High-load human-shaped finger joint mechanism

Abstract

The utility model provides a high-load human-shaped finger joint mechanism, and relates to the technical field of human-shaped finger joints, the high-load human-shaped finger joint mechanism comprises a first finger section, a second finger section and a cycloidal speed reducer, a motor is arranged in the first finger section or the second finger section, and the axis of the motor is parallel to the axis of the cycloidal speed reducer; the cycloidal speed reducer comprises a pin wheel housing connected with the first finger section, and an input eccentric shaft driven by a motor through gear transmission is arranged in the pin wheel housing. Two cycloidal gears are installed outside the input eccentric shaft, a plurality of roller pins are arranged between the two cycloidal gears and the pin wheel housing, and an output shaft and a shaft cover are installed at the two ends of the input eccentric shaft. A plurality of pin holes are formed in the two cycloidal gears in a circumferential array mode, pins are arranged in the pin holes in one-to-one correspondence in the two cycloidal gears in a penetrating mode, one ends of the pins penetrate through the output shaft to be in interference fit with the second finger section, and the other ends of the pins penetrate through the shaft cover to be connected with nuts; pin sleeves coaxial with the pins are arranged outside the pins, the axes of the two pin holes through which the pins penetrate and the axis of the pins are eccentrically arranged and are always symmetrical about the axis of the pins, and the pin sleeves are always in symmetrical contact with the inner walls of the two corresponding pin holes.

Description

Technical Field

[0001] The utility model relates to the technical field of humanoid finger joints, in particular to a high-load humanoid finger joint mechanism. Background Art

[0002] The humanoid finger in the robot, as an end effector, plays a vital role in the interaction between the robot and the environment. The humanoid finger needs to have a degree of freedom and load-bearing capacity close to that of a human hand. Two harmonic reducers or two planetary reducers are used in conventional humanoid finger joints. Due to the size limitation of the humanoid finger joints, the reduction mechanism required to be used is extremely small. Correspondingly, the teeth between the rigid wheel and the flexible wheel in the harmonic reducer and the teeth of the planetary gears in the planetary reducer are smaller, and both have the problem of small module and difficult processing. Similarly, when two cycloid reducers are conventionally used, there is also the problem of small module and difficult processing. Due to size limitations, the eccentric shaft on the output side is too small, which not only makes it difficult to ensure processing accuracy, but also leads to weak rigidity and low impact resistance of the entire joint. In order to meet higher usage requirements, it is necessary to provide a high-load humanoid finger joint mechanism to greatly improve the load capacity, bending moment, torque, stiffness, impact resistance, transmission efficiency and other performance of the joint. Utility Model Content

[0003] The purpose of the utility model is to provide a high-load humanoid finger joint mechanism, which has the characteristics of high bending moment, high torque, high load, high rigidity, high impact resistance, high transmission efficiency, and long service life.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] A high-load humanoid finger joint mechanism, comprising a first finger segment and a second finger segment arranged along the length direction of the finger, a cycloid reducer disposed between the first and second finger segments, and a motor with an axis parallel to the axis of the cycloid reducer disposed in the first or second finger segment;

[0006] The cycloid reducer includes a pinion housing connected to the first finger segment and having an axis arranged along the width direction of the first finger segment; an input eccentric shaft coaxial with the pinion housing is provided in the pinion housing, and the motor drives the input eccentric shaft to rotate through a gear transmission; cycloid wheels are respectively installed at two eccentric circle positions along the axial direction of the input eccentric shaft, and a plurality of needle rollers are arranged in an array around the circumference of each cycloid wheel between the outer wall of each cycloid wheel and the inner hole of the pinion housing; an output shaft and a shaft cover are respectively installed at the true circles of both ends of the input eccentric shaft, and the two cycloid wheels are located between the output shaft and the shaft cover, and one of the pinion housing and the output shaft serves as a fixed end and the other as an output end;

[0007] The two cycloid wheels are respectively provided with a plurality of pin holes passing through them in a circumferential array, the axes of the pin holes are parallel to the axes of the cycloid wheels, and pins are passed through the corresponding pin holes on the two cycloid wheels, one end of the pin passes through the output shaft and is interference connected with the second finger segment, and the other end passes through the shaft cover and is connected with a nut; a pin sleeve is provided on the outside of the pin that is coaxial with it, and the axes of the two pin holes through which the pin passes are eccentrically arranged and are always symmetrical about the axis of the pin, and the pin sleeve is always in symmetrical contact with the inner walls of the corresponding two pin holes.

[0008] By adopting the above technical solution, the motor drives the input eccentric shaft to rotate through a gear transmission, with the pinion housing and the output shaft serving as one fixed end and the other as the output end. The input eccentric shaft drives the cycloid wheel to perform an oscillatory motion. The cycloid wheel engages with the pinion housing through a needle roller, thereby driving the pinion housing to rotate finger segment 1, or driving the output shaft to rotate finger segment 2. Compared to the prior art, the present invention provides a cycloid reducer between finger segments 1 and 2. The thickness of the cycloid wheel is increased, and pins and bushings replace the eccentric support shaft that originally connected the output shaft and the shaft cover. This is equivalent to increasing the number of pins and bushings, increasing torque. At the same time, a nut is used to limit the shaft cover, greatly improving the torque and bending moment capacity of the cycloid reducer. The motor axis is parallel to the input eccentric shaft axis and is driven to rotate by a gear transmission. Compared to the prior art, in which the motor axis is perpendicular to the input eccentric shaft axis and is driven to rotate by a bevel gear transmission, this can avoid the radial component force generated by the bevel gear transmission, which causes the gap between the bevel gears to increase and affect the transmission accuracy.

[0009] Furthermore, angular bearings are provided between the outer circle of the output shaft and the inner hole of the needle gear housing, and between the outer circle of the shaft cover and the inner hole of the needle gear housing. The needle gear housing serves as the outer ring of the corresponding angular bearing, and its inner hole is provided with an outer groove that cooperates with the corresponding angular bearing. The output shaft and shaft cover serve as the inner ring of the corresponding angular bearing, and their outer circles are respectively provided with inner grooves that cooperate with the corresponding angular bearing. The angular bearing corresponding to the shaft cover is pre-tightened by the nut.

[0010] By adopting the above technical solution, the output shaft and the pin gear housing, the shaft cover and the pin gear housing directly serve as the inner and outer rings of the corresponding angular bearings, that is, the angular bearings are integrated. Compared with the original separate structure of the inner and outer rings, the supporting capacity, rigidity and bending moment capacity of the angular bearings are greatly improved. Moreover, under the pre-tightening action of the nut, it is not only convenient to install the angular bearing on the side close to the shaft cover, but also can prevent the angular bearing from loosening after long-term work and affecting its capacity.

[0011] Furthermore, the outer wall of the pin sleeve is provided with a plurality of first serrated grooves along its axial direction, and the inner hole of the pin sleeve is provided with a plurality of second serrated grooves along its axial direction.

[0012] By adopting the above technical solution, the inner hole of the pin sleeve is in full contact with the outer wall of the column pin, and the pin sleeve can slide along the circumferential direction of the column pin. The outer wall of the pin sleeve contacts one of the pin holes on the two cycloid wheels, that is, there is sliding friction between the inner hole of the pin sleeve and the column pin, and there is also sliding friction between the outer wall of the pin sleeve and the pin hole. The frictional resistance of sliding friction is relatively large, so a plurality of first serrated grooves and second serrated grooves are respectively provided on the outer wall and inner hole of the pin sleeve. This not only allows grease to be stored through the first serrated grooves and the second serrated grooves, ensuring that the contact surfaces of the pin sleeve, column pin and pin hole are always grease-free, but also reduces the contact area of ​​the pin sleeve, column pin and pin hole, thereby reducing the frictional resistance of the pin sleeve, column pin and pin hole.

[0013] Furthermore, first deep groove ball bearings are provided between the true circular outer walls at both ends of the input eccentric shaft and the corresponding inner holes of the output shaft and the shaft cover, and at least two first deep groove ball bearings are provided at both ends of the input eccentric shaft along its axis; the outer rings of the first deep groove ball bearings are connected to the corresponding output shaft and the shaft cover, and the input eccentric shaft serves as the inner ring of the first deep groove ball bearing, and its outer wall is provided with an inner groove that cooperates with the corresponding first deep groove ball bearing;

[0014] A second deep groove ball bearing is provided between the two eccentric circles of the input eccentric shaft and the corresponding cycloidal wheel inner hole, and at least two second deep groove ball bearings are provided in each cycloidal wheel inner hole along its axial direction; the outer ring of the second deep groove ball bearing is interference fitted with the corresponding cycloidal wheel inner hole, the input eccentric shaft serves as the inner ring of the second deep groove ball bearing, and the outer wall of its eccentric circle is provided with an inner groove that cooperates with the corresponding second deep groove ball bearing.

[0015] By adopting the above technical solution, a first deep groove ball bearing is installed between the input eccentric shaft, the output shaft, and the shaft cover. This first deep groove ball bearing has low friction resistance and starting torque, making the input eccentric shaft easier to start. Furthermore, the contact surface is small, eliminating the need for a large contact surface and capacity on the input side. Furthermore, an inner groove is provided on the input eccentric shaft, serving as the inner ring for the first and second deep groove ball bearings, eliminating the original bearing inner rings. This allows the diameter of the input eccentric shaft to be increased while maintaining the same volume, avoiding the problem of the input eccentric shaft being too thin, difficult to machine, and insufficiently strong, effectively improving the overall stiffness of the input eccentric shaft. Furthermore, the outer ring of the second deep groove ball bearing is interference-fitted with the inner bore of the cycloidal gear, eliminating the original outer groove machined into the inner bore of the cycloidal gear as the bearing outer ring, reducing the roughness requirements for the machining of the inner bore of the cycloidal gear. The first and second deep groove ball bearings are commercially available in suitable sizes, but the bearing thickness of these sizes is fixed. Therefore, increasing the number of first and second deep groove ball bearings can ensure sufficient capacity.

[0016] Furthermore, the outer wall of the input eccentric shaft is provided with a processing groove located between the two eccentric circles, and the bottom of the processing groove is a transition curve with the same diameter.

[0017] By adopting this technical solution, the machining groove on the outer wall of the input eccentric shaft facilitates its production and processing, avoiding interference with the grinding wheel. Since the strength of the input eccentric shaft is determined by its minimum diameter, the bottom of the machining groove is designed to form a uniform curved transition to ensure that the diameter at all locations of the machining groove is consistent, thereby ensuring the overall strength of the input eccentric shaft.

[0018] Furthermore, a retaining ring is provided between the side of the two cycloid wheels that are away from each other and the output shaft and shaft cover close to them. The outer ring of the first deep groove ball bearing installed in the inner hole of the output shaft is located between the two side walls of the finger segment and the retaining ring close to it. The outer ring of the first deep groove ball bearing installed in the inner hole of the shaft cover is located between the retaining ring close to it and the nut.

[0019] By adopting the above technical solution, a retaining ring is set to axially limit the cycloid wheel, and at the same time, the two side walls of the finger segment and the retaining ring close to the output shaft are used to axially limit the outer ring of the first deep groove ball bearing between them, and the nut and the retaining ring close to the shaft cover are used to axially limit the first deep groove ball bearing between them, thereby avoiding axial displacement of the cycloid wheel and the first deep groove ball bearing during long-term operation.

[0020] Furthermore, an input gear coaxial with the true circle of its end portion is installed at one end of the input eccentric shaft close to the shaft cover, and the motor is provided with one and is located on one side of the pinion gear housing, and the motor is connected to an output gear meshing with the input gear; an encoder with an axis parallel to the axis of the pinion gear housing is provided on the side of the pinion gear housing away from the motor, and the encoder is connected to an encoding gear meshing with the input gear, and the encoder and motor are respectively arranged in finger segment one and finger segment two.

[0021] By employing this technical solution, the motor drives the input eccentric shaft to rotate through the meshing of the output and input gears. The encoder, in conjunction with the meshing of the input and encoder gears, monitors the motor's input speed in real time, ensuring input accuracy. The encoder and motor are located in finger segments one and two, respectively, eliminating the need for an encoder built into the motor. This allows the axial length of the motor's stator and rotor to be increased within the limited size of the finger, thereby improving the motor's performance and matching that of the cycloid reducer.

[0022] Furthermore, an input gear coaxial with the true circle of its end portion is installed at one end of the input eccentric shaft close to the shaft cover, and the motor is provided with an output gear located on one side of the pinion housing, and the motor is connected to an output gear that meshes with the input gear; an encoder coaxial with the input gear is also installed on the input eccentric shaft, and the encoder is located between the nut and the input gear.

[0023] By adopting this technical solution, the meshing of the output and input gears enables the motor to drive the input eccentric shaft to rotate. The encoder, mounted on the input eccentric shaft, directly monitors the motor's input speed in real time, ensuring input accuracy. Placing the encoder on the input eccentric shaft eliminates the need for an encoder built into the motor, improving motor performance. Furthermore, the encoder's direct connection to the input eccentric shaft ensures detection accuracy.

[0024] Furthermore, the motors are provided with two and are arranged in parallel in the length direction of finger segment one or finger segment two in finger segment one or finger segment two, and both motors are provided with encoders coaxial therewith; an input gear coaxial with the true circle of the end of the input eccentric shaft close to the shaft cover is installed, and the two motors are connected to output gears coaxial therewith, and a transmission gear meshing with the two output gears is provided between the two output gears, and the output gear close to the input gear meshes with the input gear.

[0025] By adopting the above technical solution, the bending moment and torque capacity of the joint is determined by the weaker of the motor and cycloid reducer. Therefore, after the cycloid reducer's capacity is increased, a higher-capacity motor is required. The motor's capacity depends on its size. When the finger thickness is constant, two motors are stacked to increase the motor capacity to match the cycloid reducer's capacity, thereby ensuring the overall bending moment and torque capacity of the joint. The two motors mesh with the output gear and the transmission gear, and the output gear and the input gear, respectively, to achieve the superposition of the two motor speeds and transmit them to the input eccentric shaft.

[0026] Furthermore, the motor includes two motors respectively arranged on finger segment one and finger segment two, and both motors are provided with encoders coaxial with them; an input gear coaxial with its end true circle is installed at one end of the input eccentric shaft close to the shaft cover, and the two motors are respectively connected to output gears that mesh with the input gears.

[0027] By adopting this technical solution, the two motors transmit their rotational speed to the input eccentric shaft through the meshing of the output gear and the input gear, achieving superimposed speed input. Placing the two motors in finger segments one and two eliminates the need for a transmission gear between the output gears, improving transmission accuracy while maintaining a balance between finger segments one and two, avoiding the added load of placing all motors in either finger segment one or two.

[0028] In summary, the present invention has the following beneficial effects:

[0029] 1. The utility model solves the problem of difficult processing of small-module gears of harmonic reducers and planetary reducers by setting a single large cycloid reducer with a small speed ratio. The cycloid reducer is larger in size, and its bending moment and torque capacity are enhanced, thereby improving the overall bending moment and torque capacity of the joint. At the same time, while meeting the use requirements of the finger joint, the small speed ratio can reduce the speed requirement of the motor, reduce the heat generation of the motor and cycloid reducer, and extend the service life.

[0030] 2. The angular bearing of the utility model is integrated with the pin gear housing, output shaft and shaft cover to achieve a compact structure and effectively improve the rigidity and bending moment capacity of the angular bearing, that is, to improve the rigidity, bending moment capacity and impact resistance of the cycloid reducer;

[0031] 3. The present invention uses a combination of special structures such as pins, pin sleeves, nuts, and pin holes to eliminate the original eccentric support shaft connecting the output shaft and the shaft cover. This not only increases the number of pins that bear torque, but also allows the pins and nuts to be used to connect the output shaft and the shaft cover. The integrated angular bearing is pre-tightened by the nut, which greatly improves the torque and bending moment of the cycloid reducer, i.e., the joint. The pins and pin sleeves have a simple structure and are easy to process. Compared with the eccentric support shaft, they can greatly improve the strength and rigidity, thereby improving the impact resistance of the cycloid reducer.

[0032] 4. In the present invention, a first rectangular groove and a second rectangular groove are respectively provided on the outer wall and the inner hole of the pin sleeve. Not only can the first and second serrated grooves be used to store grease, ensuring that the contact surfaces of the pin sleeve, the column pin and the pin hole are always covered with grease, but also the contact area between the pin sleeve, the column pin and the pin hole can be reduced, thereby reducing the frictional resistance between the pin sleeve, the column pin and the pin hole.

[0033] 5. In the utility model, the input eccentric shaft serves as the inner ring of the first deep groove ball bearing and the second deep groove ball bearing, eliminating the inner ring of the bearing. Under the same volume, the input eccentric shaft is prevented from being too thin and difficult to process, effectively increasing the rigidity and processing accuracy of the input eccentric shaft. At the same time, the processing groove bottom on the input eccentric shaft has an equal diameter curve transition, which also effectively ensures the overall strength of the input eccentric shaft.

[0034] 6. The outer ring of the second deep groove ball bearing in the utility model has an interference fit with the inner hole of the cycloid wheel, eliminating the integrated structure of the outer ring of the second deep groove ball bearing and the inner hole of the cycloid wheel, which can reduce the requirements for the rough processing of the inner hole of the cycloid wheel. The first deep groove ball bearing and the second deep groove ball bearing serve as input, effectively improving efficiency and reducing heat generation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic structural diagram of a high-load humanoid finger joint mechanism in Example 1;

[0036] Figure 2 This is a schematic structural diagram of a high-load humanoid finger joint mechanism in Example 2;

[0037] Figure 3 This is a schematic structural diagram of a high-load humanoid finger joint mechanism in Example 3;

[0038] Figure 4 This is a schematic structural diagram of a high-load humanoid finger joint mechanism in Example 4.

[0039] In the figure, 1, finger segment 1; 2, finger segment 2; 3, cycloid reducer; 4, pin gear housing; 41, needle roller; 5, input eccentric shaft; 51, machining groove; 52, input gear; 6, cycloid wheel; 61, pin hole; 7, output shaft; 8, shaft cover; 9, pin; 10, nut; 11, pin sleeve; 111, first serrated groove; 112, second serrated groove; 12, angular bearing; 13, first deep groove ball bearing; 14, second deep groove ball bearing; 15, retaining ring; 16, motor; 17, output gear; 18, encoder; 19, encoding gear; 20, transmission gear. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0041] Example 1:

[0042] A high-load humanoid finger joint mechanism, such as Figure 1 As shown, it includes finger segment 1 and finger segment 2 arranged along the length direction of the finger, a cycloid reducer 3 is provided between finger segment 1 and finger segment 2, and a motor 16 with an axis parallel to the axis of the cycloid reducer 3 is provided in segment 1 or finger segment 2. The cycloid reducer 3 is driven to rotate by the motor 16, thereby driving the finger segment 1 or finger segment 2 to rotate.

[0043] Specifically, if Figure 1 As shown, the cycloid reducer 3 comprises a pinion housing 4 connected to finger segment 1, with its axis extending along the width of finger segment 1. A coaxial input eccentric shaft 5 is located within the pinion housing 4. A motor 16 drives the input eccentric shaft 5 through a gear transmission. Cycloid wheels 6 are mounted on the outside of the input eccentric shaft 5 at two eccentric circles along its axial direction. Each cycloid wheel 6 is provided with a plurality of needle rollers 41 arranged in an array around its circumference, positioned between its outer wall and the inner bore of the pinion housing 4. An output shaft 7 and a shaft cover 8 are mounted at each end of the input eccentric shaft 5. Two cycloid wheels 6 are located between the output shaft 7 and the shaft cover 8. The pinion housing 4 and the output shaft 7 serve as the fixed end and the output end, respectively.

[0044] like Figure 1As shown, the basic working principle of the cycloid reducer 3 is the same as that in the prior art. The motor 16 drives the input eccentric shaft 5 to rotate through gear transmission. The pinion housing 4 and the output shaft 7 serve as one fixed end and the other as the output end. The input eccentric shaft 5 drives the cycloid wheel 6 to perform eccentric motion. The cycloid wheel 6 engages with the pinion housing 4 through the needle roller 41 to drive the pinion housing 4 to drive the finger segment 1 to rotate, or drives the output shaft 7 to drive the finger segment 2 to rotate. The difference is that in this application, the axis of the motor 16 is parallel to the axis of the input eccentric shaft 5, and the input eccentric shaft 5 is driven to rotate by gear transmission. Compared with the prior art in which the axis of the motor 16 is perpendicular to the axis of the input eccentric shaft 5 and the input eccentric shaft 5 is driven to rotate by bevel gear transmission, it can avoid the radial component force generated by the bevel gear transmission, which causes the gap between the bevel gears to increase and affect the transmission accuracy.

[0045] In addition, Figure 1 As shown, the two cycloid wheels 6 are each provided with a plurality of pinholes 61 extending therethrough in a circumferential array. The axes of the pinholes 61 are parallel to the axis of the cycloid wheels 6. A pin 9 is inserted into each of the corresponding pinholes 61 on the two cycloid wheels 6. One end of the pin 9 passes through the output shaft 7 and is interference-connected with the second finger section 2. The other end passes through the shaft cover 8 and is connected to a nut 10. A coaxial pin sleeve 11 is provided outside the pin 9. The axes of the two pinholes 61 through which the pin 9 passes are eccentrically arranged and symmetrical about the axis of the pin 9. The pin sleeve 11 is in symmetrical contact with the inner walls of the corresponding two pinholes 61.

[0046] like Figure 1 As shown, in this embodiment, a pin 9, a pin sleeve 11 and a nut 10 are used to replace the original eccentric support shaft connecting the output shaft 7 and the shaft cover 8, which not only increases the number of pins 9 that bear torque, but also can use the pin 9 and the nut 10 to realize the connection between the output shaft 7 and the shaft cover 8, greatly improving the torque and bending moment of the cycloid reducer 3, i.e., the joint. The pin 9 and the pin sleeve 11 have a simple structure and are easy to process. Compared with the eccentric support shaft, they can greatly improve the strength and rigidity, thereby improving the impact resistance of the cycloid reducer 3.

[0047] Among them, such as Figure 1As shown, since the inner hole of the pin sleeve 11 is in full contact with the outer wall of the column pin 9, the pin sleeve 11 can slide along the circumferential direction of the column pin 9, and the outer wall of the pin sleeve 11 is in contact with one of the pin holes 61 on the two cycloid wheels 6, that is, there is sliding friction between the inner hole of the pin sleeve 11 and the column pin 9, and there is also sliding friction between the outer wall of the pin sleeve 11 and the pin hole 61. The frictional resistance of sliding friction is relatively large, so a plurality of first serrated grooves 111 and second serrated grooves 112 are respectively provided on the outer wall and inner hole of the pin sleeve 11. In this way, not only can grease be stored through the first serrated grooves 111 and second serrated grooves 112, ensuring that there is always grease on the contact surface of the pin sleeve 11, the column pin 9 and the pin hole 61, but also the contact area of ​​the pin sleeve 11, the column pin 9 and the pin hole 61 can be reduced, thereby reducing the frictional resistance of the pin sleeve 11, the column pin 9 and the pin hole 61.

[0048] like Figure 1 As shown, to further improve the bending moment capacity and rigidity of the cycloid reducer 3, angular bearings 12 are provided between the outer circumference of the output shaft 7 and the inner hole of the pin gear housing 4, and between the outer circumference of the shaft cover 8 and the inner hole of the pin gear housing 4. The pin gear housing 4 serves as the outer ring of the corresponding angular bearing 12, and its inner hole is provided with an outer groove that cooperates with the corresponding angular bearing 12. The output shaft 7 and the shaft cover 8 serve as the inner ring of the corresponding angular bearing 12, and their outer circumferences are respectively provided with an inner groove that cooperates with the corresponding angular bearing 12. The angular bearing 12 corresponding to the shaft cover 8 is pre-tightened by a nut 10. This integrated design of the angular bearing 12 with the output shaft 7, pin gear housing 4, and shaft cover 8 achieves a compact structure and effectively improves the rigidity and bending moment capacity of the angular bearing 12. The nut 10 also pre-tightens the angular bearing 12, facilitating its installation and preventing it from loosening during operation.

[0049] like Figure 1 As shown, first deep groove ball bearings 13 are installed between the outer walls of the true circles at both ends of the input eccentric shaft 5 and the corresponding inner bores of the output shaft 7 and the shaft cover 8. At least two first deep groove ball bearings 13 are located along the axis of each end of the input eccentric shaft 5. Second deep groove ball bearings 14 are installed between the two eccentric circles of the input eccentric shaft 5 and the inner bores of the corresponding cycloidal wheels 6. At least two second deep groove ball bearings 14 are located within the inner bore of each cycloidal wheel 6 along its axis. The outer rings of the first deep groove ball bearings 13 are connected to the corresponding output shaft 7 and shaft cover 8. The outer rings of the second deep groove ball bearings 14 are interference fit with the inner bores of the corresponding cycloidal wheels 6. The input eccentric shaft 5 serves as the inner ring for the first and second deep groove ball bearings 13, 14, and its outer wall is provided with inner grooves that mate with the corresponding first and second deep groove ball bearings 13, 14.

[0050] like Figure 1As shown, the first deep groove ball bearing 13 and the second deep groove ball bearing replace the original needle roller 41 structure. This reduces the contact surface and friction resistance, resulting in low input starting torque, easier starting, and significantly improved efficiency and reduced heat generation. An inner groove is directly provided on the input eccentric shaft 5, serving as the inner ring for the first and second deep groove ball bearings 13 and 14, eliminating the original bearing inner ring. This allows the input eccentric shaft 5 to be thickened while maintaining the same volume, effectively improving the machining accuracy and rigidity of the input eccentric shaft 5 and reducing machining difficulty. Furthermore, the integrated outer ring design of the first and second deep groove ball bearings 13 and 14 is eliminated, simplifying the machining of the output shaft 7 and shaft cover 8 and lowering the requirements for the machining roughness of the inner bore of the cycloidal gear 6. Furthermore, the outer rings of the first and second deep groove ball bearings 13 and 14 can be purchased in smaller sizes. Given a certain outer ring axial thickness, the number of first and second deep groove ball bearings 13 and 14 can be increased to ensure sufficient usability.

[0051] like Figure 1 As shown, in order to facilitate the processing of the input eccentric shaft 5, a processing groove 51 is provided on the outer wall of the input eccentric shaft 5 between the two eccentric circles. The overall strength of the input eccentric shaft 5 depends on its smallest diameter. Therefore, in this embodiment, the bottom of the processing groove 51 is a transition curve with the same diameter, ensuring that the diameter of each position of the processing groove 51 is the same, thereby ensuring the overall strength of the input eccentric shaft 5.

[0052] like Figure 1 As shown, after the inner and outer rings of the angular bearing 12 are removed, in order to limit the two cycloid wheels 6 and the outer ring of the first deep groove ball bearing 13, a retaining ring 15 is provided between the side of the two cycloid wheels 6 that are away from each other and the output shaft 7 and the shaft cover 8 that are close to them. The outer ring of the first deep groove ball bearing 13 installed in the inner hole of the output shaft 7 is located between the side wall of the finger segment 2 2 and the retaining ring 15 close to it, and the outer ring of the first deep groove ball bearing 13 installed in the inner hole of the shaft cover 8 is located between the retaining ring 15 close to it and the nut 10, so as to avoid axial displacement of the cycloid wheel 6 and the first deep groove ball bearing 13 during long-term operation.

[0053] like Figure 1 As shown, in order to realize that the motor 16 drives the input eccentric shaft 5 to rotate, an input gear 52 coaxial with the true circle of its end portion is installed at one end of the input eccentric shaft 5 close to the shaft cover 8, and the motor 16 is provided with one and is located on one side of the pin gear housing 4. The motor 16 is connected to an output gear 17 engaged with the input gear 52, and the input eccentric shaft 5 is driven to rotate through the engagement of the input gear 52 and the output gear 17.

[0054] In the prior art, in order to detect the output speed of the motor 16, an encoder 18 is generally built into the motor 16. However, the bending moment and torque capacity of the joint depends on the weaker one of the motor 16 and the cycloid reducer 3. Therefore, in this embodiment, after the capacity of the cycloid reducer 3 is enhanced, Figure 1 As shown, an encoder 18, with its axis parallel to the axis of the pinion housing 4, is installed on the side of the pinion housing 4 away from the motor 16. Encoder 18 is connected to an encoding gear 19 that meshes with the input gear 52. Encoder 18 and motor 16 are respectively located in finger segment 1 and finger segment 2. Eliminating the internal placement of encoder 18 increases the axial length of the stator and rotor in motor 16 within the limited volume of the finger, thereby improving the performance of motor 16 and matching that of cycloid reducer 3.

[0055] Example 2:

[0056] A high-load humanoid finger joint mechanism, such as Figure 1 and Figure 2 As shown, in this embodiment, an input gear 52 is mounted coaxially with the end of the input eccentric shaft 5 near the shaft cover 8. The motor 16 is provided with an output gear 17 located on one side of the pinion housing 4 and meshing with the input gear 52. The difference from the first embodiment is that an encoder 18 is mounted on the input eccentric shaft 5 and located between the nut 10 and the input gear 52. This eliminates the encoder gear 19 in the first embodiment, allowing for more direct and accurate detection of the input speed of the motor 16 and improving detection accuracy.

[0057] Example 3:

[0058] A high-load humanoid finger joint mechanism, such as Figure 1 and Figure 3 As shown, the difference from the embodiment 1 is that in this embodiment, two motors 16 are provided and arranged in parallel in the finger segment 2 2 along the length direction of the finger segment 2 2, and the two motors 16 are provided with an encoder 18 coaxial therewith. Of course, the two motors 16 can also be arranged in parallel in the finger segment 1. In this way, when the joint torque requirement is higher, the two motors 16 can be stacked to improve the capacity of the motor 16, so that it matches the capacity of the cycloid reducer 3 and meets the use requirements of the joint. In this case, the input eccentric shaft 5 is installed at one end close to the shaft cover 8 with an input gear 52 coaxial with the end thereof, and the two motors 16 are connected to an output gear 17 coaxial therewith, and a transmission gear 20 meshing with the two output gears 17 is provided between the two output gears 17, and the output gear 17 close to the input gear 52 is meshed with the input gear 52.

[0059] Example 4:

[0060] A high-load humanoid finger joint mechanism, such as Figure 3 and Figure 4As shown, the difference from the third embodiment is that two motors 16 are also provided, but these two motors 16 are respectively arranged in finger segment 1 and finger segment 2, and each motor 16 is equipped with an encoder 18 coaxial therewith. An input gear 52 is mounted on the end of the input eccentric shaft 5 near the shaft cover 8, which is coaxial with the end of the shaft cover 8. The two motors 16 are respectively connected to an output gear 17 that meshes with the input gear 52. This eliminates the transmission gear 20 in the third embodiment, improving transmission efficiency.

[0061] Of course, under the condition that the input synchronization degree of the motor 16 can be met, three or more motors 16 can be provided. More than two motors 16 can be all provided in the finger segment 1 or the finger segment 2 2 as in the third embodiment. Alternatively, as in the structure of the third embodiment and the present embodiment, multiple motors 16 can be respectively provided in the finger segment 1 1 and the finger segment 2 2. The selection can be made according to the actual usage and can be realized.

[0062] The foregoing description shows and describes preferred embodiments of the present invention. As previously mentioned, it should be understood that the present invention is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Instead, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the present invention as taught herein or through the techniques or knowledge of the relevant art. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention are intended to be protected by the claims appended hereto.

Claims

1. A high-load humanoid finger joint mechanism, characterized by: The invention comprises a finger segment 1 (1) and a finger segment 2 (2) arranged along the length direction of the finger, a cycloid reducer (3) is provided between the finger segment 1 (1) and the finger segment 2 (2), and a motor (16) with an axis parallel to the axis of the cycloid reducer (3) is provided in the finger segment 1 (1) or the finger segment 2 (2); The cycloid reducer (3) comprises a pinion housing (4) connected to the finger segment (1) and having an axis arranged along the width direction of the finger segment (1); an input eccentric shaft (5) coaxial with the pinion housing (4) is provided in the pinion housing (4); the motor (16) drives the input eccentric shaft (5) to rotate through gear transmission; cycloid wheels (6) are respectively installed at two eccentric circle positions along the axial direction of the input eccentric shaft (5); a plurality of roller needles (41) arranged in an array around the circumference of each cycloid wheel (6) are provided between the outer wall of each cycloid wheel (6) and the inner hole of the pinion housing (4); an output shaft (7) and a shaft cover (8) are respectively installed at the true circle positions at both ends of the input eccentric shaft (5); the two cycloid wheels (6) are located between the output shaft (7) and the shaft cover (8); the pinion housing (4) and the output shaft (7) serve as a fixed end and the other as an output end; A plurality of pin holes (61) passing through the two cycloid wheels (6) are provided in a circumferential array respectively, and the axes of the pin holes (61) are parallel to the axes of the cycloid wheels (6). A pin (9) is passed through the corresponding pin holes (61) on the two cycloid wheels (6). One end of the pin (9) passes through the output shaft (7) and is interference-connected with the second finger section (2), and the other end passes through the shaft cover (8) and is connected with a nut (10); a pin sleeve (11) coaxial with the pin (9) is provided on the outside of the pin (9), and the axes of the two pin holes (61) passed through by the pin (9) are eccentrically arranged with the axis of the pin (9) and are always symmetrical about the axis of the pin (9), and the pin sleeve (11) is always in symmetrical contact with the inner walls of the corresponding two pin holes (61).

2. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: Angular bearings (12) are provided between the outer circle of the output shaft (7) and the inner hole of the pin gear housing (4), and between the outer circle of the shaft cover (8) and the inner hole of the pin gear housing (4). The pin gear housing (4) serves as the outer ring of the corresponding angular bearing (12), and its inner hole is provided with an outer groove that matches the corresponding angular bearing (12). The output shaft (7) and the shaft cover (8) serve as the inner ring of the corresponding angular bearing (12), and their outer circles are respectively provided with an inner groove that matches the corresponding angular bearing (12). The angular bearing (12) corresponding to the shaft cover (8) is pre-tightened by the nut (10).

3. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: The outer wall of the pin sleeve (11) is provided with a plurality of first sawtooth grooves (111) along its axial direction, and the inner hole of the pin sleeve (11) is provided with a plurality of second sawtooth grooves (112) along its axial direction.

4. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: A first deep groove ball bearing (13) is provided between the outer walls of the true circles at both ends of the input eccentric shaft (5) and the inner holes of the corresponding output shaft (7) and the shaft cover (8), and at least two first deep groove ball bearings (13) are provided at both ends of the input eccentric shaft (5) along the axial direction thereof; the outer ring of the first deep groove ball bearing (13) is connected to the corresponding output shaft (7) and the shaft cover (8), and the input eccentric shaft (5) serves as the inner ring of the first deep groove ball bearing (13), and its outer wall is provided with an inner groove that matches the corresponding first deep groove ball bearing (13); A second deep groove ball bearing (14) is provided between the two eccentric circles of the input eccentric shaft (5) and the inner hole of the corresponding cycloid wheel (6), and at least two second deep groove ball bearings (14) are provided in the inner hole of each cycloid wheel (6) along its axial direction; the outer ring of the second deep groove ball bearing (14) is interference-fitted with the inner hole of the corresponding cycloid wheel (6), the input eccentric shaft (5) serves as the inner ring of the second deep groove ball bearing (14), and the outer wall of its eccentric circle is provided with an inner groove that matches the corresponding second deep groove ball bearing (14).

5. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: The outer wall of the input eccentric shaft (5) is provided with a processing groove (51) located between two eccentric circles, and the bottom of the processing groove (51) is a transition curve with the same diameter.

6. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: A retaining ring (15) is provided between the side of the two cycloid wheels (6) that is away from each other and the output shaft (7) and the shaft cover (8) that are close thereto. The outer ring of the first deep groove ball bearing (13) installed in the inner hole of the output shaft (7) is located between the side wall of the second finger segment (2) and the retaining ring (15) close thereto. The outer ring of the first deep groove ball bearing (13) installed in the inner hole of the shaft cover (8) is located between the retaining ring (15) close thereto and the nut (10).

7. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: An input gear (52) coaxial with the true circle of the end of the input eccentric shaft (5) is installed at one end close to the shaft cover (8); the motor (16) is provided with an output gear (17) meshed with the input gear (52) and is located on one side of the pinion housing (4); the motor (16) is connected to an output gear (17) meshed with the input gear (52); an encoder (18) having an axis parallel to the axis of the pinion housing (4) is provided on the side of the pinion housing (4) away from the motor (16); the encoder (18) is connected to an encoding gear (19) meshed with the input gear (52), and the encoder (18) and the motor (16) are respectively arranged in the first finger segment (1) and the second finger segment (2).

8. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: An input gear (52) coaxial with the true circle of the end of the input eccentric shaft (5) is installed at one end close to the shaft cover (8); the motor (16) is provided with an output gear (17) located on one side of the pinion housing (4); the motor (16) is connected to an output gear (17) meshing with the input gear (52); an encoder (18) coaxial with the input gear (52) is also installed on the input eccentric shaft (5), and the encoder (18) is located between the nut (10) and the input gear (52).

9. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: The motors (16) are provided with two motors and are arranged in parallel in the length direction of the finger segment 1 (1) or the finger segment 2 (2). The two motors (16) are both provided with an encoder (18) coaxial with the motors (16); an input gear (52) coaxial with the end of the input eccentric shaft (5) close to the shaft cover (8) is installed. The two motors (16) are both connected to an output gear (17) coaxial with the output gear (17). A transmission gear (20) meshing with the output gears (17) is provided between the two output gears (17), and the output gear (17) close to the input gear (52) meshes with the input gear (52).

10. The high-load humanoid finger joint mechanism according to claim 1, characterized in that: The motor (16) includes two motors (16) respectively arranged on the first finger segment (1) and the second finger segment (2), and the two motors (16) are both provided with an encoder (18) coaxial with the motors (16); an input gear (52) coaxial with the end of the input eccentric shaft (5) close to the shaft cover (8) is installed, and the two motors (16) are respectively connected to output gears (17) meshing with the input gears (52).

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