A large-angle rotary table dexterous hand thumb

Abstract

This invention relates to the field of robotics, and particularly to a large-angle turntable dexterous thumb. A gear is connected to the output end of a servo motor on the adapter mounting base. A second servo motor is rotatably connected to the adapter mounting base, and the toothed arc on the side wall of the second servo motor meshes with the gear. The output end of the second servo motor is connected to the bottom of the dexterous thumb. The second servo motor is a dual-output servo motor. By setting the servo motor and the second servo motor to work in coordination, the device enables the dexterous thumb to swing within a very wide range and rotate at a certain angle on the adapter mounting base, increasing the degree of freedom of the dexterous thumb, adjusting its palm angle, and achieving stable grasping of objects.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a dexterous thumb for a large-angle turntable. Background Technology

[0002] The thumb is the most crucial finger in a dexterous hand; most movements require its participation. The thumb has the highest degree of freedom of all fingers, can oppose the other fingers, and accounts for over 40% of the hand's overall function.

[0003] However, the thumb of the dexterous hand currently on the market only has a degree of freedom of swing, relying on this degree of freedom to complete the palm-to-palm interaction with other fingers. However, this causes the thumb and the four fingers to misalign at an angle when palm-to-palm, which leads to instability in grasping objects and greatly weakens the function of the dexterous hand. Summary of the Invention

[0004] This invention provides a large-angle turntable dexterous thumb to solve the problems mentioned in the background art.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution: a large-angle turntable dexterous thumb, comprising: a transfer base, a servo motor, a gear, a toothed arc, a second servo motor, and a dexterous thumb. The output end of the servo motor on the transfer base is connected to the gear, and the second servo motor is rotatably connected to the transfer base. The toothed arc on the side wall of the second servo motor meshes with the gear. The output end of the second servo motor is connected to the bottom of the dexterous thumb. The second servo motor is a dual-output servo motor.

[0006] Preferably, the dexterous thumb includes: a servo connector, a proximal phalanx, a middle phalanx, a fingertip, and a connecting rod. The two output ends of the dual-output servo are respectively connected to one side of the servo connector. The end of the proximal phalanx is rotatably connected to the servo connector. The other end of the proximal phalanx is connected to the end of the middle phalanx. The other end of the middle phalanx is connected to the end of the fingertip. The ends of a connecting rod are rotatably connected to both sides of the middle phalanx. The other ends of the connecting rods are rotatably connected to the top of the servo connector. The connecting rods are located below the end of the middle phalanx.

[0007] Preferably, the proximal phalanx includes: a motor, a worm, a mounting base, a worm wheel, and a rotating shaft. The end of the motor is rotatably connected to the servo motor mounting base. The motor is connected to the mounting base. The output end of the motor is connected to the end of the worm. The other end of the worm is rotatably connected to the mounting base. The worm is meshed with the worm wheel. The worm wheel is rotatably connected to the mounting base via the rotating shaft. The rotating shaft is connected to the end of the middle phalanx.

[0008] Preferably, the middle finger joint includes: a middle finger joint frame and a second rotating shaft, the rotating shaft being connected to one end of the middle finger joint frame, the other end of the middle finger joint frame being rotatably connected to the second rotating shaft, the second rotating shaft being connected to the end of the fingertip, and a transmission mechanism being connected between the second rotating shaft and the rotating shaft.

[0009] Preferably, the transmission mechanism includes: an incomplete sprocket, a second incomplete sprocket, an open chain, and barbs. Each of the two inner walls of the mounting base has an incomplete sprocket fixed to it. The top of the second incomplete sprocket meshes with the bottom of one end of the open chain, and the bottom of the second incomplete sprocket meshes with the top of the other end of the open chain. The second incomplete sprocket is connected to a second rotating shaft. The second incomplete sprocket and the third incomplete sprocket have the same structure. The barb on the second incomplete sprocket engages with a pin at one end of the open chain, and the other barb on the second incomplete sprocket engages with a pin at the other end of the open chain. The openings of the barbs face the mounting base, and the two barbs face the same direction.

[0010] Preferably, a positioning pin is laterally connected to the top of the middle finger joint frame, and a tension spring is hung on the end of the positioning pin. The other end of the tension spring is hung in the slot of the second positioning pin, and the bottom of the second positioning pin is connected to the top of the fingertip.

[0011] Preferably, a force sensor is connected to the bottom of the fingertip, the force sensor is electrically connected to the control system, and the control system is electrically connected to the motor.

[0012] Preferably, it also includes a gear processing machine for manufacturing gears. The gear processing machine includes: a base, a hob, a cooling pipe, an external spray pipe, a retaining ring, a limiting nut, and an adjusting mechanism. The base is connected to the bottom of the second motor via a horizontal moving mechanism, and the output end of the motor is connected to the hob.

[0013] Preferably, a cooling pipe is rotatably connected to the base, and multiple guide holes are opened through the inner wall of the cooling pipe. One end of a second sleeve is connected to the base, and the second sleeve is coaxially disposed outside the cooling pipe. The other end of the second sleeve is connected to an adjustment mechanism. The inner wall of the second sleeve is connected to the bottom of the external spray pipe. A retaining ring is connected to the cooling pipe, and a limit nut is threadedly connected to the end of the cooling pipe. The output end of the external spray pipe is positioned between the retaining ring and the limit nut. The other end of the cooling pipe is connected to a coolant delivery mechanism through the adjustment mechanism. The cutting end of the hob is perpendicular to the end face of the limit nut. A worm gear ring is connected to the cooling pipe, and the worm gear ring meshes with a second worm. The second worm is connected to the output end of a third motor, and the third motor is connected to the base.

[0014] Preferably, the adjusting mechanism includes: a sleeve, one end of which is connected to the other end of the sleeve, the sleeve being fixed to the base, the inner wall of the sleeve having a tapered section, the inner wall of the tapered section being disposed away from the cooling pipe, a sealing column being slidably sealed inside the sleeve, the end of the sealing column being connected to the bottom end of the tapered column, the top end of the tapered column being disposed away from the cooling pipe, the other end of the sealing column being connected to the end of a screw, the side wall of the screw being slidably connected to the inner wall of the sleeve, and the side wall of the screw being threadedly connected to a nut on the inner wall of the cooling pipe.

[0015] The beneficial effects of this invention are as follows: In the solution of the present invention: The device enables the dexterous thumb to swing within a wide range and rotate at a certain angle on the adapter base by setting up a servo motor and servo motor 2 to work together. This increases the degree of freedom of the dexterous thumb, adjusts the angle of its palm, and achieves stable grasping of objects. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the large-angle turntable dexterous hand thumb structure of the present invention; Figure 2 This is a schematic diagram of the connecting rod installation position according to the present invention; Figure 3 This is a schematic diagram of the proximal phalanx structure of the present invention; Figure 4 This is a schematic diagram showing the relative positional relationship between the incomplete sprocket and the two incomplete sprockets of the present invention; Figure 5 This is a schematic diagram of the barb connection position of the present invention; Figure 6 This is a schematic diagram showing the connection relationship between the cooling pipe and the external nozzle of the present invention; Figure 7 This is a schematic diagram of the meshing connection between the worm gear ring and the worm of the present invention; Figure 8 This is a cross-sectional view of the sleeve of the present invention; Figure 9 This is a schematic diagram showing the connection relationship between the screen and the guide plate of the present invention; Figure 10 This is a schematic diagram showing the location of the waist-shaped groove in the present invention; Figure 11 This is a schematic diagram illustrating the meshing connection between the rack and the irregularly shaped teeth of the present invention.

[0017] The components include: 1. Adapter mounting base; 2. Servo motor; 3. Gear; 4. Gear arc; 5. Servo motor II; 6. Dexterous thumb; 7. Servo motor connecting base; 8. Proximal phalanx; 9. Middle phalanx; 10. Fingertip; 11. Connecting rod; 12. Motor; 13. Worm gear; 14. Mounting base; 15. Worm wheel; 16. Shaft; 17. Middle phalanx frame; 18. Shaft II; 19. Incomplete sprocket; 20. Incomplete sprocket II; 21. Open chain; 22. Hook; 23. Positioning pin; 24. Tension spring; 25. Positioning pin II; 26. Base; 27. Hob; 28. Cooling pipe; 29. ​​External nozzle. 9. Retaining ring 30. Limiting nut 31. Adjusting mechanism 32. Worm gear ring 33. Worm gear II 34. Motor III 35. Sleeve 36. Conical section 37. Sealing column 38. Conical column 39. Screw 40. Nut II 41. Screen 42. Vibrating rack 43. Collection box 44. Debris collection box 45. Guide plate 46. Waist-shaped groove 47. Slider 48. Spring 49. Connecting plate 50. Slider II 51. Mounting frame 52. Rack 53. Irregular tooth 54. Motor IV 55. Guide hole 56. Sleeve II 57. 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 1-11 A large-angle turntable dexterous thumb includes: a connecting base 1, a servo motor 2, a gear 3, a toothed arc 4, a second servo motor 5, and a dexterous thumb 6. The output end of the servo motor 2 on the connecting base 1 is connected to the gear 3. The second servo motor 5 is rotatably connected to the connecting base 1. The toothed arc 4 on the side wall of the second servo motor 5 meshes with the gear 3. The output end of the second servo motor 5 is connected to the bottom of the dexterous thumb 6. The second servo motor 5 is a dual-output servo motor.

[0020] The principle behind the above scheme is as follows: The adapter mounting base 1 is used to connect with the robot's palm. After the other four fingers on the palm are connected, the palm can be used to grasp objects. When grasping objects, the pad of the dexterous thumb 6 should be able to align with any finger. To achieve this, when the dexterous thumb aligns with the finger, the servo motor 2 is activated and the gear 3 rotates. When the gear arc 4 meshes with the gear 3, it rotates ±30°, so that the pad of the dexterous thumb 6 faces any finger. Then, the servo motor 5 is activated, driving the dexterous thumb 6 to rotate within a range of 150°. The bending of the dexterous thumb 6 then completes the alignment with any finger.

[0021] The beneficial effects of the above scheme are as follows: The device enables the dexterous thumb 6 to swing within a wide range and rotate at a certain angle on the adapter base 1 by setting servo motor 2 and servo motor 5 to work together. This increases the degree of freedom of the dexterous thumb 6, adjusts the angle of its palm, and achieves stable grasping of objects. Servo 2 and servo 25 are commonly used products in existing technology, with mature technology, low cost and high reliability.

[0022] Example 2: Reference Figures 1-11 The dexterous thumb 6 includes: a servo connector 7, a proximal phalanx 8, a middle phalanx 9, a fingertip 10, and a connecting rod 11. The two output ends of the dual-output servo are respectively connected to one side of the servo connector 7. The end of the proximal phalanx 8 is rotatably connected to the servo connector 7. The other end of the proximal phalanx 8 is connected to the end of the middle phalanx 9. The other end of the middle phalanx 9 is connected to the end of the fingertip 10. The ends of a connecting rod 11 are rotatably connected to both sides of the middle phalanx 9. The other end of the connecting rod 11 is rotatably connected to the top of the servo connector 7. The connecting rod 11 is located below the end of the middle phalanx 9.

[0023] The principles and beneficial effects of the above scheme are as follows: When grasping an object, the dexterous thumb 6 needs to bend. At this time, the proximal phalanx 8 on the servo connector 7 is activated. With the cooperation of one end of the linkage 11 being rotatably connected to the middle phalanx 9 and the other end being rotatably connected to the top of the servo connector 7, the proximal phalanx 8 begins to bend downward relative to the servo connector 7, the middle phalanx 9 bends downward relative to the proximal phalanx 8, and the fingertip 10 bends downward relative to the middle phalanx 9. The linkage 11 is designed so that when the middle phalanx 9 bends downward relative to the proximal phalanx 8, the proximal phalanx 8 bends downward relative to the servo connector 7 simultaneously, making the bending action of the dexterous thumb 6 more closely resemble that of a real human thumb, further improving the stability of the device in grasping objects. Each of the phalanges 8, 9, and 10 has a protective shell. The two adjacent protective shells are hinged together. By setting the protective shells, not only is the similarity between the device and the human finger improved, but the internal structure of the finger is also protected. At the same time, the protective shells help improve the stability of the dexterous hand when grasping and pinching.

[0024] Example 3: Reference Figures 1-11 The proximal phalanx 8 includes: a motor 12, a worm gear 13, a mounting base 14, a worm wheel 15, and a rotating shaft 16. The end of the motor 12 is rotatably connected to the servo motor connecting base 7. The motor 12 is connected to the mounting base 14. The output end of the motor 12 is connected to the end of the worm gear 13. The other end of the worm gear 13 is rotatably connected to the mounting base 14. The worm gear 13 is meshed with the worm wheel 15. The worm wheel 15 is rotatably connected to the mounting base 14 through the rotating shaft 16. The rotating shaft 16 is connected to the end of the middle phalanx 9.

[0025] The principles and beneficial effects of the above scheme are as follows: When the dexterity of the thumb 6 needs to be bent, the motor 12 is started. The motor 12 drives the worm gear 13 to rotate, and the worm wheel 15 connected to it rotates. The rotating shaft 16 rotates synchronously, driving the middle finger joint 9 to bend until it can cooperate with the other four fingers on the palm to grasp the object. While the middle finger joint 9 is bending, the middle finger joint 9 drives the end of the connecting rod 11 to rotate. The other end of the connecting rod 11 is rotatably connected to the servo motor connecting seat 7, so that the motor 12, worm gear 13 and mounting seat 14 can move synchronously. When the dexterous thumb 6 needs to be straightened, the motor 12 is restarted. The motor 12 drives the worm gear 13 to rotate in the opposite direction, and the worm wheel 15 connected to it rotates in the opposite direction. The rotating shaft 16 rotates in the opposite direction synchronously, and drives the middle finger joint 9 to straighten until it returns to its original position. At this time, the connecting rod 11 can drive the motor 12, the worm gear 13 and the mounting base 14 to move in the opposite direction synchronously. The device achieves greater gripping force by placing the motor 12 inside the proximal phalanx 8 and directly driving the proximal phalanx 8. The design of link 11 not only facilitates coupling between the middle knuckle 9 and the proximal knuckle 8, but also allows the proximal knuckle 8 to be designed to be more slender. The design of the worm gear 15 and worm 13 not only achieves high transmission efficiency, but also, when combined with the motor 12, enables a self-locking function, thereby maintaining the stability of the device when gripping objects. By modifying the worm gear 15, the width of the device was greatly reduced.

[0026] Example 4: Reference Figures 1-11 The middle finger joint 9 includes: a middle finger joint frame 17 and a second rotating shaft 18. The rotating shaft 16 is connected to one end of the middle finger joint frame 17, and the other end of the middle finger joint frame 17 is rotatably connected to the second rotating shaft 18. The second rotating shaft 18 is connected to the end of the fingertip 10, and a transmission mechanism is connected between the second rotating shaft 18 and the rotating shaft 16.

[0027] The principles and beneficial effects of the above scheme are as follows: When the proximal phalanx 8 is bent, the middle phalanx frame 17 bends synchronously. Since the middle phalanx frame 17 is rotatably connected to the second pivot 18, and the second pivot 18 is connected to the end of the fingertip 10, the fingertip 10 can be bent relative to the middle phalanx frame 17 under the action of the transmission mechanism. When the proximal phalanx 8 is straightened, the middle phalanx frame 17 is straightened synchronously. Since the middle phalanx frame 17 is rotatably connected to the second pivot 18, and the second pivot 18 is connected to the end of the fingertip 10, the fingertip 10 can be bent relative to the middle phalanx frame 17 under the reverse action of the transmission mechanism. The consistency of bending and straightening of the fingertip 10, middle phalanx 9 and proximal phalanx 8 is further improved by setting the transmission mechanism.

[0028] Example 5: Reference Figures 1-11 The transmission mechanism includes: an incomplete sprocket 19, an incomplete sprocket 20, an open chain 21, and a barb 22. An incomplete sprocket 19 is fixed to each of the two inner walls of the mounting base 14. The top of the incomplete sprocket 19 meshes with the bottom of one end of the open chain 21, and the bottom of the incomplete sprocket 20 meshes with the top of the other end of the open chain 21. The incomplete sprocket 20 is connected to a rotating shaft 18. The incomplete sprocket 19 and the incomplete sprocket 20 have the same structure. The barb 22 on the incomplete sprocket 19 is engaged with a pin at one end of the open chain 21. The other barb 22 on the incomplete sprocket 20 is engaged with a pin at the other end of the open chain 21. The openings of the barbs 22 face the mounting base 14, and the two barbs 22 face the same direction. The incomplete sprocket 19 is concentrically set with the shaft 16.

[0029] The principles and beneficial effects of the above scheme are as follows: The open chain 21 is connected to the incomplete sprocket 19 and the second incomplete sprocket 20 in an "S" shape. The bottom of one end of the open chain 21 is connected to the top of the incomplete sprocket 19, and the top of the other end of the open chain 21 is connected to the bottom of the second incomplete sprocket 20. The pins at both ends of the open chain 21 are respectively hung in a barb 22. When the proximal phalanx 8 bends, that is, when the synchronous mounting base 14 bends, since the incomplete sprocket 19 is fixedly connected to the mounting base 14 and the rotating shaft 16 is rotatably connected to the mounting base 14, the middle phalanx frame 17 is driven to rotate. At this time, the height of the second incomplete sprocket 20 decreases, the second incomplete sprocket 20 releases the open chain 21, and the incomplete sprocket 19 stores the open chain 21. Therefore, the open chain 21 moves towards the mounting base 14. The counterclockwise rotating second incomplete sprocket 20 drives the second rotating shaft 18 to rotate counterclockwise, thereby driving the fingertip 10 to bend. When the proximal phalanx 8 is straightened, that is, when the synchronous mounting base 14 is straightened, the middle phalanx frame 17 is driven to rotate in the opposite direction. At this time, the height of the incomplete sprocket 20 rises, the incomplete sprocket 20 retracts the open chain 21, and the incomplete sprocket 19 releases the open chain 21. Therefore, the open chain 21 moves away from the mounting base 14. The clockwise rotating incomplete sprocket 20 drives the rotating shaft 18 to rotate clockwise, thereby driving the fingertip 10 to straighten. By setting up a miniature open chain 21 structure, the synchronous movement of the proximal phalanx 8, the middle phalanx 9 and the fingertip 10 is achieved. The open chain 21 has the strength of a rod structure, the flexibility of a tendon cord structure and the precision of a gear structure meshing connection, while avoiding the shortcomings of the above three structures in terms of flexibility, creep resistance and wear resistance. Furthermore, based on the open chain 21, a dexterous thumb 6 is made, which has the advantages of good grasping and enveloping properties and can achieve a wide range of bending of the thumb tip; The device uses an open chain 21 and a connecting rod 11 to work together, which realizes the linkage between the various finger joint mechanisms in the device. The number of open chains 21 is reasonably arranged according to the characteristics of the device, making full use of the internal space of the device. Furthermore, the setting of open chains 21 can ensure that there is a stable transmission ratio and torque between the various finger joint mechanisms. Because the open chain 21 inside the device is set in an "S" shape, when the device is subjected to an impact force from above, the open chain 21 can be compressed and folded to prevent damage to the dexterous thumb 6. In addition, the open chain 21 in the "S" shape is always in a taut state, so there is no polygonal effect and the transmission will be very smooth. Using the barb 22 to connect the open chain 21, the component connection method is simple and safe, making full use of the remaining space of the parts and reducing the manufacturing cost of the device; Example 6: Reference Figures 1-11The top of the middle finger joint frame 17 is horizontally connected to a positioning pin 23, and the end of a tension spring 24 is hung on the positioning pin 23. The other end of the tension spring 24 is hung in the slot of the second positioning pin 25, and the bottom of the second positioning pin 25 is connected to the top of the fingertip 10.

[0030] The principles and beneficial effects of the above scheme are as follows: When the dexterous thumb 6 bends, the length of the tension spring 24 increases. When the dexterous thumb 6 straightens, the tension spring 24 returns to its original position. The tension spring 24 can be used to apply a preload to the open chain 21 and the dexterous thumb 6. When the dexterous thumb 6 returns to its original position, the force of the tension spring 24 can help the device return to its original position.

[0031] Example 7: Reference Figures 1-11 A force sensor is connected to the bottom of the fingertip 10. The force sensor is electrically connected to the control system, and the control system is electrically connected to the motor 12.

[0032] The principles and beneficial effects of the above scheme are as follows: A force sensor is provided at the bottom of the fingertip 10, i.e. the fingertip, to feed back the force applied to the object by the device to the control system. Through the processing of the control system, the angle of rotation of the worm gear 13 driven by the output end of the motor 12 is adjusted in time to reduce or increase the pressure applied to the object. The control system is electrically connected to the power supply, so the power supply provides power to the control system. After processing by the control system, the electrical energy is distributed to the motor 12 to achieve the purpose of controlling the rotation of the worm gear 13. The device forms a closed loop by setting up a force sensor, a control system, and a motor 12. It can analyze the data from the force sensor and adjust the input value of the motor 12 to effectively control the pressure applied to the object.

[0033] Example 8: Reference Figures 1-11 A gear processing machine is used to manufacture the gear 3 in the thumb of a large-angle turntable dexterous hand as described above, to ensure that the gear 3 meets the requirements of the dexterous hand system for transmission accuracy and reliability. The gear processing machine includes: a base 26, a hob 27, a cooling pipe 28, an external spray pipe 29, a retaining ring 30, a limiting nut 31, and an adjusting mechanism 32. The base 26 is connected to the bottom of the second motor through a horizontal moving mechanism, and the output end of the second motor is connected to the hob 27. A cooling pipe 28 is rotatably connected to the base 26. Multiple guide holes 56 are opened through the inner wall of the cooling pipe 28. One end of a sleeve 57 is connected to the base 26. The sleeve 57 is coaxially arranged outside the cooling pipe 28. The other end of the sleeve 57 is connected to the adjustment mechanism 32. The inner wall of the sleeve 57 is connected to the bottom of the external spray pipe 29. A retaining ring 30 is connected to the cooling pipe 28. A limit nut 31 is threadedly connected to the end of the cooling pipe 28. The output end of the external spray pipe 29 is positioned between the retaining ring 30 and the limit nut 31. The other end of the cooling pipe 28 is connected to the coolant delivery mechanism through the adjustment mechanism 32. The cutting end of the hob 27 is perpendicular to the end face of the limit nut 31. A worm gear ring 33 is connected to the cooling pipe 28. The worm gear ring 33 is meshed with a worm 34. The worm 34 is connected to the output end of a motor 35. The motor 35 is connected to the base 26.

[0034] The principles and beneficial effects of the above scheme are as follows: The precision of gear 3 determines the accuracy of the dexterous thumb 6 when it opposes the other fingers. Therefore, the precision requirements for gear 3 during machining are extremely high. Thus, when machining with hob 27, special attention should be paid to the cooling effect of gear 3 during machining. After placing the blank on the cooling pipe 28, one end face of the blank is brought into contact with the retaining ring 30. Then, the limiting nut 31 is rotated to bring it into contact with the other end face of the cooling pipe 28, thus fixing the blank. Before machining the gear, the coolant delivery mechanism inputs coolant into the cooling pipe 28 through the adjusting mechanism 32. (Previous technology) When machining gear components, cooling methods include immersion cooling, which involves placing the gear component and tooling in a flowing coolant before machining. However, immersion cooling has the following problems: uneven cooling effect, high coolant consumption, and while the immersion coolant is a good lubricant, it can form a thin film on the machined surface during machining, interfering with the contact between the tool and the gear blank and leading to reduced machining accuracy. In addition, immersion gear machining consumes a lot of coolant, resulting in high pressure on the filtration system, requiring a complete overhaul of the filtration system. Therefore, the blank needs to be cooled by using a combination of cooling pipe 28 and external spray pipe 29. During processing, part of the coolant is sprayed onto the side wall of the blank through the external spray pipe 29, and the other part of the coolant flows out through the cooling pipe 28. When the hob 27 is processing the teeth, the coolant can cool down the teeth and hob 27 during processing, and can also cool down the inside of the blank to prevent the blank from thermal deformation due to the temperature rise, thereby reducing the phenomenon of reduced gear 3 processing accuracy caused by temperature rise. During gear machining, the horizontal moving mechanism drives the second motor to move on the base 26. Specifically, the horizontal moving mechanism is a mechanism composed of a motor component, a screw, and a screw block, as in the prior art. The output end of the motor component on the base 26 is connected to the screw, and the screw block on the screw is slidably connected to the base 26. The top of the screw block is connected to the second motor. Each time a tooth groove is machined, the second motor moves towards the blank and causes the rotating hob 27 connected to its output end to machine the tooth groove on the side wall of the blank. After machining a tooth groove, the horizontal moving mechanism drives the second motor to reset and prepare for the next tooth groove machining until the machining is completed. After machining a tooth groove, the blank needs to be rotated synchronously. At this time, the motor 35 starts, and the worm gear 24 connected to its output end rotates synchronously. With the rotational cooperation of the cooling pipe 28 and the base 26, the worm gear 234 drives the worm wheel ring 33 that meshes with it to rotate, so as to avoid the phenomenon of incomplete tooth groove machining. Both ends of the second sleeve 57 are sealed with multiple guide holes 56. The coolant in the external nozzle 29 is supplied by entering the cooling pipe 28 through the regulating mechanism 32, and then entering the second sleeve 57 through the guide holes 56 on the cooling pipe 28 before being discharged into the external nozzle 29.

[0035] Example 9: Reference Figures 1-11 The adjusting mechanism 32 includes: a sleeve 36, one end of which is connected to the other end of a second sleeve 57, the sleeve 36 being fixed to the base 26, the inner wall of the sleeve 36 being provided with a tapered section 37, the inner wall of the tapered section 37 being disposed away from the cooling pipe 28, a sealing column 38 being slidably and sealingly connected inside the sleeve 36, the end of the sealing column 38 being connected to the bottom end of a tapered column 39, the top end of the tapered column 39 being disposed away from the cooling pipe 28, the other end of the sealing column 38 being connected to the end of a screw 40, the side wall of the screw 40 being slidably connected to the inner wall of the sleeve 36, and the side wall of the screw 40 being threadedly connected to a nut 41 on the inner wall of the cooling pipe 28; The top of the conical column 39 is placed inside the conical segment 37; Nut 241 is concentrically positioned with cooling pipe 28; The inner diameter of the tapered section 37 near the end of the second sleeve 57 is smaller than the inner diameter of the section away from the end of the second sleeve 57.

[0036] The principles and beneficial effects of the above scheme are as follows: Before machining the tooth grooves, coolant needs to be supplied. The rotating cooling pipe 28 drives the nut 41 to rotate synchronously. With the sliding fit between the screw 40 and the inner wall of the sleeve 36, the screw 40 moves away from the cooling pipe 28, and the sealing column 38 ends the sealing of the sleeve 36. Simultaneously, the conical column 39 moves. The top diameter of the conical column 39 is set smaller than its bottom diameter. After the coolant is connected, as the conical column 39 moves, the distance between the side wall of the conical column 39 and the inner wall of the conical section 37 becomes larger and larger. Therefore, the volume of coolant flowing out of the cooling pipe 28 becomes larger and larger. It can be seen that after machining each tooth groove, the volume of coolant flowing out increases once. Therefore, while cooling the outside of the blank, it can also cool the outside of the blank. Moreover, as the number of machined tooth grooves increases, the coolant discharge automatically increases to simultaneously consume the heat generated on the blank during machining. On the basis of improving heat dissipation efficiency, it reduces thermal deformation and improves machining accuracy. After processing is completed, the cooling pipe 28 rotates in the opposite direction, and the screw 40 moves toward the cooling pipe 28. After the sealing column 38 begins to seal the sleeve 36, the coolant in the cooling pipe 28 and the external spray pipe 29 is discharged.

[0037] Example 10: Reference Figures 1-11 The base 26 has a screen 42 inclined in the middle. The bottom end of the screen 42 is connected to the top end of the guide plate 46. The bottom end of the guide plate 46 is set towards the cooling pipe 28. The side of the screen 42 is connected to the auxiliary drive component to drive the screen 42 to move back and forth relative to the axis of the cooling pipe 28. The bottom end of the screen 42 is horizontally provided with a vibrating rack 43. The arc-shaped tooth groove of the vibrating rack 43 is slidably engaged with the bottom end of the guide plate 46. The cross section of the bottom end of the guide plate 46 is semi-circular. The vibrating rack 43 is connected to the top side wall of the collection box 44 and the debris collection box 45. The bottom end of the screen 42 is set towards the opening at the top of the collection box 44. The collection box 44 and the debris collection box 45 are arranged adjacent to each other. The bottom surface of the guide plate 46 is set towards the opening at the top of the debris collection box 45. The top of the screen 42 is positioned facing the cooling pipe 28.

[0038] The principles and beneficial effects of the above scheme are as follows: As the billet is processed, metal scraps flow through the flowing coolant to the screen 42. After passing through the screen 42, the coolant flows into the collection box 44 for unified collection for the next use. Residual coolant will adhere to the screen 42. As the amount of metal scraps increases, screen 42 will become clogged. At this time, the auxiliary drive is activated to move the screen 42 forward or backward in front of the cooling pipe 28. The bottom end of the screen 42 begins to rub against the vibrating rack 43 and vibrates in the inclined direction. The guide plate 46 shakes the metal scraps into the scrap collection box 45. Simultaneously, some of the residual coolant will enter the scrap collection box 45. The mixture in the scrap collection box 45 can be recycled by letting it stand and filtering multiple times.

[0039] Example 11: Reference Figures 1-11 The auxiliary driving component includes: a waist-shaped groove 47, with an equal number of waist-shaped grooves 47 on each side of the screen 42, a slider 48 slidably connected inside the waist-shaped groove 47, the slider 48 being connected to the inner wall of the waist-shaped groove 47 by a spring 49, the slider 48 being connected to the end face of the connecting plate 50, the side wall of the connecting plate 50 being parallel to the screen 42, the other end face of the connecting plate 50 being connected to the end of the second slider 51, the second slider 51 being slidably connected to the base 26, a mounting frame 52 being connected to the second slider 51, a rack 53 being connected to the top and bottom of the mounting frame 52, the rack 53 being meshed with a special-shaped tooth 54, the special-shaped tooth 54 being connected to the output end of the fourth motor 55, and the fourth motor 55 being connected to the base 26.

[0040] The principles and beneficial effects of the above scheme are as follows: When the screen 42 needs to move back and forth, the motor 455 starts, and the irregular teeth 54 at the output end of the motor 455 rotates. The irregular teeth 54 mesh with the two racks 53 connected vertically inside the mounting frame 52. The mounting frame 52 moves back and forth, and the slider 2 51 moves back and forth synchronously. The connecting plate 50 moves back and forth. Under the sliding cooperation of the arc-shaped tooth groove and the bottom of the guide plate 46 which has a semi-circular cross section, the slider 48 moves up and down relative to the waist-shaped groove 47. The spring 49 is repeatedly compressed and reset, and the auxiliary screen 42 repeatedly shakes in its inclined direction.

[0041] 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 large-angle turntable dexterous thumb, characterized in that, include: The adapter (1), servo (2), gear (3), tooth arc (4), servo two (5) and dexterous thumb (6) are connected. The output end of the servo (2) on the adapter (1) is connected to the gear (3). The servo two (5) is rotatably connected to the adapter (1). The tooth arc (4) on the side wall of the servo two (5) meshes with the gear (3). The output end of the servo two (5) is connected to the bottom of the dexterous thumb (6). The servo two (5) is a dual-output servo.

2. The dexterous thumb of a large-angle turntable according to claim 1, characterized in that, The dexterous thumb (6) includes: a servo connector (7), a proximal phalanx (8), a middle phalanx (9), a fingertip (10), and a connecting rod (11). The two output ends of the dual-output servo are respectively connected to one side of the servo connector (7). The end of the proximal phalanx (8) is rotatably connected to the servo connector (7). The other end of the proximal phalanx (8) is connected to the end of the middle phalanx (9). The other end of the middle phalanx (9) is connected to the end of the fingertip (10). The ends of a connecting rod (11) are rotatably connected to both sides of the middle phalanx (9). The other end of the connecting rod (11) is rotatably connected to the top of the servo connector (7). The connecting rod (11) is located below the end of the middle phalanx (9).

3. The dexterous thumb of a large-angle turntable according to claim 2, characterized in that, The proximal phalanx (8) includes: a motor (12), a worm (13), a mounting base (14), a worm wheel (15), and a rotating shaft (16). The end of the motor (12) is rotatably connected to the servo motor connecting base (7). The motor (12) is connected to the mounting base (14). The output end of the motor (12) is connected to the end of the worm (13). The other end of the worm (13) is rotatably connected to the mounting base (14). The worm (13) is meshed with the worm wheel (15). The worm wheel (15) is rotatably connected to the mounting base (14) through the rotating shaft (16). The rotating shaft (16) is connected to the end of the middle phalanx (9).

4. The large-angle turntable dexterous thumb according to claim 3, characterized in that, The middle finger joint (9) includes: a middle finger joint frame (17) and a second rotating shaft (18). The rotating shaft (16) is connected to the end of the middle finger joint frame (17), and the other end of the middle finger joint frame (17) is rotatably connected to the second rotating shaft (18). The second rotating shaft (18) is connected to the end of the fingertip (10), and a transmission mechanism is connected between the second rotating shaft (18) and the rotating shaft (16).

5. A large-angle turntable dexterous thumb according to claim 4, characterized in that, The transmission mechanism includes: an incomplete sprocket (19), an incomplete sprocket two (20), an open chain (21), and a barb (22). An incomplete sprocket (19) is fixed on each of the two inner walls of the mounting base (14). The top of the incomplete sprocket (19) is engaged with the bottom of one end of the open chain (21). The bottom of the incomplete sprocket two (20) is engaged with the top of the other end of the open chain (21). The incomplete sprocket two (20) is connected to the second shaft (18). The incomplete sprocket (19) and the incomplete sprocket two (20) have the same structure. The barb (22) on the incomplete sprocket (19) is engaged with the pin at one end of the open chain (21). The other barb (22) on the incomplete sprocket two (20) is engaged with the pin at the other end of the open chain (21). The opening of the barb (22) faces the mounting base (14). The two barbs (22) are oriented in the same direction.

6. A large-angle turntable dexterous thumb according to claim 4, characterized in that, The top of the middle finger joint frame (17) is horizontally connected to a positioning pin (23), and the end of a tension spring (24) is hung on the positioning pin (23). The other end of the tension spring (24) is hung in the slot of the second positioning pin (25). The bottom of the second positioning pin (25) is connected to the top of the fingertip (10).

7. A large-angle turntable dexterous thumb according to claim 6, characterized in that, A force sensor is connected to the bottom of the fingertip (10), the force sensor is electrically connected to the control system, and the control system is electrically connected to the motor (12).

8. A large-angle turntable dexterous thumb according to claim 1, characterized in that, It also includes a gear processing machine for manufacturing gears (3), the gear processing machine including: a base (26), a hob (27), a cooling pipe (28), an external spray pipe (29), a retaining ring (30), a limiting nut (31) and an adjusting mechanism (32), the base (26) being connected to the bottom of motor 2 via a horizontal moving mechanism, and the output end of motor 2 being connected to the hob (27).

9. A large-angle turntable dexterous thumb according to claim 8, characterized in that, A cooling pipe (28) is rotatably connected to the base (26). Multiple guide holes (56) are opened through the inner wall of the cooling pipe (28). One end of a sleeve (57) is connected to the base (26). The sleeve (57) is coaxially arranged outside the cooling pipe (28). The other end of the sleeve (57) is connected to the adjustment mechanism (32). The inner wall of the sleeve (57) is connected to the bottom of the external spray pipe (29). A retaining ring (30) is connected to the cooling pipe (28). A limit nut is threaded to the end of the cooling pipe (28). (31) The output end of the external nozzle (29) is positioned between the retaining ring (30) and the limiting nut (31). The other end of the cooling pipe (28) is connected to the coolant delivery mechanism through the adjustment mechanism (32). The cutting end of the hob (27) is set perpendicular to the end face of the limiting nut (31). A worm gear ring (33) is connected to the cooling pipe (28). The worm gear ring (33) is meshed with the second worm (34). The second worm (34) is connected to the output end of the third motor (35). The third motor (35) is connected to the base (26).

10. A large-angle turntable dexterous thumb according to claim 9, characterized in that, The adjustment mechanism (32) includes: a sleeve (36), one end of which is connected to the other end of a second sleeve (57), the sleeve (36) is fixed on the base (26), the inner wall of the sleeve (36) is provided with a tapered section (37), the inner wall of the tapered section (37) is set away from the cooling pipe (28), a sealing column (38) is slidably sealed inside the sleeve (36), the end of the sealing column (38) is connected to the bottom end of the tapered column (39), the top end of the tapered column (39) is set away from the cooling pipe (28), the other end of the sealing column (38) is connected to the end of a screw (40), the side wall of the screw (40) is slidably connected to the inner wall of the sleeve (36), and the side wall of the screw (40) is threadedly connected to the nut (41) on the inner wall of the cooling pipe (28).

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