Chain transmission finger and dexterous hand

Abstract

The invention relates to the technical field of robots, in particular to a chain transmission finger which is characterized in that a driving box shell is rotationally connected with the end of a near knuckle framework, two inner walls of the driving box shell are each fixedly provided with a chain wheel, the tops of the chain wheels are connected with the bottom of one end of a near knuckle chain set in a meshed mode, and one end of the near knuckle chain set is fixed to the chain wheels; the top of the other end of the near knuckle chain set is connected with the bottom of a near knuckle chain wheel in a meshed mode, the other end of the near knuckle chain set is fixed to the near knuckle chain wheel, the near knuckle chain wheel is rotationally connected with the other end of the near knuckle framework, the near knuckle chain wheel is matched with the end of the middle knuckle framework in an inserted mode, and the other end of the middle knuckle framework is connected with the fingertip through an auxiliary part. Linkage of all joints of the fingers of the dexterous hand is achieved by arranging the near knuckle chain set and the auxiliary part to work in a matched mode, by arranging the chain mechanism, the advantages of rigidity of connecting rod transmission and flexibility of tendon rope transmission are considered, and the rigidity and transmission precision of the fingers in the transmission process are improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a chain-driven finger and dexterous hand. Background Technology

[0002] A dexterous hand is an end effector for robots. Compared to mechanical grippers, dexterous hands generally have a higher degree of freedom and are used in more diverse scenarios. As an actuator developed based on the human hand, it is very environmentally friendly. Since the human hand can adjust the force applied to grasping objects based on tactile sensations on the skin of the fingers, the fingers of a dexterous hand should be equipped with tactile sensing modules to form a closed-loop control system for perception and grasping.

[0003] However, existing technologies still have shortcomings. Existing finger structures use linkages, tendons, or gears to bend and reset the fingers. Existing transmission components suffer from serious defects such as poor impact resistance, large creep, and large size. Summary of the Invention

[0004] The present invention provides a chain-driven finger and a dexterous hand to address the issues raised in the background art.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution: a chain-driven finger, comprising: a drive housing, a proximal phalanx skeleton, a sprocket, a proximal phalanx chain assembly, a proximal phalanx sprocket, a middle phalanx skeleton, and a fingertip. The end of the proximal phalanx skeleton is rotatably connected to the drive housing. A sprocket is fixed to each of the two inner walls of the drive housing. The top of the sprocket is engaged with the bottom of one end of the proximal phalanx chain assembly. One end of the proximal phalanx chain assembly is fixed to the sprocket. The top of the other end of the proximal phalanx chain assembly is engaged with the bottom of the proximal phalanx sprocket. The other end of the proximal phalanx chain assembly is fixed to the proximal phalanx sprocket. The proximal phalanx sprocket is rotatably connected to the other end of the proximal phalanx skeleton. The proximal phalanx sprocket is inserted into the end of the middle phalanx skeleton. The other end of the middle phalanx skeleton is connected to the fingertip through an auxiliary component.

[0006] Preferably, the auxiliary component includes: a second sprocket, a fingertip sprocket, and a middle knuckle sprocket assembly. The other end of the proximal knuckle skeleton is fixedly connected to the second sprocket. The top of the second sprocket meshes with the bottom of one end of the middle knuckle sprocket assembly. One end of the middle knuckle sprocket assembly is fixed to the second sprocket. The top of the other end of the middle knuckle sprocket assembly meshes with the bottom of the fingertip sprocket. The other end of the middle knuckle sprocket assembly is fixed to the fingertip sprocket. The fingertip sprocket is rotatably connected to the other end of the middle knuckle skeleton and connected to the end of the fingertip.

[0007] Preferably, it further includes a driving component, which includes a motor drive module, a thrust bearing, a worm, and a worm wheel. The motor drive module is connected to the drive housing. The output end of the motor drive module is connected to the end of the worm through a thrust bearing. The other end of the worm is connected to another thrust bearing. The two thrust bearings are rotatably connected to the drive housing. The worm is meshed with the worm wheel. A rotating shaft is connected to the middle of the worm wheel. The rotating shaft is fixedly connected to the end of the proximal phalanx skeleton and rotatably connected to the drive housing.

[0008] Preferably, a mounting rod is connected to the fingertip, a second mounting rod is connected to the middle phalanx skeleton, and a tension spring connects the mounting rod and the second mounting rod.

[0009] Preferably, a force sensor is provided on the fingertip, the force sensor is connected to one end of the wire harness, and the other end of the wire harness is connected to an aviation plug.

[0010] Preferably, the top wall of the proximal phalanx skeleton has a storage groove, one end of which is connected to the side wall of the proximal phalanx skeleton, and the other end of which is connected to a through hole. The storage groove and the wire harness are plugged into each other.

[0011] Preferably, the top of the proximal phalanx skeleton is threaded with two bolts, which are respectively inserted into one end of the pressure plate. The bottom of the pressure plate is engaged with the bottom wall of the storage groove to clamp the wire harness.

[0012] Preferably, it further includes: a base, on which the end of the second driving component is rotatably connected, the second driving component having the same structure as the first driving component, the end of the second driving component being rotatably connected to the base, the second driving component being connected to the second driving housing, the worm gear second at the output end of the second driving component being meshed with the worm wheel second, the ends of the worm wheel second and the finger skeleton being connected to the rotating shaft second, the rotating shaft second being rotatably connected to the second driving housing, and the end of the connecting rod being rotatably connected to the side wall of the finger skeleton, the other end of the connecting rod being rotatably connected to the base.

[0013] Preferably, the inner wall of the drive housing is fitted with the end of the sprocket three, the top of the sprocket three is engaged with the top of the thumb chain assembly, the thumb chain assembly is connected to the sprocket three, and the other end of the knuckle skeleton is rotatably connected to the fingertip sprocket two, which is connected to the end of the fingertip two.

[0014] Preferably, a dexterous hand, suitable for a chain-driven finger as described in any of the above claims, includes: a palm, the top of which is connected to multiple drive housings, a motor drive module placed inside the palm, a motor connected to the palm end face, a gear connected to the motor output end, the gear meshing with a tooth arc, the tooth arc being rotatably connected to the palm end face via a bogie, a second motor connected to the bogie, and the output end of the second motor connected to the end of the base away from the second drive component.

[0015] The beneficial effects of this invention are as follows: In the solution of this invention: By setting up a proximal knuckle chain assembly and auxiliary components to work together, the linkage between various joints of the fingers in the dexterous hand is realized. By setting up a chain mechanism, the rigidity of the linkage transmission and the flexibility of the tendon cable transmission are combined to improve the stiffness and transmission accuracy of the fingers during transmission. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the finger structure of the present invention; Figure 2 This is an exploded view of the finger structure of the present invention; Figure 3 This is a schematic diagram showing the connection relationship between the thrust bearing and the worm gear of the present invention; Figure 4 This is a schematic diagram showing the connection relationship between the mounting rod, the second mounting rod, and the tension spring of the present invention; Figure 5 This is a schematic diagram of the pressure plate structure of the present invention; Figure 6 This is a schematic diagram showing the connection relationship between the base and the driving component two in this invention; Figure 7 This is an exploded view of the thumb structure of the present invention; Figure 8 This is a schematic diagram of the palm structure of the present invention; Figure 9 This is a schematic diagram of the gear mounting position according to the present invention; Figure 10 This is a schematic diagram of the gear and tooth arc meshing connection relationship of the present invention; Figure 11 This is a schematic diagram showing the connection relationship between the screw and the anti-loosening washer of the present invention; Figure 12 This is a schematic diagram showing the relative positional relationship between the spline shaft and the retaining ring of the present invention; Figure 13 This is a schematic diagram showing the relative positional relationship between the cylinder and the push plate of the present invention; Figure 14 This is a cross-sectional view of the mold rod of the present invention; Figure 15 This is a schematic diagram showing the location of the guide tube in this invention; Figure 16 This is a schematic diagram of the meshing connection between the drive gear and the rack in this invention; Figure 17 This is a schematic diagram showing the location of the slot in this invention; Figure 18 This is a two-section view of the auxiliary tube of the present invention; Figure 19 This is a schematic diagram showing the location of the auxiliary through hole in this invention.

[0017] The components include: 1. Drive housing; 2. Proximal knuckle frame; 3. Sprocket; 4. Proximal knuckle chain assembly; 5. Proximal knuckle sprocket; 6. Second sprocket; 7. Finger tip sprocket; 8. Middle knuckle sprocket assembly; 9. Middle knuckle frame; 10. Finger tip; 11. Motor drive module; 12. Thrust bearing; 13. Worm gear; 14. Rotating shaft; 15. Mounting rod; 16. Second mounting rod; 17. Tension spring; 18. Wiring harness; 19. Airplane connector; 20. Storage slot; 21. Through hole; 22. Bolt; 23. Pressure plate; 24. Base; 25. Second drive component; 26. Second drive housing; 27. Second worm gear; 28. Second worm gear; 29. ​​Second rotating shaft; 30. Knuckle frame; 31. Third sprocket; 32. Thumb chain assembly; 33. Second finger tip sprocket; 34. Second finger tip sprocket; 35. Connecting rod; 36. Hand; 37. Motor; 38. Gear; 39. Gear. Arc 40, Bogie 41, Motor II 42, Splined Shaft 43, Screw 44, Anti-loosening Washer 45, Retaining Ring 46, Worktable 47, Cylinder 48, Mold Rod 49, Fixed Seat 50, Adding Pipe 51, Hose 52, Guide Pipe 53, Storage Tank 54, Piston Ring 55, Input Pipe 56, Drive Plate 57, Spring 58, Push Plate 59, Discharge Pipe 60, Pump Housing 61, Rotating Shaft III 62, Pump Impeller 63, Drive Gear 64, Rack 65, Auxiliary Pipe 66, Auxiliary Pipe II 67, Ball Valve 68, Adjusting Motor 69, Output Shaft 70, Through Hole 71, Filter Screen 72, Auxiliary Through Hole 73, Guide Pipe 74, Spring II 75, Sealing Pillar 76, Through Hole III 77, Drive Rod 78, Chamfer 79, Drive Disc 80, Groove 81. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] Example 1: Reference Figures 1-19 A chain-driven finger includes: a drive housing 1, a proximal phalanx skeleton 2, a sprocket 3, a proximal phalanx chain assembly 4, a proximal phalanx sprocket 5, a middle phalanx skeleton 9, and a fingertip 10. The end of the proximal phalanx skeleton 2 is rotatably connected to the drive housing 1. A sprocket 3 is fixed to each of the two inner walls of the drive housing 1. The top of the sprocket 3 is engaged with the bottom of one end of the proximal phalanx chain assembly 4. One end of the proximal phalanx chain assembly 4 is fixed to the sprocket 3. The top of the other end of the proximal phalanx chain assembly 4 is engaged with the bottom of the proximal phalanx sprocket 5. The other end of the proximal phalanx chain assembly 4 is fixed to the proximal phalanx sprocket 5. The proximal phalanx sprocket 5 is rotatably connected to the other end of the proximal phalanx skeleton 2. The proximal phalanx sprocket 5 is inserted into the end of the middle phalanx skeleton 9. The other end of the middle phalanx skeleton 9 is connected to the fingertip 10 through an auxiliary component.

[0020] The principle behind the above scheme is as follows: When the finger is working, the tip of the fingertip 10 bends downward. To achieve this downward bending, the end of the proximal phalanx 2 rotates counterclockwise relative to the drive housing 1. The sprocket 3 is fixed to the inner wall of the drive housing 1. As the proximal phalanx 2 rotates, the proximal phalanx chain 4 begins to wind around the sprocket 3. The proximal phalanx chain 4 moves toward the drive housing 1, thereby driving the proximal phalanx sprocket 5 to rotate counterclockwise. When the proximal phalanx sprocket 5 rotates, the other end of the proximal phalanx 2 provides guidance for its rotation. The counterclockwise rotating proximal phalanx sprocket 5 drives the end of the middle phalanx 9 to rotate counterclockwise. At the same time, the auxiliary component drives the fingertip 10 to rotate counterclockwise relative to the other end of the middle phalanx 9, thus completing the bending state of the finger. When it is necessary to straighten the finger, the end of the proximal phalanx 2 rotates clockwise relative to the drive housing 1. As the proximal phalanx 2 rotates, the proximal phalanx chain 4 begins to release from the sprocket 3. The proximal phalanx chain 4 drives the proximal phalanx sprocket 5 to rotate clockwise. The auxiliary component drives the fingertip 10 to rotate clockwise relative to the other end of the middle phalanx 9, thus completing the straightening of the entire finger.

[0021] The beneficial effects of the above scheme are as follows: By setting up the proximal phalanx chain group 4 and auxiliary components to work together, the linkage between various joints of the fingers of the dexterous hand is realized. By setting up the chain mechanism, the rigidity of the linkage transmission and the flexibility of the tendon cable transmission are combined to improve the stiffness and transmission accuracy of the fingers during transmission. Compared to the dexterous fingers of a gear-driven hand, this device uses an open chain as the transmission component, saving internal space and reducing the size of the transmission equipment.

[0022] Example 2: Reference Figures 1-19 The auxiliary components include: sprocket 2 6, fingertip sprocket 7, and middle knuckle sprocket assembly 8. Sprocket 2 6 is fixedly connected to the other end of the proximal knuckle skeleton 2. The top of sprocket 2 6 is engaged with the bottom of one end of the middle knuckle sprocket assembly 8. One end of the middle knuckle sprocket assembly 8 is fixed on sprocket 2 6. The top of the other end of the middle knuckle sprocket assembly 8 is engaged with the bottom of the fingertip sprocket 7. The other end of the middle knuckle sprocket assembly 8 is fixed on the fingertip sprocket 7. The fingertip sprocket 7 is rotatably connected to the other end of the middle knuckle skeleton 9. The fingertip sprocket 7 is connected to the end of the fingertip 10.

[0023] The principles and beneficial effects of the above scheme are as follows: When the proximal phalanx 2 rotates counterclockwise, since the second sprocket 6 is connected to the other end of the proximal phalanx 2, the second sprocket 6 begins to retract the end of the middle phalanx sprocket assembly 8. The middle phalanx sprocket assembly 8 moves toward the drive housing 1. Then, with the rotational cooperation of the fingertip sprocket 7 and the middle phalanx 9, the middle phalanx sprocket assembly 8 drives the fingertip sprocket 7 to rotate, and the fingertip sprocket 7 synchronously drives the fingertip 10 to rotate counterclockwise. When the proximal phalanx skeleton 2 rotates clockwise, the second sprocket 6 releases the middle phalanx sprocket group 8, and the middle phalanx sprocket group 8 moves away from the drive housing 1, thereby causing the fingertip sprocket 7 to rotate clockwise, and the fingertip 10 to rotate clockwise until it finally straightens. Both the middle finger joint sprocket group 8 and the near finger joint chain group 4 are open roller chains, so the device has excellent rigidity and flexibility. When gripping an object, the chain structure is subjected to tension, has good rigidity, and can grip the object stably. The use of open roller chains ensures a stable and precise transmission ratio between the finger joints, thereby improving the accuracy of the device during operation. Furthermore, since both the middle finger joint sprocket group 8 and the proximal finger joint chain group 4 are open roller chains, the spacing between the finger joints can be adjusted by increasing or decreasing the number of chain links to accommodate the spacing between the joints, thus improving the practicality of the device during manufacturing.

[0024] Example 3: Reference Figures 1-19 It also includes: a driving component, which includes: a motor drive module 11, a thrust bearing 12, a worm 13, and a worm wheel 14. The motor drive module 11 is connected to the drive housing 1. The output end of the motor drive module 11 is connected to the end of the worm 13 through a thrust bearing 12. The other end of the worm 13 is connected to another thrust bearing 12. The two thrust bearings 12 are rotatably connected to the drive housing 1. The worm 13 is meshed with the worm wheel 14. A rotating shaft 15 is connected to the middle of the worm wheel 14. The rotating shaft 15 is fixedly connected to the end of the proximal phalanx skeleton 2. The rotating shaft 15 is rotatably connected to the drive housing 1.

[0025] The principles and beneficial effects of the above scheme are as follows: When it is necessary to rotate the end of the proximal phalanx skeleton 2, the motor drive module 11 is started. The output end of the motor drive module 11 drives the worm 13 to rotate through the thrust bearing 12. The thrust bearings 12 connected to both ends of the worm 13 rotate relative to the drive housing 1. The rotating worm 13 drives the worm wheel 14 meshing with it to rotate. The worm wheel 14 drives the end of the phalanx skeleton 2 to rotate through the rotating shaft 15. The mechanism is equipped with a worm gear 13 and a worm wheel 14 to control the rotation of the end of the knuckle skeleton 2, which optimizes the internal space of the device. On this basis, it not only improves the transmission efficiency of the fingers, but also maintains the stability of the fingers when clamping objects by utilizing the self-locking function of the worm gear 13 and the worm wheel 14.

[0026] Example 4: Reference Figures 1-19 A mounting rod 16 is connected to the fingertip 10, and a second mounting rod 17 is connected to the middle finger joint skeleton 9. A tension spring 18 is connected between the mounting rod 16 and the second mounting rod 17.

[0027] The principles and beneficial effects of the above scheme are as follows: After the finger is bent, the distance between mounting rod 16 and mounting rod 17 increases, and the length of tension spring 18 increases. After the finger is straightened, the distance between mounting rod 16 and mounting rod 17 decreases and returns to the initial state. The length of tension spring 18 also decreases and returns to the initial state. The tension spring 18 provides preload to the middle knuckle sprocket assembly 8 and the proximal knuckle chain assembly 4, and assists in resetting the fingertip 10 to the middle knuckle skeleton 9 when the finger is straightened and returned to its original position.

[0028] Example 5: Reference Figures 1-19 The fingertip 10 is equipped with a force sensor, which is connected to one end of the wire harness 19, and the other end of the wire harness 19 is connected to a connector 20.

[0029] The principles and beneficial effects of the above scheme are as follows: A force sensor is provided on the fingertip 10. The force sensor is located on the bottom surface of the fingertip 10 away from the drive housing 1, that is, at the fingertip between the fingers. When grasping an object, the force sensor feeds back the magnitude of the grasping force to the control device through the wiring harness 19 and the connector 20. Then, the control device controls the angle of rotation of the worm gear 14 driven by the motor drive module 11 to prevent insufficient gripping force or excessive gripping force.

[0030] Example 6: Reference Figures 1-19 The top wall of the proximal phalanx skeleton 2 has a storage groove 21. One end of the storage groove 21 is connected to the side wall of the proximal phalanx skeleton 2, and the other end of the storage groove 21 is connected to the through hole 22. The storage groove 21 and the wire harness 19 are plugged in and matched.

[0031] The principles and beneficial effects of the above scheme are as follows: The storage slot 21 is used to store the wire harness 19 and prevent the fingers from being scratched by other parts of the device when working. The through hole 22 can not only allow the wire harness 19 to pass through, but also reduce the weight of the proximal phalanx 2.

[0032] Example 7: Reference Figures 1-19The top of the proximal phalanx skeleton 2 is threaded with two bolts 23, which are respectively inserted into one end of the pressure plate 24. The bottom of the pressure plate 24 is engaged with the bottom wall of the storage groove 21 to clamp the wire harness 19.

[0033] The principles and beneficial effects of the above scheme are as follows: To prevent the wire harness 19 from swinging inside the device, it is necessary to fix the wire harness 19. After the wire harness 19 is placed in the storage groove 21, two bolts 23 are threaded to the top of the near knuckle skeleton 2, so that the bolts 23 apply downward pressure to the pressure plate 24, and then the pressure plate 24 and the bottom wall of the storage groove 21 are used to clamp and fix the wire harness 19.

[0034] Example 8: Reference Figures 1-19 It also includes: a base 25, on which the end of a second driving component 26 is rotatably connected. The second driving component 26 has the same structure as the driving component. The end of the second driving component 26 is rotatably connected to the base 25. The second driving component 26 is connected to the second driving housing 27. The worm gear 28 at the output end of the second driving component 26 is meshed with the worm wheel 29. The ends of the worm wheel 29 and the finger frame 31 are both connected to the second rotating shaft 30. The second rotating shaft 30 is rotatably connected to the second driving housing 27. The end of a connecting rod 36 is rotatably connected to the side wall of the finger frame 31. The other end of the connecting rod 36 is rotatably connected to the base 25.

[0035] The inner wall of the drive housing 27 is fitted with the end of the sprocket 32. The top of the sprocket 32 ​​is engaged with the top of one end of the thumb chain assembly 33. One end of the thumb chain assembly 33 is connected to the sprocket 32. The other end of the knuckle skeleton 31 is rotatably connected to the fingertip sprocket 34. The fingertip sprocket 34 is connected to the end of the fingertip 35.

[0036] The principles and beneficial effects of the above scheme are as follows: The thumb is composed of base 25, drive component 26, knuckle skeleton 31, and fingertip 35. When the thumb needs to bend, the worm gear 28 of drive component 26 drives the worm wheel 29 to rotate counterclockwise. Simultaneously, the rotating shaft 30 and the knuckle skeleton 31 rotate counterclockwise. The sprocket 32 ​​begins to retract the end of the thumb chain assembly 33. As the thumb chain assembly 33 moves, the fingertip sprocket 34 rotates counterclockwise, driving the fingertip 35 to rotate counterclockwise, ultimately achieving the bending of the thumb. During the bending process, the knuckle skeleton 31 rotates counterclockwise, driving the connecting rod 36 to rotate counterclockwise, causing drive component 26 to rotate counterclockwise relative to base 25, thereby achieving the grasping of objects.

[0037] Example 9: Reference Figures 1-19A dexterous hand, applicable to a chain-driven finger as described in any of the above, comprising: a palm 37, the top of the palm 37 being connected to a plurality of drive housings 1, a motor drive module 11 being placed inside the palm 37, a motor 38 being connected to the end face of the palm 37, a gear 39 being connected to the output end of the motor 38, the gear 39 being meshed with a tooth arc 40, the tooth arc 40 being rotatably connected to the end face of the palm 37 via a bogie 41, a second motor 42 being connected to the bogie 41, the output end of the second motor 42 being connected to the end of the base 25 away from the second drive component 26.

[0038] The principles and beneficial effects of the above scheme are as follows: The drive housing 1 of multiple chain-driven fingers is connected to the palm 37. The inside of the palm 37 is used to store and protect the motor drive module 11. When an item needs to be grasped, the four chain-driven fingers bend synchronously. At the same time, based on the size of the item being grasped, the motor 38 connected to the end face of the palm 37 starts, the gear 39 rotates and drives the tooth arc 40 to rotate, the motor 42 starts to adjust the angle of the base 25, and the thumb bends to grasp the item.

[0039] Example 10: Reference Figures 1-19 The output end of the motor 38 is connected to the bottom of the spline shaft 43. A gear 39 is inserted into the spline shaft 43. A screw 44 is threaded into the screw hole at the top of the spline shaft 43. The top of the screw 44 is connected to the top of the anti-loosening washer 45. The bottom of the anti-loosening washer 45 contacts and engages with the top of the gear 39. The bottom of the gear 39 contacts and engages with the top of the retaining ring 46. The inner wall of the retaining ring 46 is connected to the side wall of the spline shaft 43.

[0040] The principles and beneficial effects of the above scheme are as follows: When installing gear 39, the splined shaft 43 is inserted into the splined socket through the middle of gear 39. Then, the retaining ring 46 provides initial positioning for the bottom of gear 39. Next, the screw 44 is threaded into the screw hole at the top of the splined shaft 43. During the rotation of screw 44, the top of screw 44 is equipped with a screw head, and the bottom of the screw head is connected to the top of anti-loosening washer 45. Anti-loosening washer 45 rotates synchronously with screw 44. After screw 44 is rotated to the correct position, anti-loosening washer 45 is compressed, providing anti-loosening measures for screw 44 and preventing gear 39 from falling off during operation.

[0041] Example 11: Reference Figures 1-19The core advantage of the technical solutions disclosed in the aforementioned embodiments one to ten lies in achieving high rigidity and compactness through micro-chain transmission. However, the realization of this solution depends on a breakthrough in a key bottleneck component: the spline shaft 43, due to its precise conjugate meshing with the micro-chain, must possess characteristics such as small diameter, non-standard irregular tooth profile, high tooth surface hardness, and high fatigue strength. The precise and efficient manufacturing of such components is the core obstacle restricting the practical application of the technical solution. General processing methods cannot meet the requirements in terms of efficiency, accuracy, or cost. Therefore, this invention has specially designed a dedicated manufacturing equipment that is perfectly matched to it. Its specific structure and direct correspondence with the performance requirements of the dexterous hand are as follows: a spline shaft stamping machine is also included to process the spline shaft 43. The spline shaft stamping machine includes a worktable 47 and a cylinder 48. The output end of the cylinder 48 on the worktable 47 is connected to a mold rod 49. The bottom opening of the mold rod 49 is set towards the fixed seat 50. The fixed seat 50 is connected to the worktable 47. A lubricant addition component is connected to the mold rod 49.

[0042] The principles and beneficial effects of the above scheme are as follows: When the spline shaft 43 needs to be processed, a spline shaft stamping machine is selected. The blank rod is inserted into the fixed seat 50 and fixed. Then, the cylinder 48 is started. Its output end drives the mold rod 49 to move downward. The mold rod 49 uses the spline groove mechanism inside its bottom opening to stamp the blank to obtain the spline shaft 43, thereby improving the manufacturing efficiency of the spline shaft 43, facilitating large-scale production of the structure, and reducing the cost of processing the spline shaft 43.

[0043] Example 12: Reference Figures 1-19 The bottom opening of the mold rod 49 is connected to the bottom of the adding tube 51. The top of the adding tube 51 is opened on the side wall of the mold rod 49 and is connected to the top of the guide tube 53 through the hose 52. The guide tube 53 is slidably sealed to the top of the storage tank 54. The bottom side wall of the guide tube 53 is connected to the side wall of the piston ring 55. The side wall of the piston ring 55 is slidably sealed to the inner wall of the storage tank 54. The bottom surface of the piston ring 55 and the inner wall of the storage tank 54 form a storage cavity for storing lubricant. The end of the input tube 56 is connected to the inner wall of the storage cavity. The bottom of the guide tube 53 is placed in the storage cavity. A one-way valve is connected inside the guide tube 53. A second one-way valve is installed inside the input tube 56. A drive plate 57 is connected to the side wall of the guide tube 53. The bottom surface of the drive plate 57 is connected to the top surface of the storage tank 54 through a spring 58. The top of the push plate 59 is connected to the mold rod 49. The bottom end of the push plate 59 is set towards the top surface of the drive plate 57.

[0044] The principles and beneficial effects of the above scheme are as follows: During the stamping process, the spline shaft 43 requires lubricating oil to lubricate the blank rod to prevent surface scratches, scoring, and annealing of the blank due to excessive temperature after processing. After the stamping starts, the die rod 49 moves downward first, and the push plate 59 moves synchronously. When the bottom of the push plate 59 contacts the drive plate 57, since the drive plate 57 is located above the top of the blank rod, the guide tube 53 and the piston ring 55 descend synchronously in the storage tank 54, and the spring 58 is compressed. At this time, the one-way valve 2 in the input tube 56 is closed, and the pressure in the storage chamber increases. After the one-way valve in the guide tube 53 opens, the lubricating oil enters the addition tube 51 through the guide tube 53 and the rubber hose 52. Then the lubricating oil enters the bottom opening of the die rod 49. After the bottom opening is filled with lubricating oil, the blank rod is stamped to complete the stamping process. Subsequently, driven by cylinder 48, the height of mold rod 49 rises. After the bottom opening of mold rod 49 disengages from the splined shaft 43, the height of push plate 59 rises, and the bottom of push plate 59 disengages from drive plate 57. Under the elastic force of spring 58 returning to its original position, the height of guide tube 53 and piston ring 55 rises. At this time, check valve 2 is closed and check valve 3 is open. Input pipe 56 can be replenished with lubricating oil through container for collecting lubricating oil, which improves the device's ability to work autonomously and reduces the number and time of manual maintenance.

[0045] Example 13: Reference Figures 1-19 The inner wall of the adding pipe 51 is connected to the end of the discharge pipe 60, and the other end of the discharge pipe 60 is connected to the inner wall of the pump housing 61. A rotating shaft 62 is rotatably connected to the pump housing 61. The end of the rotating shaft 62 inside the pump housing 61 is connected to the pump blade 63. The other end of the rotating shaft 62 outside the pump housing 61 is connected to the drive gear 64. The drive gear 64 meshes with the rack 65 on the worktable 47. The end of the auxiliary pipe 66 is connected to the inner wall of the pump housing 61, and the other end of the auxiliary pipe 66 is located away from the pump housing 61.

[0046] The principles and beneficial effects of the above scheme are as follows: After the stamping is completed, the die rod 49 moves upward, and the pump housing 61 moves synchronously. When the drive gear 64 meshes with the rack 65, the rotation of the shaft 62 drives the pump blade 63 to rotate, and the pressure in the discharge pipe 60 decreases. This allows the residual lubricating oil in the die rod 49 and the addition pipe 51 to be drawn away and finally discharged into the designated collection container through the auxiliary pipe 66. This prevents the residual lubricating oil from dripping down the die rod 49 and contaminating the entire device, thus improving the cleanliness of the device during operation.

[0047] Example 14: Reference Figures 1-19The inner wall of the discharge pipe 60 is connected to the end of an auxiliary pipe 67. A ball valve 68 is rotatably connected inside the discharge pipe 60. An adjusting motor 69 is connected to the side wall of the pump housing 61. The output shaft 70 of the adjusting motor 69 is connected to the ball valve 68. The output shaft 70 and the discharge pipe 60 are rotatably sealed together. The through hole 71 of the ball valve 68 is connected to the discharge pipe 60. The filter screen 72 connected inside the through hole 71 is located away from the pump housing 61. An auxiliary through hole 73 is opened on the inner wall of the through hole 71. The auxiliary through hole 73 is oriented towards the auxiliary pipe 67. The auxiliary pipe 67 is connected to... A guide tube 74 is connected, and the bottom wall of the guide tube 74 is slidably sealed to the sealing column 76 by a spring 75. A through hole 77 is provided on the sealing column 76 above the auxiliary tube 67. The top of the sealing column 76 is connected to the bottom of the drive rod 78. The drive rod 78 is slidably sealed to the top of the guide tube 74. The top side wall of the drive rod 78 above the guide tube 74 is provided with a chamfer 79. A drive disk 80 is connected to the output shaft 70. A slot 81 is opened on the side wall of the drive disk 80. The inner wall of the slot 81 contacts and engages with the chamfer 79.

[0048] The principles and beneficial effects of the above scheme are as follows: When the mold rod 49 moves upward, the ball valve 68 in the discharge pipe 60 has a through hole 71. At this time, the filter screen 72 in the through hole 71 can intercept impurities or dust in the lubricating oil. At this time, the sealing column 76 seals the auxiliary pipe 67 and the auxiliary through hole 73 to prevent insufficient air pressure when the device is sucking lubricating oil, thereby ensuring the thoroughness of the device in sucking lubricating oil. When the mold rod 49 moves downward, the drive gear 64, which meshes with the rack 65, begins to rotate in the opposite direction. At this time, the pump housing 61 collects air from the outside through the auxiliary pipe 66 and delivers air to the discharge pipe 60 through the pump blade 63. When the synchronous regulating motor 69 starts, the rotation of the output shaft 70 drives the drive disc 80 to rotate. The slot 81 on the drive disc 80 begins to contact and engage with the chamfer 79. The drive rod 78 and the sealing column 76 decrease in height within the guide pipe 74. The second spring 75 is compressed, and the second auxiliary pipe 67 is connected to the third through hole 77. The rotating output shaft 70 drives the ball valve 68 to rotate. The side of the filter screen 72 used for filtration begins to face the second auxiliary pipe 67. The auxiliary through hole 73 on the ball valve 68 is connected to the discharge pipe 60. The other side wall of the ball valve 68 seals the inside of the addition pipe 51. The air flowing in the discharge pipe 60 begins to clean the filter surface of the filter screen 72. Residual lubricating oil and sludge can be discharged through the second auxiliary pipe 67 and collected uniformly through the collection device. After the mold rod 49 rises again, the regulating motor 69 starts again, and the output shaft 70 and the ball valve 68 rotate in opposite directions. The slot 81 ends its contact with the chamfer 79. Under the elastic force of the spring 75 returning to its original position, the sealing column 76 rises in height and seals the auxiliary pipe 67. The filter screen 72 is reconnected to the discharge pipe 60, ensuring the device can draw in residual lubricant.

[0049] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. Other modifications can be easily made by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A chain-driven finger, characterized in that, include: The device comprises a drive housing, a middle phalanx skeleton, and a fingertip. The drive housing is rotatably connected to the end of the proximal phalanx skeleton. Each of the two inner walls of the drive housing has a sprocket fixed to it. The top of each sprocket is engaged with the bottom of one end of a proximal phalanx chain assembly. One end of the proximal phalanx chain assembly is fixed to the sprocket. The top of the other end of the proximal phalanx chain assembly is engaged with the bottom of the proximal phalanx sprocket. The other end of the proximal phalanx chain assembly is fixed to the proximal phalanx sprocket. The proximal phalanx sprocket is rotatably connected to the other end of the proximal phalanx skeleton. The proximal phalanx sprocket is inserted into the end of the middle phalanx skeleton. The other end of the middle phalanx skeleton is connected to the fingertip via an auxiliary component.

2. A chain-driven finger according to claim 1, characterized in that, The auxiliary component includes: a second sprocket, which is fixedly connected to the other end of the proximal knuckle skeleton. The top of the second sprocket is engaged with the bottom of one end of the middle knuckle sprocket assembly. One end of the middle knuckle sprocket assembly is fixed to the second sprocket. The top of the other end of the middle knuckle sprocket assembly is engaged with the bottom of the fingertip sprocket. The other end of the middle knuckle sprocket assembly is fixed to the fingertip sprocket. The fingertip sprocket is rotatably connected to the other end of the middle knuckle skeleton and connected to the end of the fingertip.

3. A chain-driven finger according to claim 1, characterized in that, Also includes: The driving component includes: a motor drive module connected to the drive housing; the output end of the motor drive module is connected to the end of a worm gear via a thrust bearing; the other end of the worm gear is connected to another thrust bearing; the two thrust bearings are rotatably connected to the drive housing; the worm gear is meshed with a worm wheel; a rotating shaft is connected to the middle of the worm wheel; the rotating shaft is fixedly connected to the end of the proximal phalanx skeleton; and the rotating shaft is rotatably connected to the drive housing.

4. A chain-driven finger according to claim 2, characterized in that, A mounting rod is connected to the fingertip, and a second mounting rod is connected to the middle finger joint skeleton. A tension spring connects the mounting rod and the second mounting rod.

5. A chain-driven finger according to claim 2, characterized in that, A force sensor is provided on the fingertip, and the force sensor is connected to one end of the wire harness. The other end of the wire harness is connected to an aviation plug.

6. A chain-driven finger according to claim 5, characterized in that, The top wall of the proximal phalanx skeleton has a storage groove. One end of the storage groove is connected to the side wall of the proximal phalanx skeleton, and the other end of the storage groove is connected to a through hole. The storage groove and the wire harness are plugged into each other.

7. A chain-driven finger according to claim 6, characterized in that, The top of the proximal phalanx skeleton is connected by two bolts, which are respectively inserted into one end of the pressure plate. The bottom of the pressure plate is fitted with the bottom wall of the storage groove to clamp the wire harness.

8. A chain-driven finger according to claim 1, characterized in that, Also includes: The base has a drive component two rotatably connected to its end. The drive component two has the same structure as the drive component two. The end of the drive component two is rotatably connected to the base. The drive component two is connected to the drive housing two. The worm gear two at the output end of the drive component two is meshed with the worm wheel two. The ends of the worm wheel two and the finger skeleton are both connected to the rotating shaft two. The rotating shaft two is rotatably connected to the drive housing two. The end of the connecting rod is rotatably connected to the side wall of the finger skeleton. The other end of the connecting rod is rotatably connected to the base.

9. A chain-driven finger according to claim 8, characterized in that, The inner wall of the drive box housing is connected to the end of the sprocket three. The top of the sprocket three is engaged with the top of one end of the thumb chain assembly. One end of the thumb chain assembly is connected to the sprocket three. The other end of the knuckle skeleton is rotatably connected to the fingertip sprocket two. The fingertip sprocket two is connected to the end of the fingertip two.

10. A dexterous hand, applicable to a chain-driven finger as described in any one of claims 1-9, characterized in that, include: The palm has multiple drive housings connected to its top. A motor drive module is placed inside the palm. A motor is connected to the palm end face. A gear is connected to the output end of the motor. The gear meshes with a tooth arc. The tooth arc is rotatably connected to the palm end face through a bogie. A second motor is connected to the bogie. The output end of the second motor is connected to the end of the base away from the second drive component.

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