up and down, used to assemble three column type couplings, and the center points of the three mounting holes are connected to form an equilateral triangle. The three mounting holes of the phalanx outer frame lower support plate 68 are used to assemble three drive motors, and the center points of the three mounting holes are connected to form an equilateral triangle, and vertically project onto the three mounting holes of the phalanx outer frame upper support plate 67.

[0030] The mounting hole of the phalanx outer frame bearing seat 59 is embedded with the phalanx outer frame bearing 28, the middle of the U-shaped bottom of the U-shaped fork arm 29 is connected with the phalanx outer frame 27 through the phalanx outer frame bearing 28, and the U-shaped fork arm 29 can rotate in the phalanx outer frame bearing 28. The two side arms of the U-shaped fork arm 29 are left and right arms, which extend left and right forward, and the front ends of the left and right arms are used for mounting the connecting shaft.

[0031] Each phalanx outer frame support beam 69 of the phalanx outer frame 27 is fixedly connected with a linear motion guide rail through the mounting hole thereon by a bolt, which are a first linear motion guide rail 26, a second linear motion guide rail 35 and a third linear motion guide rail 39. The second linear motion guide rail 35 and the third linear motion guide rail 39 are symmetrically arranged on the front side, and the first linear motion guide rail 26 is arranged on the rear side.

[0032] Each linear motion guide rail 26, 35, 39 is matched with a slider, and each slider can work with the corresponding linear motion guide rail to realize linear sliding up and down. The three sliders are a first slider 44, a second slider 45 and a third slider 25. The first slider 44 works with the first linear motion guide rail 26, the second slider 45 works with the second linear motion guide rail 35, and the third slider 25 works with the third linear motion guide rail 39.

[0033] The front end of each slider 44, 45, 25 is fixedly connected with a rotating rod connecting corner piece through a bolt. The three rotating rod connecting corner pieces are a first rotating rod connecting corner piece 51 on the rear side, a second rotating rod connecting corner piece 34 on the front left side and a third rotating rod connecting corner piece 40 on the front right side. Each rotating rod connecting corner piece 51, 34, 40 has a through hole penetrating from top to bottom, and each rotating rod connecting corner piece 51, 34, 40 is fixedly embedded with a brass nut in the through hole. The three brass nuts are a first brass nut 60 on the front left side, a second brass nut 61 on the front right side and a third brass nut 62 on the rear side.

[0034] Each brass nut 60, 61, 62 is connected with a lead screw in pairs to form a pair of lead screw nut structures. The three lead screws are a first lead screw 16 on the rear side, a second lead screw 7 on the front left side and a third lead screw 15 on the front right side. The third brass nut 62 is paired with the first lead screw 16, the first brass nut 60 is paired with the second lead screw 7, and the second brass nut 61 is paired with the third lead screw 15. Each lead screw can rotate in the corresponding brass nut.

[0035] Each lead screw 16, 7, and 15 is coaxially and fixedly connected at its lower end to a corresponding flange bearing. The three flange bearings are flange bearing 37 (rear center), flange bearing 36 (front left), and flange bearing 38 (rear right). Lead screw 16 is fixedly connected to flange bearing 37, lead screw 7 is fixedly connected to flange bearing 36, and lead screw 15 is fixedly connected to flange bearing 38.

[0036] Each flange bearing 37, 36, and 38 is coaxially fixedly connected to a corresponding cylindrical coupling. Flange bearing 37 is fixedly connected to cylindrical coupling 14, cylindrical coupling 9 is fixedly connected to flange bearing 3, and cylindrical coupling 13 is fixedly connected to it.

[0037] Each cylindrical coupling 14, 9, and 13 is embedded in... Figure 7 The three mounting holes on the support plate 67 of the finger bone frame shown are rotatable. The three cylindrical couplings 14, 9, and 13 are arranged in an equilateral triangle at the support plate 67 of the finger bone frame. The second cylindrical coupling 14 in the middle of the rear side is directly behind the cylindrical couplings on both sides.

[0038] Each cylindrical coupling 14, 9, and 13 is fixedly connected at its bottom to the output shaft of a corresponding drive motor. The output shafts of each drive motor are arranged vertically. The three drive motors are drive motor 12, drive motor 10, and drive motor 11. Specifically, cylindrical coupling 14 is fixedly connected to the output shaft of drive motor 12, cylindrical coupling 9 is fixedly connected to the output shaft of drive motor 10, and cylindrical coupling 13 is fixedly connected to the output shaft of drive motor 11.

[0039] After installation, the rotation center lines of the three lead screws 16, 7, and 15 are parallel to each other; the rotation center lines of the three flange bearings 37, 36, and 38 are parallel to each other; the rotation center lines of the three cylindrical couplings 14, 9, and 13 are parallel to each other; and the rotation center lines of the three drive motors 12, 10, and 11 are parallel to each other. When each drive motor 12, 10, and 11 rotates, it synchronously drives the corresponding cylindrical couplings 14, 9, and 13, flange bearings 37, 36, and 38, and lead screws 16, 7, and 15 above it to rotate. Three flange bearings 37, 36, and 38 are located above the lower support plate 68 of the phalanx frame. Three cylindrical couplings 14, 9, and 13 are located between the upper support plate 67 and the lower support plate 68 of the phalanx frame. The motor housings of each drive motor 12, 10, and 11 pass through and are fixed to three mounting holes on the lower support plate 68 of the phalanx frame. The three drive motors 12, 10, and 11 are arranged in an equilateral triangle at the lower support plate 68 of the phalanx frame. The first drive motor 12, located in the middle of the rear side, is behind the two drive motors.

[0040] The metacarpophalangeal joints 200 are approximately symmetrical, and the connection methods of each corresponding component are also consistent. This includes three fisheye connecting rods, three corresponding concave fisheye seats, and three convex fisheye seats. The three fisheye connecting rods are: fisheye connecting rod 6 on the front left, fisheye connecting rod 17 on the front right, and fisheye connecting rod 8 in the middle of the rear. The lower end of fisheye connecting rod 17 on the front right is fixedly connected to concave fisheye seat 41, and the upper end of fisheye connecting rod 17 is fixedly connected to convex fisheye seat 42. Concave fisheye seat 41 is connected to the corner piece 40 of the third rotating rod on the front right via a fourteenth connecting shaft 57. The fourteenth connecting shaft 57 is arranged in the left-right direction, allowing concave fisheye seat 41 to rotate around the fourteenth connecting shaft 57 and also to perform multi-dimensional oscillation in space. All concave and convex fisheye seats involved in this invention possess this multi-dimensional oscillation function.

[0041] The No. 2 convex fisheye seat 42 is connected to the upper end of the right bow-shaped connecting rod 52, the front end of the pointer-shaped crank 49, the upper end of the left bow-shaped connecting rod 53, and the No. 1 convex fisheye seat 31 via the No. 16 connecting shaft 63, and can rotate around the No. 16 connecting shaft 63. The lower end of the No. 3 fisheye connecting rod 8 in the middle of the rear side is fixedly connected to the No. 3 convex fisheye seat 32. The No. 3 convex fisheye seat 32 is connected to the No. 1 rotating rod connecting angle piece 51 via the No. 15 connecting shaft 58. The middle section of the No. 3 fisheye connecting rod 8 passes through the cross sleeve 5. The No. 3 fisheye connecting rod 8 and the cross sleeve 5 have a suitable assembly gap, and can swing left and right and slide up and down inside the cross sleeve 5. The upper end of the No. 3 fisheye connecting rod 8 is connected to the lower end of the pointer-shaped crank 49 via the No. 3 connecting shaft 47 in the left and right horizontal direction, and the upper part of the No. 3 fisheye connecting rod 8 can rotate around the No. 3 connecting shaft 47. The lower end of the front right bow-shaped connecting rod 52 is connected to the right arm of the U-shaped fork arm 29 and the right sleeve of the cross sleeve 5 via the No. 12 connecting shaft 55, and the lower end of the right bow-shaped connecting rod 52, the right arm of the U-shaped fork arm 29, and the right sleeve of the cross sleeve 5 can all rotate around the No. 12 connecting shaft 55.

[0042] The right bow-shaped connecting rod 52 is fixedly connected to the bottom end of the second right frame 18 by bolts. The rear end of the pointer-shaped crank 49 is connected to the bottom end of the first connecting rod 4 by the fourth connecting shaft 46 arranged horizontally on the left and right. The rear end of the pointer-shaped crank 49 and the bottom end of the first connecting rod 4 can rotate around the fourth connecting shaft 46.

[0043] Similarly, the lower end of the first fisheye connecting rod 6 on the front left is fixedly connected to the first concave fisheye seat 33, and the upper end is fixedly connected to the first convex fisheye seat 31. The first concave fisheye seat 33 is connected to the second rotating rod connecting corner piece 34 on the front left through the thirteenth connecting shaft 56, which is arranged in the left-right direction. The first concave fisheye seat 33 can rotate around the thirteenth connecting shaft 56 and also swing in multiple dimensions in space around the thirteenth connecting shaft 56. The lower end of the left bow-shaped connecting rod 53 is connected to the left arm of the U-shaped fork arm 29 and the left sleeve of the cross sleeve 5 through the eleventh connecting shaft 54, and the lower end of the left bow-shaped connecting rod 53, the left arm of the U-shaped fork arm 29, and the left sleeve of the cross sleeve 5 can all rotate around the eleventh connecting shaft 54. The left bow-shaped connecting rod 53 is fixedly connected to the bottom end of the first left frame 19 by bolts.

[0044] All the fisheye links and convex and concave fisheye seats in the metacarpophalangeal joint 200 are fixedly connected according to specific positions; the convex or concave fisheye seat is assembled with the corresponding connecting shaft. Due to the special internal structure of the fisheye seat, it can not only rotate around the axis but also swing in multiple dimensions in space.

[0045] The proximal interphalangeal joint 300 includes a second connecting rod 2, a third left-side skeleton 23, a fourth right-side skeleton 22, a fifth connecting shaft 3, a sixth connecting shaft 21, and a seventh connecting shaft 20, which are connected to the metacarpophalangeal joint 200 via the skeleton, connecting rod, and connecting shaft. The proximal interphalangeal joint 300 is completely symmetrical from left to right, and the connection methods of each corresponding component are also consistent. It has four skeletons: a first left-side skeleton 19, a third left-side skeleton 23, a second right-side skeleton 18, and a fourth right-side skeleton 22. The lower parts of the third left-side skeleton 23 and the fourth right-side skeleton 22 have an arc-shaped structure with the arc-shaped opening facing forward, which ensures no spatial interference and improves the smoothness and stability of the structure's operation.

[0046] The left side frame 19 and the right side frame 18 of No. 2 have the same structure, both being "7" shaped. The upper front side of the right side frame 18 of No. 2 is connected to the lower rear side of the bottom of the connecting rod 2 of No. 2 and the upper front side of the left side frame 19 of No. 1 via connecting shaft 21 of No. 6. Connecting shaft 21 of No. 6 is arranged horizontally, and the right side frame 18 of No. 2, connecting rod 2 of No. 2, and the left side frame 19 of No. 1 can all rotate around connecting shaft 21 of No. 6. The upper rear side of the right side frame 18 of No. 2 is connected to the lower end of the right side frame 22 of No. 4 and the lower end of the left side frame 23 of No. 3 via connecting shaft 20 of No. 7, and the right side frame 18 of No. 2, the right side frame 22 of No. 4, and the left side frame 23 of No. 3 can all rotate around connecting shaft 20 of No. 7. The lower front side of the connecting rod 2 of No. 2 is connected to the upper end of the connecting rod 4 of No. 1 via connecting shaft 3 of No. 5, and the connecting rod 2 of No. 2 and the connecting rod 4 of No. 1 can both rotate around connecting shaft 3 of No. 5. Link 4 is parallel to the three linear guide rails 26, 35, and 39 in the lower palm joint 100.

[0047] The distal interphalangeal joint 400 is completely symmetrical on both sides, and the connection method of each component on the left side is consistent. This includes fingertip 1, No. 8 connecting shaft 24, No. 9 connecting shaft 50, No. 10 connecting shaft 30, left support below the fingertip 66, rear support below the fingertip 65, and right support below the fingertip 64, etc. The distal interphalangeal joint 400 is connected downwards to the proximal interphalangeal joint 300 via a skeleton, connecting rod, and connecting shaft. The top of the No. 4 right skeleton 22 is connected to the right support below the fingertip 64 via No. 8 connecting shaft 24, and both the No. 4 right skeleton 22 and the right support below the fingertip 64 can rotate around No. 8 connecting shaft 24. The top of the No. 3 left skeleton 23 is connected to the left support below the fingertip 66 via No. 9 connecting shaft 50, and both the No. 3 left skeleton 23 and the left support below the fingertip 66 can rotate around No. 9 connecting shaft 50. The top of link 2 is connected to the rear support 65 below the fingertip via a tenth shaft 30, and both link 2 and the rear support 65 below the fingertip can rotate around the tenth shaft 30. The right support 64 below the fingertip, the left support 66 below the fingertip, and the rear support 65 below the fingertip are all fixedly connected to the fingertip.

[0048] See Figures 1-7 As shown, the specific implementation process of this invention, based on an integrated and interconnected human-like finger, to achieve flexible left and right swinging and bending, is as follows:

[0049] The humanoid finger's left-right swinging mechanism: The left-right swinging is mainly achieved by the integrated linkage of the palm joint 100 and the metacarpophalangeal joint 200 of the humanoid finger. The operation steps on the left side are as follows: When the finger is fully extended, it is in the initial state. The second drive motor 10 works, driving the corresponding first cylindrical coupling 9, the second flange bearing 36, and the second lead screw 7 to rotate synchronously. The rotation of the second lead screw 7 causes its paired first left brass nut 60 to move up and down. The up and down movement of the first left brass nut 60 causes its paired second rotating rod connecting corner piece 34 to move up and down. The up and down movement of the second rotating rod connecting corner piece 34 causes its paired second slider 45 to move in a straight line. The guide rail 35 slides up and down; the second rotating rod connecting corner piece 34 moves up and down, driving its corresponding first concave fisheye seat 33 to move up and down through the thirteenth connecting shaft 56. The first concave fisheye seat 33 moves up and down, driving its paired first fisheye connecting rod 6 and first convex fisheye seat 31 to move up and down. The first convex fisheye seat 31 moves up and down, driving its paired left bow-shaped connecting rod 53 to move up and down through the first connecting shaft 48. The left bow-shaped connecting rod 53 moves up and down, driving its paired U-shaped fork arm 29 to rotate around the finger bone outer frame bearing 28. The rotation of the U-shaped fork arm 29 drives its paired cross sleeve 5 and third fisheye connecting rod 8 to swing left and right, realizing the left and right swinging function of human-like fingers. The internal structure of the palm joint 100 and the metacarpophalangeal joint 200 is completely symmetrical on the left and right sides. The swinging method on the right side is the same as that on the left side, and will not be described again.

[0050] When the humanoid finger swings to the left, drive motor 10 rotates forward, driving the corresponding cylindrical coupling 9, flange bearing 36, and lead screw 7 to rotate forward synchronously. The forward rotation of lead screw 7 causes the connecting piece 34 of the rotating rod to move downward through the paired left brass nut 60. At the same time, drive motor 11 rotates in reverse, driving the corresponding cylindrical coupling 13, flange bearing 38, and lead screw 15 to rotate in reverse synchronously. The reverse rotation of lead screw 15 causes the connecting piece 40 of the rotating rod to move upward through the paired right brass nut 61. When the connecting piece 34 of the rotating rod moves downward, it causes the U-shaped fork arm 2 to move upward through coupling 56, concave fisheye seat 33, fisheye connecting rod 6, convex fisheye seat 31, coupling 48, and left bow-shaped connecting rod 53. 9 rotates around the outer bearing 28 of the finger bone frame to the lower left, and the U-shaped fork arm 29 rotates to the lower left, driving the third fisheye connecting rod 8 to swing to the left through the cross sleeve 5; when the third rotating rod connecting corner piece 40 moves upward, the U-shaped fork arm 29 rotates around the outer bearing 28 of the finger bone frame to the upper left through the fourteenth connecting shaft 57, the second concave fisheye seat 42, the second fisheye connecting rod 17, the second convex fisheye seat 42, the sixteenth connecting shaft 63, and the right bow-shaped connecting rod 52, and the U-shaped fork arm 29 rotates to the upper left, driving the third fisheye connecting rod 8 to swing to the left through the cross sleeve 5; at this time, the internal structures of the humanoid finger palm joint 100 and the metacarpophalangeal joint 200 are integrated and linked, and the proximal interphalangeal joint 300, the distal interphalangeal joint 400 and the fingertip all tilt to the left, realizing the leftward swinging function of the humanoid finger.

[0051] When the humanoid finger swings to the right, drive motor 10 reverses, causing the corresponding cylindrical coupling 9, flange bearing 36, and lead screw 7 to reverse synchronously. The reverse rotation of lead screw 7 causes lead screw 7 to move the connecting bracket 34 of the rotating rod upwards via the mating brass nut 60 on the left side of the first position. At the same time, drive motor 11 rotates forward, causing the corresponding cylindrical coupling 13, flange bearing 38, and lead screw 15 to rotate synchronously. The forward rotation of lead screw 15 causes lead screw 40 of the rotating rod downwards via the mating brass nut 61 on the right side of the second position. When the connecting bracket 34 of the rotating rod moves upwards, it causes the U-shaped fork to move downwards via coupling 56, concave fisheye seat 33, fisheye connecting rod 6, convex fisheye seat 31, coupling 48, and left bow-shaped connecting rod 53. Arm 29 rotates around the phalanx outer frame bearing 28 to the upper right. The rotation of U-shaped fork arm 29 to the upper right drives the No. 3 fisheye connecting rod 8 to swing to the right through the cross sleeve 5. When the No. 3 rotating rod connecting corner piece 40 moves downward, it causes U-shaped fork arm 29 to rotate around the phalanx outer frame bearing 28 to the lower right through the No. 14 connecting shaft 57, the No. 2 concave fisheye seat 42, the No. 2 fisheye connecting rod 17, the No. 2 convex fisheye seat 42, the No. 16 connecting shaft 63, and the right bow-shaped connecting rod 52. The rotation of U-shaped fork arm 29 to the lower right drives the No. 3 fisheye connecting rod 8 to swing to the right through the cross sleeve 5. At this time, the internal structures of the humanoid finger palm joint and metacarpophalangeal joint are integrated and linked. The proximal interphalangeal joint 300, the distal interphalangeal joint 400 and the fingertip all tilt to the right, realizing the rightward swinging function of the humanoid finger.

[0052] The humanoid finger bending action is mainly achieved through the integrated linkage of the palm joint 100, metacarpophalangeal joint 200, proximal interphalangeal joint 300, and distal interphalangeal joint 400. The initial state is when the finger is straight, combined with the description of the humanoid finger's left-right swinging action. Drive motors 10 and 11 rotate synchronously forward, driving their corresponding lead screws to rotate forward, causing the connecting brackets 34 and 40 of the second and third rotary rods to move downwards synchronously. Simultaneously, drive motor 12 rotates synchronously in reverse, driving the corresponding cylindrical coupling 14, flange bearing 37, and lead screw 16 to rotate synchronously in reverse. The reverse rotation of lead screw 16, through the mating intermediate brass nut 62, causes the connecting bracket 51 of the first rotary rod to move upwards synchronously; the connecting brackets 34 and 40 of the second and third rotary rods move downwards synchronously. When in motion, the tops of the bow-shaped connecting rods on the left and right sides move downwards via the corresponding connecting shafts, concave fish-eye seats, fish-eye connecting rods, and convex fish-eye seats. As the tops of the bow-shaped connecting rods on both sides move downwards, the front end of the pointer-shaped crank 49 moves downwards synchronously via the first connecting shaft 48. At this time, the bottoms of the bow-shaped connecting rods on the left and right sides rotate forward and downward around the U-shaped fork arm 29 via the eleventh connecting shaft 54 ​​and the twelfth connecting shaft 55. At this time, the internal structures of the humanoid finger palm joint and metacarpophalangeal joint are integrated and linked, realizing the function of forward bending at the metacarpophalangeal joint of the humanoid finger.

[0053] As the humanoid finger's metacarpophalangeal joint bends forward, and simultaneously the first rotating rod connecting the corner piece 51 moves upward, the lower end of the pointer-type crank 49 moves upward synchronously via the corresponding fifteenth connecting shaft 58, the third convex eye seat 32, and the third fisheye connecting rod 8. At this time, the pointer-type crank 49 moves downward as a whole, but at the same time, the rear end of the pointer-type crank 49 has an upward rotation amplitude. The upward rotation of the rear end of the pointer-type crank 49 drives the first connecting rod 4 to move upward through the fourth connecting shaft 46; simultaneously, when the bottom of the bow-shaped connecting rods on the left and right sides rotates forward and downward around the U-shaped fork arm 29 via the eleventh connecting shaft 54 ​​and the twelfth connecting shaft 55, it drives the corresponding left and right side skeletons to rotate forward and downward. When link 4 moves upward, it drives link 2's front end to move upward via link 3. At the same time, the tops of left frame 19 and right frame 18 move link 2's rear end downward via link 21. Link 2 moves downward overall, but also has a backward rotation amplitude around link 3. Meanwhile, the tops of left frame 19 and right frame 18 rotate forward and upward around link 20, and at the same time, the corresponding left frame 23 and right frame 22 rotate forward and downward around link 20 via link 20. At this time, the function of forward bending at the proximal interphalangeal joint of the human-like finger is realized.

[0054] Based on the forward bending of the proximal interphalangeal joint of the humanoid finger, the left skeleton 23 (No. 3) and the right skeleton 22 (No. 4) rotate forward and downward around the seventh connecting shaft 20. The tops of the left skeleton 23 (No. 3) and the right skeleton 33 (No. 4) respectively drive the front part of the fingertip to rotate forward and downward through the ninth connecting shaft 50, the eighth connecting shaft 24, the left support 66 below the fingertip, and the right support 64 below the fingertip. Simultaneously, while the second connecting rod 2 generally moves downward, it also rotates backward around the tenth connecting shaft 30. At this time, the top of the second connecting rod 2 drives the rear part of the fingertip to rotate forward and downward through the tenth connecting shaft 30 and the rear support 65 below the fingertip. At this time, the fingertip rotates forward, realizing the forward bending function at the distal interphalangeal joint 400 of the humanoid finger. The straightening function of the humanoid finger can be understood by reversing the above bending working method. By intelligently controlling the working modes of the three drive motors at the bottom of the human-like finger, and through the integrated linkage of various components within the four major mechanisms of the palm joint 100, metacarpophalangeal joint 200, proximal interphalangeal joint 300, and distal interphalangeal joint 400, the human-like finger can achieve multi-dimensional left and right swinging and finger bending states.

[0055] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in this invention may be implemented in other embodiments without departing from the spirit or scope of the invention; therefore, the invention is not to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the disclosed principles and novel features.

[0056] Although the present invention makes extensive use of reference numerals in the figures, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would contradict the spirit of the invention.

Claims

1. A humanoid finger based on integrated linkage, with a bilaterally symmetrical structure, including a phalangeal frame, characterized in that: The bottom center of the U-shaped fork arm is connected to the finger bone outer frame bearing seat at the top of the finger bone outer frame via the finger bone outer frame bearing. Three linear moving guide rails are distributed at the three vertices of an equilateral triangle with two on the front side and one on the rear side. Each linear moving guide rail is connected to a swivel connecting corner piece via a pair of screw and nut structures. Each screw is coaxially fixed to a drive motor at its lower end. A concave fisheye seat is fixedly connected to the lower end of the fisheye connecting rod on the front left and front right sides, and a convex fisheye seat is fixedly connected to the upper end of each. The concave fisheye seat is connected to a corresponding swivel connecting corner piece through a connecting shaft. The convex fisheye seat, the upper end of the left and right bow-shaped connecting rods, the front end and the upper end of the pointer-shaped crank are connected together through a No. 16 connecting shaft. The lower end of the rear fisheye connecting rod is fixedly connected to the No. 3 convex fisheye seat. The No. 3 convex fisheye seat is connected to the No. 1 rotating rod connecting bracket through the No. 15 connecting shaft. The middle section of the No. 3 fisheye connecting rod passes through the cross sleeve. The upper end of the No. 3 fisheye connecting rod is connected to the lower end of the pointer-type crank through the No. 3 connecting shaft. The lower end of the front right bow-shaped connecting rod is connected to the right arm of the U-shaped fork and the right sleeve of the cross sleeve through the No. 12 connecting shaft. The right bow-shaped connecting rod is fixedly connected to the bottom end of the second right frame, and the rear end of the pointer-shaped crank is connected to the bottom end of the first connecting rod through the fourth coupling; the lower end of the left bow-shaped connecting rod is connected to the left arm of the U-shaped fork and the left sleeve of the cross sleeve through the eleventh coupling, and the left bow-shaped connecting rod is fixedly connected to the bottom end of the first left frame. The upper front side of the second right frame and the lower rear side of the second connecting rod are connected to the upper front side of the first left frame via the sixth connecting shaft. The upper rear side of the second right frame is connected to the lower end of the fourth right frame and the lower end of the third left frame via the seventh connecting shaft. The lower front side of the second connecting rod is connected to the upper top of the first connecting rod via the fifth connecting shaft. The tops of the left and right sides of the skeleton are connected to the corresponding left and right supports below the fingertips via a corresponding connecting shaft. The top of the second connecting rod is connected to the rear support below the fingertips via a connecting shaft number ten. All three supports below the fingertips are fixedly connected to the fingertips.

2. The humanoid finger based on integrated linkage as described in claim 1, characterized in that: Each linear guide rail is fitted with a slider, and each slider has a fixed connecting rod at its front end. Each connecting rod has a through hole running vertically through it, and a brass nut is fixedly embedded in each through hole. Each brass nut is paired with a lead screw to form a lead screw and nut structure.

3. The humanoid finger based on integrated linkage according to claim 1, characterized in that: The lower end of each lead screw is coaxially fixedly connected to a corresponding flange bearing, each flange bearing is coaxially fixedly connected to a corresponding cylindrical coupling, and the bottom of each cylindrical coupling is coaxially fixedly connected to the output shaft of a corresponding drive motor.

4. The humanoid finger based on integrated linkage according to claim 3, characterized in that: The rotation center lines of the three lead screws are parallel to each other, the rotation center lines of the three flange bearings are parallel to each other, the rotation center lines of the three cylindrical couplings are parallel to each other, and the rotation center lines of the three drive motors are parallel to each other.

5. The humanoid finger based on integrated linkage according to claim 1, characterized in that: The first connecting rod is parallel to the three linear guide rails.

6. A simulation method for a human-like finger based on integrated linkage as described in claim 1, characterized in that: The drive motor operates, causing the corresponding lead screw to rotate synchronously. The paired screw connecting corner piece moves up and down, causing the corresponding concave fisheye seat, fisheye connecting rod, convex fisheye seat, and bow-shaped connecting rod to move up and down. The bow-shaped connecting rod moves up and down, and the left bow-shaped connecting rod moves up and down, causing its paired U-shaped fork arm to rotate around the finger bone outer frame bearing. The rotation of the U-shaped fork arm causes its paired cross sleeve and No. 3 fisheye connecting rod to swing left and right, realizing the left and right swing of a human-like finger.

7. A simulation method for a human-like finger based on integrated linkage as described in claim 1, characterized in that: The drive motors on the left and right sides rotate synchronously in the forward direction, and the corresponding rotating rod connecting parts move synchronously downward. The drive motor on the rear side rotates synchronously in the reverse direction, and the corresponding rotating rod connecting parts move synchronously upward. The tops of the bow-shaped connecting rods on the left and right sides move downward through the corresponding connecting shafts, concave fish-eye seats, fish-eye connecting rods, and convex fish-eye seats on the left and right sides, respectively. When the tops of the bow-shaped connecting rods on both sides move downward, they drive the front end of the pointer-shaped crank to move downward synchronously. The bottoms of the bow-shaped connecting rods on both sides rotate forward and downward around the U-shaped fork arm, realizing the forward bending of the interphalangeal joints of human fingers.

8. The simulation method according to claim 7, characterized in that: When the rear center connecting rod moves upward synchronously, it causes the lower end of the pointer-shaped crank to move upward synchronously through the corresponding No. 15 connecting shaft, convex eye seat, and fisheye connecting rod. The pointer-shaped crank moves downward as a whole, and at the same time, the rear end of the pointer-shaped crank has an upward rotation amplitude. Through the No. 4 connecting shaft, it drives the No. 1 connecting rod to move upward. At the same time, when the bottom of the bow-shaped connecting rods on the left and right sides rotates forward and downward around the U-shaped fork arm 29 through the No. 11 and No. 12 connecting shafts, it drives the corresponding left and right side skeletons to rotate forward and downward. The No. 1 connecting rod 4 moves upward, driving the front end of the No. 2 connecting rod to move upward. The top of the left and right skeletons drives the rear end of the No. 2 connecting rod to move downward. The No. 2 connecting rod moves downward as a whole, but also has a backward rotation amplitude around the No. 5 connecting shaft. At the same time, the top of the left and right skeletons rotates forward and upward around the No. 7 connecting shaft. Through the No. 7 connecting shaft, it drives the corresponding skeleton to rotate forward and downward around the No. 7 connecting shaft, causing the proximal interphalangeal joint of the humanoid finger to bend forward.

9. The simulation method according to claim 8, characterized in that: The left and right skeletons rotate forward and downward around the seventh axis, and the top of the skeleton drives the front part of the fingertip to rotate forward and downward. At the same time, the second link moves downward in general, but there are also times when it rotates backward around the tenth axis. The top of the second link drives the back part of the fingertip to rotate forward and downward, the fingertip rotates forward, and the distal interphalangeal joint of the humanoid finger bends forward.

10. The simulation method according to claim 6, characterized in that: When the humanoid finger swings to the left, the drive motor on the left rotates forward, and the corresponding rotating rod connecting corner piece moves downward; at the same time, the drive motor on the right rotates in reverse, causing the corresponding rotating rod connecting corner piece to move upward, and the U-shaped fork arm rotates to the upper left, driving the corresponding fisheye connecting rod to swing to the left through the cross sleeve; when the humanoid finger swings to the right, the drive motor on the left rotates in reverse, and at the same time, the drive motor on the right rotates forward.

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