Linear motor, bionic finger and bionic dexterous hand

Abstract

The utility model belongs to the technical field of manipulators, and discloses a linear motor, a bionic finger and a bionic dexterous hand, the linear motor comprises a motor body, an output shaft of which is rotatably arranged; the input end of the reduction gearbox is connected with the output shaft of the motor body; the linear transmission assembly comprises a shell and a planetary roller lead screw structure arranged in the shell, the planetary roller lead screw structure comprises a main lead screw, a nut and a plurality of roller lead screws, the roller lead screws are arranged on the periphery of the main lead screw in a winding mode, the nut is arranged outside the roller lead screws in a sleeving mode, the main lead screw and the nut are in transmission connection through the roller lead screws, and the main lead screw and the nut are in transmission connection through the roller lead screws. One of the main lead screw and the nut is connected with the output end of the reduction gearbox, and the other one can stretch out and draw back along a straight line and penetrate out of the shell. The linear motor provided by the utility model adopts a planetary roller screw structure as a power conversion structure, has self-locking performance, and is higher in bearing capacity and transmission efficiency and longer in service life.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a linear motor, a bionic finger and a bionic dexterous hand. Background Art

[0002] The bionic dexterous hand is a complex device that integrates multiple bionic fingers, designed to simulate the overall function and dexterity of the human hand. Through advanced control algorithms and sensing technology, the bionic dexterous hand is able to perform precise object manipulation and grasping in complex operating environments.

[0003] At present, the grasping action of bionic fingers is achieved by a motor driving the rotation of each knuckle through a tendon rope. This driving form requires continuous power input to the motor to maintain the grasping posture, and there are problems such as low transmission efficiency and load-bearing capacity, and short service life.

[0004] Therefore, there is an urgent need for a linear motor, a bionic finger and a bionic dexterous hand to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of the utility model is to:

[0006] 1. Provide a linear motor, which adopts a planetary roller screw structure as a power conversion structure, has self-locking performance, higher load-bearing capacity and transmission efficiency, and longer service life.

[0007] 2. Provide a bionic finger, which drives the bending between adjacent knuckles of the bionic finger through a linear motor, has stronger power transmission efficiency and carrying capacity, and can output a larger and more stable gripping force.

[0008] 3. Provide a bionic dexterous hand, which drives the bionic finger to bend relative to the palm structure through a linear motor, has stronger power transmission efficiency and load capacity, and can output a larger and more stable grasping force.

[0009] To achieve this purpose, the utility model adopts the following technical solutions:

[0010] In a first aspect, a linear motor is provided, comprising:

[0011] A motor body, the output shaft of which is rotatably arranged;

[0012] A reduction box, the input end of which is connected to the output shaft of the motor body;

[0013] A linear transmission assembly includes a housing and a planetary roller screw structure arranged in the housing, wherein the planetary roller screw structure includes a main screw, a nut and a plurality of roller screws, wherein the plurality of roller screws are wound around the circumference of the main screw, and the nut is sleeved outside the plurality of roller screws, the main screw and the nut are linked by a plurality of roller screws, one of the main screw and the nut is connected to the output end of the reduction gearbox, and the other can be extended and retracted along a straight line and pass through the housing.

[0014] Preferably, the motor body, the reduction gearbox and the linear transmission assembly are arranged in sequence along the telescopic direction of the linear telescopic end of the linear transmission assembly.

[0015] Preferably, the reduction gearbox and the linear transmission assembly are arranged in sequence along the telescopic direction of the linear telescopic end of the linear transmission assembly, and the motor body is arranged beside the reduction gearbox and the linear transmission assembly.

[0016] Preferably, the housing of the motor body and the housing of the reduction gearbox are fixedly connected by welding; and / or

[0017] The outer shell of the reduction box and the housing of the linear transmission assembly are fixedly connected by welding.

[0018] Preferably, the nut is rotatably disposed in the housing, the nut is connected to the output end of the reduction gearbox, and the main screw can be telescoped along a straight line and pass through the housing.

[0019] Preferably, the linear motor further comprises:

[0020] A radial bearing is arranged at one end of the nut close to the reduction box, the inner ring of the radial bearing is tightly sleeved on the outer periphery of the nut, and the outer ring of the radial bearing is fixed to the inner wall of the housing;

[0021] A thrust bearing, a thrust step is arranged at one end of the nut away from the reduction box, an inner flange is arranged at the shell corresponding to the opening through which the main screw rod extends, the thrust shaft plate of the thrust bearing abuts against the thrust step, and the thrust seat plate of the thrust bearing is fixed to the inner flange.

[0022] Preferably, the linear motor also includes a locking block, which is clamped in the shell and extends into the inner cavity of the shell. A limiting step is provided at one end of the nut close to the reduction box. The locking block is pressed against the side of the outer ring of the radial bearing close to the reduction box, and the side of the inner ring of the radial bearing away from the reduction box is pressed against the limiting step.

[0023] Preferably, the radial bearing is a deep groove ball bearing; and / or

[0024] The thrust bearing is a thrust roller bearing or a thrust sliding bearing.

[0025] In a second aspect, a bionic finger is provided, comprising an end knuckle and a plurality of driving knuckles which are connected to rotate in sequence, wherein the driving knuckles comprise the linear motor as described above, and one end of the linear transmission assembly extending out of the shell is transmission-connected to the adjacent driving knuckle or the end knuckle to drive the latter to rotate.

[0026] According to a third aspect, a bionic dexterous hand is provided, comprising a bionic finger, a palm structure and the linear motor as described above, wherein the bionic finger is movably connected to the palm structure, the body of the linear motor is mounted on one of the bionic finger and the palm structure, and one end of the linear transmission assembly extends out of the shell and is hinged to the other of the bionic finger and the palm structure.

[0027] Beneficial effects of the utility model:

[0028] The linear motor provided by the utility model outputs rotational power through the motor body, and the reduction box is arranged between the motor body and the linear transmission assembly, and the rotational power output by the motor body is reduced in speed and transmitted to the linear transmission assembly. The linear transmission assembly adopts a planetary roller screw structure to convert the rotational power into linear power, so that its output end can be extended and retracted along a straight line and pass through the housing. By adopting a planetary roller screw structure as a power conversion structure, it not only has a self-locking performance, but also significantly improves the load-bearing capacity and transmission efficiency of the linear motor. The load-bearing capacity is more than twice that of a linear motor with a ball screw structure of the same specification, and the service life is also far longer than that of a linear motor with a ball screw structure.

[0029] The bionic finger provided by the utility model drives the bending between adjacent knuckles of the bionic finger through a linear motor, thereby achieving a grasping action, having higher power transmission efficiency and stronger carrying capacity, and being able to output a larger and more stable grasping force.

[0030] The utility model provides a bionic dexterous hand, which drives the bionic fingers to bend relative to the palm structure through a linear motor, has higher power transmission efficiency and stronger carrying capacity, and can output a larger and more stable grasping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the linear motor provided in the first embodiment of the utility model;

[0032] Figure 2 It is a structural schematic diagram of the linear motor provided in the second embodiment of the utility model.

[0033] In the figure:

[0034] 100, motor body; 200, reduction box; 300, linear transmission assembly;

[0035] 10. Planetary roller screw structure; 101. Thrust step; 102. Limit step;

[0036] 20. Shell; 201. Inner flange;

[0037] 3. Radial bearing; 31. Inner ring; 32. Outer ring; 4. Thrust bearing; 41. Thrust shaft plate; 42. Thrust seat plate; 5. Locking block. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0041] In the description of this embodiment, the terms "upper", "lower", "right", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0042] Embodiment 1:

[0043] This embodiment provides a linear motor, such as Figure 1 As shown, the linear motor includes a motor body 100, a reduction box 200 and a linear transmission assembly 300. The output shaft of the motor body 100 is rotatably arranged, the input end of the reduction box 200 is connected to the output shaft of the motor body 100, and the linear transmission assembly 300 includes a housing 20 and a planetary roller screw structure 10 disposed in the housing 20. The planetary roller screw structure 10 includes a main screw, a nut and a plurality of roller screws, the plurality of roller screws are wound around the periphery of the main screw, and the nut is sleeved outside the plurality of roller screws. The main screw and the nut are linked by a plurality of roller screws. One of the main screw and the nut is connected to the output end of the reduction box 200, and the other can be telescopic along a straight line and pass through the housing 20.

[0044] Specifically, the linear motor provided in this embodiment outputs rotational power through the motor body 100, and the reduction box 200 is arranged between the motor body 100 and the linear transmission assembly 300, and the rotational power output by the motor body 100 is reduced in speed and transmitted to the linear transmission assembly 300. The linear transmission assembly 300 adopts a planetary roller screw structure 10 to convert the rotational power into linear power, so that its output end can be extended and retracted along a straight line and pass through the housing 20. By adopting the planetary roller screw structure 10 as the power conversion structure, it not only has self-locking performance, but also significantly improves the load-bearing capacity and transmission efficiency of the linear motor, which is more than twice the load-bearing capacity of the linear motor using the same specification of the ball screw structure, and the service life is also far longer than the linear motor using the ball screw structure.

[0045] In this embodiment, the nut is rotatably arranged in the housing 20, the nut is connected to the output end of the reduction box 200, and the main screw can be extended and retracted along a straight line and pass through the housing 20. Of course, in other embodiments of the utility model, the main screw can also be rotatably arranged in the housing 20, and the nut together with each roller screw can be movably arranged along the main screw.

[0046] For example, Figure 1 As shown, the linear motor further includes a radial bearing 3 and a thrust bearing 4 .

[0047] Among them, Figure 1 As shown, the radial bearing 3 is arranged at one end of the nut close to the reduction box 200, the inner ring 31 of the radial bearing 3 is tightly sleeved on the outer periphery of the nut, and the outer ring 32 of the radial bearing 3 is fixed to the inner wall of the housing 20. The radial bearing 3 can withstand the radial load of the nut.

[0048] For example, Figure 1As shown, the linear motor also includes a locking block 5, which is clamped in the shell 20 and extends into the inner cavity of the shell 20. A limiting step 102 is set at the end of the nut close to the reduction box 200. The locking block 5 is pressed against the side of the outer ring 32 of the radial bearing 3 close to the reduction box 200, and the side of the inner ring 31 of the radial bearing 3 away from the reduction box 200 is pressed against the limiting step 102, thereby locking the radial bearing 3 between the shell 20 and the nut, and when maintenance and adjustment are required, the radial bearing 3 can be removed by removing the locking block 5.

[0049] In this embodiment, the radial bearing 3 is a deep groove ball bearing. Of course, in other embodiments of the present invention, the radial bearing 3 can also be an angular contact ball bearing, a needle roller bearing, etc.

[0050] like Figure 1 As shown, the thrust bearing 4 is arranged at the end of the nut away from the reduction box 200, a thrust step 101 is arranged at the end of the nut away from the reduction box 200, an inner flange 201 is arranged at the opening of the housing 20 corresponding to the main screw rod, a thrust shaft plate 41 of the thrust bearing 4 abuts against the thrust step 101, and a thrust seat plate 42 of the thrust bearing 4 is fixed to the inner flange 201, and the thrust bearing 4 can withstand the axial load of the nut.

[0051] The matching arrangement and layout of the radial bearing 3 and the thrust bearing 4 of this embodiment are suitable for the situation that the movement resistance of the linear motor mainly exists in the retraction stage of the planetary roller screw structure 10, and is particularly suitable for driving the grasping action of the bionic finger. In this case, the axial load of the main screw through the nut to the shell 20 close to the opening end is the largest. The thrust bearing 4 is arranged here to effectively bear the unidirectional axial force generated in the grasping process and improve the bearing capacity. The thrust bearing 4 cooperates with the radial bearing 3 to achieve both qualitative and load-bearing effects.

[0052] Further, such as Figure 1 As shown, the inner diameter of the inner flange 201 is smaller than the inner diameter of the thrust bearing 4 , and the inner flange 201 completely covers the thrust bearing 4 to completely protect the thrust bearing 4 .

[0053] Exemplarily, the thrust bearing 4 is a thrust roller bearing or a thrust sliding bearing.

[0054] Exemplarily, the nut, main screw and roller screw can be made of metal alloy materials such as S45C steel and SUJ2 steel, which have the characteristics of high strength, wear resistance and high temperature resistance.

[0055] For example, Figure 1 As shown, the motor body 100 , the reduction box 200 and the linear transmission assembly 300 are arranged in sequence along the telescopic direction of the linear telescopic end of the linear transmission assembly 300 .

[0056] Exemplarily, the outer shell of the motor body 100 and the outer shell of the reduction box 200 are fixedly connected by welding, and the connection strength is high and the reliability is strong.

[0057] Exemplarily, the housing of the reduction box 200 and the housing 20 of the linear transmission assembly 300 are fixedly connected by welding, and the connection strength is high and the reliability is strong.

[0058] Embodiment 2:

[0059] like Figure 2 As shown, based on the first embodiment, this embodiment provides another linear motor, which is different from the first embodiment in that:

[0060] The reduction gearbox 200 and the linear transmission assembly 300 are arranged in sequence along the telescopic direction of the linear telescopic end of the linear transmission assembly 300, and the motor body 100 is arranged on the side of the reduction gearbox 200 and the linear transmission assembly 300 to form an L-shaped layout structure, thereby reducing the space occupied by the linear motor in the length direction and making full use of the space on the left and right sides of the reduction gearbox 200 and the linear transmission assembly 300.

[0061] Embodiment three:

[0062] This embodiment provides a bionic finger, which includes an end knuckle and a plurality of driving knuckles that are connected to rotate in sequence. The driving knuckles include the linear motor provided in Embodiment 1 or Embodiment 2. The linear motor is transmission-connected to adjacent driving knuckles or end knuckles to drive the end knuckles or driving knuckles to rotate.

[0063] Specifically, the bionic finger drives the bending between adjacent knuckles of the bionic finger through a linear motor, thereby achieving a grasping action. The power transmission efficiency is higher, the carrying capacity is stronger, and it can output a larger and more stable grasping force.

[0064] Embodiment 4:

[0065] The present embodiment provides a bionic dexterous hand, which includes bionic fingers, a palm structure, and the linear motor provided in Embodiment 1 or Embodiment 2. The bionic fingers are movably connected to the palm structure, and the body of the linear motor is installed on one of the bionic fingers and the palm structure. One end of the linear transmission assembly 300 extends out of the shell 20 and is hinged to the other of the bionic finger and the palm structure to drive the bionic finger as a whole to rotate relative to the palm structure.

[0066] Specifically, the bionic dexterous hand uses a linear motor to drive the bionic fingers to bend relative to the palm structure, which has higher power transmission efficiency and stronger carrying capacity, and can output greater and more stable gripping force.

[0067] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the scope of protection of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A linear motor, characterized in that: include: A motor body (100) whose output shaft is rotatably arranged; A reduction box (200), the input end of which is connected to the output shaft of the motor body (100); A linear transmission assembly (300) comprises a housing (20) and a planetary roller screw structure (10) disposed in the housing (20), wherein the planetary roller screw structure (10) comprises a main screw, a nut and a plurality of roller screws, wherein the plurality of roller screws are wound around the periphery of the main screw, and the nut is sleeved outside the plurality of roller screws, wherein the main screw and the nut are linked by a transmission link through the plurality of roller screws, wherein one of the main screw and the nut is connected to the output end of the reduction gearbox (200), and the other can be extended and retracted along a straight line and pass through the housing (20).

2. The linear motor according to claim 1, characterized in that: The motor body (100), the reduction box (200) and the linear transmission assembly (300) are arranged in sequence along the telescopic direction of the linear telescopic end of the linear transmission assembly (300).

3. The linear motor according to claim 1, characterized in that: The reduction box (200) and the linear transmission assembly (300) are arranged in sequence along the telescopic direction of the linear telescopic end of the linear transmission assembly (300), and the motor body (100) is arranged beside the reduction box (200) and the linear transmission assembly (300).

4. The linear motor according to claim 1, characterized in that: The outer shell of the motor body (100) and the outer shell of the reduction box (200) are fixedly connected by welding; and / or The outer shell of the reduction box (200) and the housing (20) of the linear transmission assembly (300) are fixedly connected by welding.

5. The linear motor according to claim 1, characterized in that: The nut is rotatably disposed in the housing (20), the nut is connected to the output end of the reduction box (200), and the main screw rod can be telescoped along a straight line and pass through the housing (20).

6. The linear motor according to claim 5, characterized in that: The linear motor also includes: A radial bearing (3) is arranged at one end of the nut close to the reduction box (200), the inner ring (31) of the radial bearing (3) is tightly sleeved on the outer periphery of the nut, and the outer ring (32) of the radial bearing (3) is fixed to the inner wall of the housing (20); A thrust bearing (4), a thrust step (101) is provided at one end of the nut away from the reduction box (200), an inner flange (201) is provided on the housing (20) corresponding to the opening through which the main screw rod extends, a thrust shaft plate (41) of the thrust bearing (4) abuts against the thrust step (101), and a thrust seat plate (42) of the thrust bearing (4) is fixed to the inner flange (201).

7. The linear motor according to claim 6, characterized in that: The linear motor also includes a locking block (5), which is clamped on the housing (20) and extends into the inner cavity of the housing (20); a limiting step (102) is provided at one end of the nut close to the reduction box (200); the locking block (5) is pressed against a side of the outer ring (32) of the radial bearing (3) close to the reduction box (200); and a side of the inner ring (31) of the radial bearing (3) away from the reduction box (200) is pressed against the limiting step (102).

8. The linear motor according to claim 6, characterized in that: The radial bearing (3) is a deep groove ball bearing; and / or The thrust bearing (4) is a thrust roller bearing or a thrust sliding bearing.

9. A bionic finger, characterized in that: It comprises an end finger joint and a plurality of driving finger joints which are connected to rotate in sequence, wherein the driving finger joint comprises a linear motor as described in any one of claims 1 to 8, and one end of the linear transmission assembly (300) extending out of the housing (20) is transmission-connected to the adjacent driving finger joint or the end finger joint to drive the latter to rotate.

10. A bionic dexterous hand, characterized in that: The invention comprises a bionic finger, a palm structure and a linear motor as claimed in any one of claims 1 to 8, wherein the bionic finger is movably connected to the palm structure, the body of the linear motor is mounted on one of the bionic finger and the palm structure, and one end of the linear transmission component (300) extending out of the housing (20) is hinged to the other of the bionic finger and the palm structure.

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