Three-degree-of-freedom humanoid finger structure

Abstract

According to the three-degree-of-freedom humanoid finger structure, a first servo electric cylinder, a second servo electric cylinder and a third servo electric cylinder are hinged to a base, a rocker arm is hinged to the upper portion of the base, and meanwhile the rear end of a first knuckle left side connecting rod and the rear end of a first knuckle right side connecting rod are hinged to the rocker arm in a bilateral symmetry mode; the three servo electric cylinders are arranged on the base, abrasion to a circuit caused by knuckle movement is avoided, the integration level is high, finger movement does not depend on external structural parts, the multi-finger clamping jaw can be combined at will, the fingers can be integrally changed after being damaged, the on-site maintenance difficulty is reduced, the machining technology is simple, and the multi-finger clamping jaw is suitable for mass production.

Description

Technical Field

[0001] The utility model relates to the technical field of robot bionics, in particular to a three-degree-of-freedom humanoid finger structure. Background Art

[0002] With the widespread application and development of robots, the humanoid finger structure of robots has fewer degrees of freedom, resulting in insufficient flexibility of humanoid fingers. The human operation that the fingers can achieve cannot meet the actual needs of the machine. In addition, since the motor is installed at the joint of the humanoid finger, the installation is troublesome, and the connection line of the motor is relatively complicated, and it is easy to bend fatigue and wear the connection line, causing the connection line to break easily and cause failure; the wire of the commonly used humanoid finger is greatly worn, the repair cost of the break is high, the integration is poor, and the production and assembly labor cost of the humanoid finger is increased. It has the following disadvantages:

[0003] Disadvantage 1: Fewer degrees of freedom;

[0004] Disadvantage 2: The motor is directly installed on the finger joint, which makes installation inconvenient, and the motor external circuit will inevitably bend, fatigue or wear when the finger joint moves;

[0005] Disadvantage 3: The structural parts are complex and difficult to process;

[0006] Disadvantage 4: The wire pulling type has high requirements for the steel wire, and it is prone to wear and tear. It is difficult to repair after breakage and has low integration. Utility Model Content

[0007] The utility model provides a three-degree-of-freedom humanoid finger structure, which adopts a servo electric cylinder motor arranged on a base, is convenient for line installation, and avoids wear of the line caused by the movement of the knuckles. The application has high integration, the finger movement does not rely on external structural parts, multiple finger grippers can be combined at will, and the fingers can be replaced as a whole after damage, reducing the difficulty of maintenance costs.

[0008] To solve the above problems, the utility model provides a three-degree-of-freedom humanoid finger structure, including a base, a first servo electric cylinder, a second servo electric cylinder, a third servo electric cylinder, a rocker arm, a center seat, a right-side connecting rod of the first knuckle, a left-side connecting rod of the first knuckle, a middle connecting rod of the first knuckle, a right-side connecting rod of the second knuckle, a left-side connecting rod of the second knuckle, a middle connecting rod of the second knuckle and a fingertip portion, the base is hingedly provided with a first servo electric cylinder, a second servo electric cylinder and a third servo electric cylinder, the first servo electric cylinder and the second servo electric cylinder are symmetrically arranged on the left and right, the third servo electric cylinder is located at the rear end of the fingertip portion, the rocker arm is hinged to the upper part of the base, and at the same time, the rear end of the left-side connecting rod of the first knuckle and the rear end of the right-side connecting rod of the first knuckle are respectively hinged on the left and right sides.

[0009] Preferably, the push rod of the first servo electric cylinder, the front end of the right connecting rod of the first finger joint, the front end of the center seat, the front end of the left connecting rod of the first finger joint and the push rod of the second servo electric cylinder are hinged to each other on the same axis.

[0010] The above installation position realizes the power of the push rod of the first servo electric cylinder and the push rod of the second servo electric cylinder to drive the first finger joint to move flexibly.

[0011] Preferably, the rear end of the center seat is hinged to the third servo electric cylinder push rod, and the upper end of the center seat is hinged to the lower end of the first finger joint intermediate connecting rod.

[0012] Preferably, the upper end of the first knuckle intermediate link is hinged to the front end of the second knuckle intermediate link.

[0013] Preferably, the upper front end of the left side connecting rod of the first knuckle, the lower end of the middle connecting rod of the second knuckle and the upper front end of the right side connecting rod of the first knuckle are hinged to each other on the same axis.

[0014] The above installation position facilitates the joint movement positioning of the first knuckle.

[0015] Preferably, the lower end of the left connecting rod of the second knuckle, the upper rear end of the left connecting rod of the first knuckle, the upper rear end of the right connecting rod of the second knuckle and the lower end of the right connecting rod of the second knuckle are hinged on the same axis. The above installation position is convenient for the joint movement positioning of the second knuckle.

[0016] Preferably, the fingertip portion is hinged to the upper end of the middle connecting rod of the second knuckle, the upper end of the right connecting rod of the second knuckle and the upper end of the left connecting rod of the second knuckle respectively.

[0017] Preferably, the first knuckle housing is mounted on the first knuckle right connecting rod and the first knuckle left connecting rod, and the second knuckle housing is mounted on the second knuckle right connecting rod and the second knuckle left connecting rod.

[0018] The first knuckle shell and the second knuckle shell are installed at positions where the first knuckle right connecting rod, the first knuckle left connecting rod, the second knuckle right connecting rod and the second knuckle left connecting rod in the protective shell can be installed.

[0019] Preferably, when the first servo electric cylinder and the second servo electric cylinder act synchronously, the first knuckle is bent forward and backward, and when the first servo electric cylinder and the second servo electric cylinder act asynchronously, the finger is swung left and right; the third servo electric cylinder realizes the linkage bending movement of the second knuckle and the fingertip.

[0020] When the first servo electric cylinder and the second servo electric cylinder act synchronously, the first servo electric cylinder push rod and the second servo electric cylinder push rod respectively drive the right connecting rod of the first finger joint and the left connecting rod of the first finger joint to swing back and forth synchronously, so that the whole finger swings back and forth;

[0021] When the first servo electric cylinder and the second servo electric cylinder act asynchronously, a height difference occurs between the first servo electric cylinder push rod and the second servo electric cylinder push rod, so that a height difference occurs at the hinge of the right connecting rod of the first finger joint and the left connecting rod of the first finger joint and the center seat, driving the rocker arm to swing left and right, so that the finger swings to the lower side of the hinge with the center seat;

[0022] When the third servo electric cylinder is actuated, the third servo electric cylinder push rod drives the rear end of the center seat to swing up and down, and transmits the action to the middle connecting rod of the first knuckle, the middle connecting rod of the second knuckle and the fingertip in sequence. Under the action of the right connecting rod of the second knuckle and the left connecting rod of the second knuckle, the second knuckle and the fingertip realize a determined linkage bending action.

[0023] Preferably, the base, rocker arm, center seat, left connecting rod of the first knuckle, right connecting rod of the first knuckle, middle connecting rod of the first knuckle, left connecting rod of the second knuckle, right connecting rod of the second knuckle and middle connecting rod of the second knuckle are all directly stamped out of thin metal sheets or bent after stamping and then stacked and welded.

[0024] The beneficial effects of the utility model are as follows: a first servo electric cylinder, a second servo electric cylinder and a third servo electric cylinder are hingedly provided on a base, the first servo electric cylinder and the second servo electric cylinder are arranged symmetrically on the left and right, the rocker arm is hingedly connected to the upper part of the base, and the rear end of the left connecting rod of the first finger joint and the rear end of the right connecting rod of the first finger joint are hingedly connected on the left and right sides, respectively, the motor is arranged on the base, and the wear of the circuit caused by the movement of the finger joint is avoided, the integration is high, the movement of the finger does not rely on the external structural parts, the multi-finger gripper can be combined at will, the finger can be replaced as a whole after being damaged, and the difficulty of on-site maintenance is reduced. The processing technology is simple and suitable for mass production, and it has the following advantages:

[0025] 1. Most of the structural parts of the present application are formed by stamping thin metal sheets or bending, laminating and spot welding after stamping. The processing technology is simple and suitable for mass production.

[0026] 2. Three servo electric cylinder motors are arranged on the base, which is convenient for line installation and avoids wear of the line caused by knuckle movement.

[0027] 3. This application has a high degree of integration, the movement of the fingers does not rely on external structural parts, and multiple finger grippers can be combined at will. After damage, the fingers can be replaced as a whole, reducing the difficulty of on-site maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1It is a schematic diagram of the exploded structure of an embodiment of the utility model;

[0029] Figure 2 It is a schematic diagram of the assembly structure of an embodiment of the utility model.

[0030] Reference numerals

[0031] 1. Fingertip; 2. Second knuckle housing; 3. Second knuckle left connecting rod; 4. Second knuckle middle connecting rod; 5. Second knuckle right connecting rod; 6. First knuckle middle connecting rod; 7. First knuckle left connecting rod; 8. First knuckle housing; 9. Center seat; 10. First knuckle right connecting rod; 11. Rocker arm; 12. First servo electric cylinder; 13. Second servo electric cylinder; 14. Base; 15. Third servo electric cylinder. DETAILED DESCRIPTION

[0032] In order to more fully understand the technical content of the present invention, the technical solution of the present invention is further introduced and illustrated in conjunction with the accompanying drawings and specific embodiments, but is not limited thereto.

[0033] like Figure 1 and Figure 2 As shown, a specific embodiment of the utility model is a three-degree-of-freedom humanoid finger structure, including a base 14, a first servo electric cylinder 12, a second servo electric cylinder 13, a third servo electric cylinder 15, a rocker arm 11, a center seat 9, a first knuckle right side connecting rod 10, a first knuckle left side connecting rod 7, a first knuckle middle connecting rod 6, a second knuckle right side connecting rod 5, a second knuckle left side connecting rod 3, a second knuckle middle connecting rod 4 and a fingertip portion 1, the base 14 is hingedly provided with a first servo electric cylinder 12, a second servo electric cylinder 13 and a third servo electric cylinder 15, the first servo electric cylinder 12 and the second servo electric cylinder 13 are symmetrically arranged, the third servo electric cylinder 15 is located at the rear end of the fingertip portion 1, the rocker arm 11 is hinged to the upper part of the base 14, and at the same time, the rear end of the first knuckle left side connecting rod 7 and the rear end of the first knuckle right side connecting rod 10 are respectively hingedly left and right.

[0034] Furthermore, the push rod of the first servo electric cylinder 12, the front end of the right connecting rod 10 of the first finger joint, the front end of the center seat 9, the front end of the left connecting rod 7 of the first finger joint and the push rod of the second servo electric cylinder 13 are hinged to each other on the same axis.

[0035] The above installation position realizes the push rod power of the first servo electric cylinder 12 and the push rod power of the second servo electric cylinder 13 to drive the first finger joint to move flexibly.

[0036] Furthermore, the rear end of the center seat 9 is hinged to the push rod of the third servo electric cylinder 15 , and the upper end of the center seat 9 is hinged to the lower end of the first finger joint intermediate connecting rod 6 .

[0037] Furthermore, the upper end of the first knuckle intermediate link 6 is hinged to the lower end of the second knuckle intermediate link 4 .

[0038] Furthermore, the upper front end of the left side connecting rod 7 of the first knuckle, the lower end of the middle connecting rod 4 of the second knuckle and the upper front end of the right side connecting rod 10 of the first knuckle are hinged to each other on the same axis.

[0039] The above installation position facilitates the joint movement positioning of the first knuckle.

[0040] Further, the lower end of the left side connecting rod 3 of the second knuckle, the upper rear end of the left side connecting rod 7 of the first knuckle, the upper rear end of the right side connecting rod 5 of the second knuckle and the lower end of the right side connecting rod 5 of the second knuckle are hinged to each other on the same axis. The above installation position facilitates the joint movement positioning of the second knuckle.

[0041] Furthermore, the fingertip portion 1 is hinged to the upper end of the middle connecting rod 4 of the second knuckle, the upper end of the right connecting rod 5 of the second knuckle and the upper end of the left connecting rod 3 of the second knuckle respectively.

[0042] Furthermore, the first knuckle housing 8 is mounted on the first knuckle right connecting rod 10 and the first knuckle left connecting rod 7 , and the second knuckle housing 2 is mounted on the second knuckle right connecting rod 5 and the second knuckle left connecting rod 3 .

[0043] The installation position of the first knuckle shell 8 and the second knuckle shell 2 can protect the first knuckle right connecting rod 10, the first knuckle left connecting rod 7, the second knuckle right connecting rod 5 and the second knuckle left connecting rod 3 in the shell.

[0044] Furthermore, when the first servo electric cylinder 12 and the second servo electric cylinder 13 act synchronously, the first knuckle is bent forward and backward, and when the first servo electric cylinder 12 and the second servo electric cylinder 13 act asynchronously, the finger is swung left and right; the third servo electric cylinder 15 realizes the linkage bending movement of the second knuckle and the fingertip 1.

[0045] When the first servo electric cylinder 12 and the second servo electric cylinder 13 act synchronously, the push rod of the first servo electric cylinder 12 and the push rod of the second servo electric cylinder 13 respectively drive the right connecting rod 10 of the first knuckle and the left connecting rod 7 of the first knuckle to swing back and forth synchronously, so that the whole finger swings back and forth;

[0046] When the first servo electric cylinder 12 and the second servo electric cylinder 13 act asynchronously, a height difference occurs between the push rod of the first servo electric cylinder 12 and the push rod of the second servo electric cylinder 13, so that a height difference occurs at the hinge of the first finger joint right connecting rod 10 and the first finger joint left connecting rod 7 and the center seat 9, driving the rocker arm 11 to swing left and right, so that the finger swings to the lower side of the hinge with the center seat 9;

[0047] When the third servo electric cylinder 15 is actuated, the push rod of the third servo electric cylinder 15 drives the rear end of the center seat 9 to swing up and down, and transmits the action to the middle connecting rod 6 of the first knuckle, the middle connecting rod 4 of the second knuckle and the fingertip 1 in sequence. Under the action of the right connecting rod 5 of the second knuckle and the left connecting rod 3 of the second knuckle, the second knuckle and the fingertip 1 realize a determined linkage bending action.

[0048] Furthermore, the base 14, the rocker arm 11, the center seat 9, the left connecting rod 7 of the first knuckle, the right connecting rod 10 of the first knuckle, the middle connecting rod 6 of the first knuckle, the left connecting rod 3 of the second knuckle, the right connecting rod 5 of the second knuckle and the middle connecting rod 4 of the second knuckle are all directly stamped out of thin metal sheets or bent after stamping and then stacked and welded.

[0049] The beneficial effects of the utility model are as follows: the first servo electric cylinder 12, the second servo electric cylinder 13 and the third servo electric cylinder 15 are hingedly provided with the base 14, the first servo electric cylinder 12 and the second servo electric cylinder 13 are arranged symmetrically, the rocker arm 11 is hinged with the upper part of the base 14, and the rear end of the left connecting rod 7 of the first finger joint and the rear end of the right connecting rod 10 of the first finger joint are hinged symmetrically respectively, the motor is arranged on the base 14, the wear of the circuit caused by the movement of the finger joint is avoided, the integration is high, the movement of the finger does not rely on the external structural parts, the multi-finger gripper can be combined at will, the finger can be replaced as a whole after being damaged, the difficulty of on-site maintenance is reduced, the processing technology is simple, it is suitable for mass production, and has the following advantages:

[0050] 1. Most of the structural parts of the present application are formed by stamping thin metal sheets or bending, laminating and spot welding after stamping. The processing technology is simple and suitable for mass production.

[0051] 2. Three servo electric cylinder motors are arranged on the base 14, which is convenient for line installation and avoids wear of the line caused by knuckle movement.

[0052] 3. This application has a high degree of integration, the movement of the fingers does not rely on external structural parts, and multiple finger grippers can be combined at will. After damage, the fingers can be replaced as a whole, reducing the difficulty of on-site maintenance.

[0053] The above description is only the preferred implementation mode of this patent and does not limit the scope of this patent. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings, directly or indirectly used in other related technical fields, falls within the scope of protection of this patent.

Claims

1. A three-degree-of-freedom humanoid finger structure, characterized in that: It includes a base, a first servo electric cylinder, a second servo electric cylinder, a third servo electric cylinder, a rocker arm, a center seat, a right connecting rod of the first knuckle, a left connecting rod of the first knuckle, a middle connecting rod of the first knuckle, a right connecting rod of the second knuckle, a left connecting rod of the second knuckle, a middle connecting rod of the second knuckle and a fingertip. The base is hinged with the first servo electric cylinder, the second servo electric cylinder and the third servo electric cylinder. The first servo electric cylinder and the second servo electric cylinder are symmetrically arranged. The third servo electric cylinder is located at the rear end of the fingertip. The rocker arm is hinged to the upper part of the base, and the rear ends of the left connecting rod of the first knuckle and the right connecting rod of the first knuckle are hinged symmetrically.

2. The three-degree-of-freedom humanoid finger structure according to claim 1, characterized in that: The push rod of the first servo electric cylinder, the front end of the right connecting rod of the first finger joint, the front end of the central seat, the front end of the left connecting rod of the first finger joint and the push rod of the second servo electric cylinder are hinged to each other on the same axis.

3. The three-degree-of-freedom humanoid finger structure according to claim 1, characterized in that: The rear end of the center seat is hinged to the third servo electric cylinder push rod, and the upper end of the center seat is hinged to the lower end of the first finger joint intermediate connecting rod.

4. The three-degree-of-freedom humanoid finger structure according to claim 1, characterized in that: The upper end of the first knuckle intermediate connecting rod is hinged to the front end of the second knuckle intermediate connecting rod.

5. The three-degree-of-freedom humanoid finger structure according to claim 1, characterized in that: The upper front end of the left side connecting rod of the first knuckle, the lower end of the middle connecting rod of the second knuckle and the upper front end of the right side connecting rod of the first knuckle are hinged to each other on the same axis.

6. The three-degree-of-freedom humanoid finger structure according to claim 1, characterized in that: The lower end of the left side connecting rod of the second knuckle, the upper rear end of the left side connecting rod of the first knuckle, the upper rear end of the right side connecting rod of the second knuckle and the lower end of the right side connecting rod of the second knuckle are hinged to each other on the same axis.

7. The three-degree-of-freedom humanoid finger structure according to claim 1, characterized in that: The fingertip is hinged to the upper end of the middle connecting rod of the second knuckle, the upper end of the right connecting rod of the second knuckle and the upper end of the left connecting rod of the second knuckle respectively.

8. The three-degree-of-freedom humanoid finger structure according to claim 1, characterized in that: A first knuckle shell is installed on the right connecting rod of the first knuckle and the left connecting rod of the first knuckle, and a second knuckle shell is installed on the right connecting rod of the second knuckle and the left connecting rod of the second knuckle.

9. The three-degree-of-freedom humanoid finger structure according to claim 1, characterized in that: When the first servo electric cylinder and the second servo electric cylinder act synchronously, the first knuckle is bent forward and backward, and when the first servo electric cylinder and the second servo electric cylinder act asynchronously, the finger is swung left and right; the third servo electric cylinder realizes the linkage bending movement of the second knuckle and the fingertip.

10. The three-degree-of-freedom humanoid finger structure according to claim 1, characterized in that: The base, rocker arm, center seat, left connecting rod of the first knuckle, right connecting rod of the first knuckle, middle connecting rod of the first knuckle, left connecting rod of the second knuckle, right connecting rod of the second knuckle and middle connecting rod of the second knuckle are all directly stamped by thin metal sheets or bent after stamping and then stacked and welded.

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