Humanoid manipulator capable of autonomously moving

Abstract

The utility model belongs to the technical field of manipulators, and discloses a humanoid manipulator capable of autonomously moving, which comprises a manipulator main body, four fingers and a thumb are connected onto the manipulator main body, the four fingers sequentially comprise distal phalanges and proximal phalanges, and the distal phalanges and the proximal phalanges are mutually matched through a micro steering engine, a driving bevel gear and a driven bevel gear. The four fingers and the thumb can independently move, so that the manipulator can grab objects in different shapes and made of different materials, and the manipulator can replace a human hand to work in a hostile environment in which people cannot go to the hand, and through the arrangement of the micro oil pump and the oil conveying cavity, the operation is convenient, and the practicability is high. Lubricating oil in the oil storage box can be conveyed into the oil conveying cavity in one side of the driving bevel gear through the oil conveying pipe by the micro oil pump and flows out through the oil outlet hole, so that the driving bevel gear is lubricated, the meshing position of the driving bevel gear and the driven bevel gear is lubricated, frequent manual oiling is not needed, and the working efficiency is improved. And the autonomous maintenance function of the manipulator is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a humanoid manipulator capable of autonomous movement. Background Art

[0002] With the rapid development of modern science and technology and the continuous expansion of robot application fields, the original robot end effector can no longer meet today's production needs. In order to overcome the shortcomings of ordinary end effectors such as single clamping method, small activity space, lack of flexibility, and difficulty in precise control, dexterous manipulators (abbreviated as dexterous hands) came into being. Dexterous hands have multiple degrees of freedom and can grasp objects of various shapes and different materials, and can also perform fine operations on the grasped objects. Using it to replace a dedicated gripper and install it at the end of the robot manipulator can not only expand the robot's operating range, but also improve the robot's operating quality.

[0003] Traditional joint oiling devices for robot maintenance use direct methods such as brushes or oil drops for oiling, which is cumbersome to operate, and the lubricating oil is not enough to support the joints of the robot for long-term operation. Moreover, the lubricating oil cannot be stored in large quantities at the joints, and it is easy to cause interference. Traditional joint oiling devices for robot maintenance are not convenient to oil when in use, and it is more troublesome to refuel (because a lot of lubricating oil will overflow, causing waste, and the lubricating oil requires repeated rotation of the joints to be applied). Utility Model Content

[0004] The purpose of the utility model is to provide a humanoid robot that can move autonomously to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a humanoid manipulator capable of autonomous movement, comprising a manipulator body, four fingers and a thumb connected to the manipulator body, the four fingers sequentially comprising distal phalanges and proximal phalanges, the thumb comprising sesamoids, distal phalanges and proximal phalanges, micro-servos are arranged on the manipulator body, in the proximal phalanges and sesamoids, an active bevel gear is arranged on the action output shaft of the micro-servo, a connecting rod is arranged at a position of the manipulator body near the proximal phalanges of the thumb, and the connecting rod, the proximal phalanges and the distal phalanges are all provided with A driven bevel gear meshing with the active bevel gear, an oil storage box is arranged on the back of the hand of the manipulator body, the oil storage box is connected to the proximal phalanx, sesamoid bones and the manipulator body in sequence through a plurality of oil delivery pipes, the proximal phalanx, sesamoid bones and the manipulator body are all provided with grooves, the micro-servo, the active bevel gear and the driven bevel gear are all arranged in the grooves, an oil delivery cavity connected with the oil delivery pipe is provided on the side of the groove close to the active bevel gear, an oil filling hole is arranged on the oil storage box, a micro-oil pump is arranged in the oil storage box, and a controller electrically connected with the plurality of micro-servo is arranged in the manipulator body.

[0006] Preferably, an oil outlet hole is provided on the inner wall of the oil delivery cavity close to the active bevel gear, and a movable blocking block is slidably arranged in the oil outlet hole.

[0007] Preferably, a return spring is arranged in the oil delivery cavity, one end of the return spring is mounted on the inner wall of the oil delivery cavity, and the other end of the return spring is mounted on the movable blocking block.

[0008] Preferably, two mutually symmetrical limiting slide grooves are provided on the inner wall of the oil delivery cavity, a limiting slider is slidably arranged in the limiting slide groove, and the limiting slider is mounted on the movable blocking block.

[0009] Preferably, the diameter of the oil outlet hole is larger than the diameter of the leakage end of the movable block, and the diameter of the end of the movable block close to the oil delivery cavity is larger than the diameter of the oil outlet hole.

[0010] Preferably, a through hole is provided on the inner wall of the oil delivery cavity, and the through hole is connected to the oil delivery pipe.

[0011] Preferably, a limiting plate is provided at the opening end of the groove.

[0012] The beneficial effects of the utility model are:

[0013] In the utility model, the micro-servo, active bevel gear and driven bevel gear cooperate with each other, so that the autonomous and independent movement of four fingers and the thumb can be realized, so that the manipulator can grasp objects of different shapes and materials, and can replace human hands to work in environments that humans cannot visit or in harsh environments. In addition, through the arrangement of the micro-oil pump and the oil delivery cavity, the lubricating oil in the oil storage box can be delivered to the oil delivery cavity on one side of the active bevel gear through the oil delivery pipe through the micro-oil pump, and flow out through the oil outlet hole, so as to lubricate the active bevel gear, and then lubricate the meshing part of the active bevel gear and the driven bevel gear, without the need for frequent manual oiling, and realizing the autonomous maintenance function of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of a humanoid manipulator capable of autonomous movement proposed by the utility model;

[0015] Figure 2 This is a schematic diagram of the back structure of a humanoid manipulator capable of autonomous movement proposed by the utility model;

[0016] Figure 3 This is a schematic cross-sectional structure diagram of an active bevel gear of an autonomously movable humanoid manipulator proposed by the utility model;

[0017] Figure 4 The utility model proposes a humanoid manipulator capable of autonomous movement. Figure 3A schematic diagram of the enlarged structure in the middle.

[0018] In the figure: 1. Manipulator body; 2. Controller; 3. Micro servo; 4. Active bevel gear; 5. Driven bevel gear; 6. Distal phalanx; 7. Limit plate; 8. Connecting rod; 9. Oil storage box; 10. Oil filling hole; 11. Groove; 12. Oil delivery pipe; 13. Proximal phalanx; 14. Through hole; 15. Oil delivery cavity; 16. Limit slide groove; 17. Limit slider; 18. Reset spring; 19. Movable block; 20. Oil outlet hole. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0020] Reference Figure 1-4 A humanoid manipulator capable of autonomous movement comprises a manipulator body 1, four fingers and a thumb are connected to the manipulator body 1, the four fingers sequentially comprise a distal phalanx 6 and a proximal phalanx 13, the thumb comprises a sesamoid, a distal phalanx 6 and a proximal phalanx 13, a micro-servo 3 is arranged on the manipulator body 1, the proximal phalanx 13 and the sesamoid, an active bevel gear 4 is arranged on the motion output shaft of the micro-servo 3, a connecting rod 8 is arranged at a position of the proximal phalanx 13 of the thumb of the manipulator body 1, and a driven bevel gear meshing with the active bevel gear 4 is arranged on the connecting rod 8, the proximal phalanx 13 and the distal phalanx 6 5, an oil storage box 9 is arranged at the back of the hand of the manipulator body 1, and the oil storage box 9 is connected to the proximal phalanx 13, the sesamoid bones and the manipulator body 1 in sequence through a plurality of oil delivery pipes 12, and a groove 11 is provided on the proximal phalanx 13, the sesamoid bones and the manipulator body 1, and the micro-servo engine 3, the active bevel gear 4 and the driven bevel gear 5 are all arranged in the groove 11, and an oil delivery cavity 15 connected with the oil delivery pipe 12 is provided on the side of the groove 11 close to the active bevel gear 4, an oil filling hole 10 is arranged on the oil storage box 9, and a micro oil pump is arranged in the oil storage box 9, and a controller 2 electrically connected with the plurality of micro-servo engines 3 is arranged in the manipulator body 1.

[0021] Through the mutual cooperation of the provided micro-servo engine 3, the active bevel gear 4 and the driven bevel gear 5, the autonomous and independent movement of the four fingers and the thumb can be realized, so that the manipulator can grasp objects of different shapes and materials, and can replace human hands to work in environments that humans cannot visit or in harsh environments. Through the arrangement of the micro-oil pump and the oil delivery chamber 15, the lubricating oil in the oil storage box 9 can be delivered to the oil delivery chamber 15 on one side of the active bevel gear 4 through the oil delivery pipe 12 through the micro-oil pump, and flows out through the oil outlet 20, so as to lubricate the active bevel gear 4, and then lubricate the meshing part of the active bevel gear 4 and the driven bevel gear 5, without the need for frequent manual oiling, and the autonomous maintenance function of the manipulator is realized.

[0022] Specifically, in the present embodiment, an oil outlet hole 20 is opened on the inner wall of the oil delivery chamber 15 near the active bevel gear 4, a movable block 19 is slidably arranged in the oil outlet hole 20, a return spring 18 is arranged in the oil delivery chamber 15, one end of the return spring 18 is mounted on the inner wall of the oil delivery chamber 15, and the other end of the return spring 18 is mounted on the movable block 19.

[0023] By arranging the movable block 19 and the return spring 18, when the active bevel gear 4 rotates, the movable block 19 can be squeezed by the teeth of the active bevel gear 4, so that the movable block 19 squeezes the return spring 18 and retracts into the oil delivery chamber 15. At this time, the lubricating oil in the oil delivery chamber 15 can be sprayed onto the active bevel gear 4 through the gap formed between the movable block 19 and the oil outlet hole 20, thereby avoiding the waste of lubricating oil.

[0024] Specifically, in this embodiment, two mutually symmetrical limiting grooves 16 are provided on the inner wall of the oil delivery cavity 15 , and a limiting slider 17 is slidably arranged in the limiting groove 16 , and the limiting slider 17 is installed on the movable block 19 .

[0025] By cooperating with the limit slide groove 16 and the limit slider 17, the moving direction of the movable block 19 can be guided and limited, the moving range of the movable block 19 can be restricted, and the moving direction of the movable block 19 can be guided.

[0026] Specifically, in this embodiment, the diameter of the oil outlet hole 20 is larger than the diameter of the leakage end of the movable block 19 , and the diameter of the end of the movable block 19 close to the oil delivery cavity 15 is larger than the diameter of the oil outlet hole 20 .

[0027] This facilitates the formation of a gap between the movable block 19 and the oil outlet hole 20 after the movable block 19 is retracted into the oil delivery cavity 15 .

[0028] Specifically, in this embodiment, a through hole 14 is formed on the inner wall of the oil delivery chamber 15 , and the through hole 14 is communicated with the oil delivery pipe 12 .

[0029] Specifically, in this embodiment, a limiting plate 7 is provided at the opening end of the groove 11 .

[0030] The micro-servo engine 3 can be well fixed in the groove 11 by the limiting plate 7 .

[0031] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A humanoid manipulator capable of autonomous movement, comprising a manipulator body, characterized in that: The manipulator body is connected with four fingers and a thumb, the four fingers include distal phalanges and proximal phalanges in sequence, the thumb includes sesamoids, distal phalanges and proximal phalanges, micro-servos are arranged on the manipulator body, in the proximal phalanges and sesamoids, an active bevel gear is arranged on the action output shaft of the micro-servo, a connecting rod is arranged at a position of the manipulator body near the proximal phalanges of the thumb, and a driven bevel gear meshing with the active bevel gear is arranged on the connecting rod, the proximal phalanges and the distal phalanges, and the manipulator body is provided with a plurality of gears. An oil storage box is arranged at the back of the hand of the manipulator, and the oil storage box is connected to the proximal phalanx, sesamoid bones and the manipulator body in sequence through a plurality of oil delivery pipes. The proximal phalanx, sesamoid bones and the manipulator body are all provided with grooves, and the micro-servos, the active bevel gear and the driven bevel gear are all arranged in the grooves. An oil delivery cavity connected with the oil delivery pipe is arranged on the side of the groove close to the active bevel gear, and an oil filling hole is arranged on the oil storage box. A micro-oil pump is arranged in the oil storage box, and a controller electrically connected with the plurality of micro-servos is arranged in the manipulator body.

2. The humanoid manipulator capable of autonomous movement according to claim 1, characterized in that: An oil outlet hole is provided on the inner wall of the oil delivery cavity close to the active bevel gear, and a movable blocking block is slidably arranged in the oil outlet hole.

3. The humanoid manipulator capable of autonomous movement according to claim 2, characterized in that: A return spring is arranged in the oil delivery cavity, one end of the return spring is mounted on the inner wall of the oil delivery cavity, and the other end of the return spring is mounted on the movable blocking block.

4. The humanoid manipulator capable of autonomous movement according to claim 2, characterized in that: Two mutually symmetrical limiting slide grooves are arranged on the inner wall of the oil delivery cavity, and a limiting slider is slidably arranged in the limiting slide groove, and the limiting slider is installed on the movable blocking block.

5. The humanoid manipulator capable of autonomous movement according to claim 2, characterized in that: The diameter of the oil outlet hole is larger than the diameter of the leakage end of the movable block, and the diameter of the end of the movable block close to the oil delivery cavity is larger than the diameter of the oil outlet hole.

6. The humanoid manipulator capable of autonomous movement according to claim 1, characterized in that: A through hole is provided on the inner wall of the oil delivery cavity, and the through hole is communicated with the oil delivery pipe.

7. The humanoid manipulator capable of autonomous movement according to claim 1, characterized in that: A limiting plate is arranged at the opening end of the groove.

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