A full-drive finger joint structure based on a piezoelectric motor

Abstract

The utility model discloses a kind of full drive knuckle joint structures based on piezoelectric motor, including first knuckle joint assembly, second knuckle joint assembly and third knuckle joint assembly, first transmission unit is equipped in first knuckle joint assembly, and transmission is connected with second knuckle joint through first transmission unit;Second transmission unit is equipped on second knuckle joint assembly, and transmission is connected with third knuckle joint assembly through second transmission unit, third knuckle joint assembly has the third knuckle joint of transmission connection with second transmission unit.The utility model adopts piezoelectric motor drive to constitute the first knuckle joint assembly, second knuckle joint assembly and third knuckle joint assembly of full drive system, by the way of combination of distributed drive and mechanical transmission, the accurate grading control of joint movement is realized, while guaranteeing power output, effectively improve system response speed and movement coordination.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, and in particular to a fully driven finger joint structure based on a piezoelectric motor. Background Technology

[0002] Industrial robots, or multi-jointed manipulators or multi-degree-of-freedom robots, are designed for industrial applications. They can automatically perform tasks, relying on their own power and control capabilities to achieve various functions. The robot's end effector is a key component for grasping, clamping, and lifting objects. Its adaptability and flexibility are crucial. While traditional dedicated grippers are simple to manufacture, easy to control, have high load capacity, and high reliability, they are only suitable for a small number of objects of specific shapes, lack versatility, and cannot meet the requirements of multi-tasking and high adaptability.

[0003] In this context, based on anthropomorphic imagination, dexterous hands with multiple joints and fingers have become the development trend of robot end effectors. Such multi-joint, multi-fingered hands have the advantage of strong shape adaptability and can adapt to the needs of a variety of different tasks.

[0004] Currently, three-finger dexterous hands include two actuation methods: fully actuated and underactuated. Among them, underactuated dexterous hands are widely used in robotic grasping and picking due to their simple control. Although this actuation method is simple to control, it reduces the reach of each finger and has a lower degree of freedom.

[0005] Therefore, it is necessary to research a robotic arm designed based on the principle of full drive. Utility Model Content

[0006] The purpose of this invention is to provide a fully driven finger joint structure based on a piezoelectric motor to solve the problems existing in the prior art.

[0007] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0008] A fully driven finger joint structure based on a piezoelectric motor, including

[0009] A first finger joint assembly includes a first finger joint, on which a first transmission unit is provided, and which is connected to a second finger joint via the first transmission unit.

[0010] The second finger joint assembly includes a second finger joint, on which a second transmission unit is provided, and which is connected to a third finger joint via the second transmission unit.

[0011] The third finger joint assembly includes a third finger joint that is drively connected to the second transmission unit.

[0012] Furthermore, the first finger joint has a first receiving cavity inside, and a set of first shaft hole connectors are provided at the side end of the first finger joint near the second finger joint.

[0013] Furthermore, both the first transmission unit and the second transmission unit include a piezoelectric motor, and the output end of the piezoelectric motor is provided with a gearbox. The output end of the gearbox is connected to the transmission gear set on the first rotating shaft through an output gear.

[0014] The first shaft has a set of first bearings and first pulleys at both ends, and the first pulleys are connected to the second shaft by a tendon rope.

[0015] The second shaft has a set of second pulleys and a second bearing at each end, and a third bearing at the middle position of the second shaft.

[0016] Furthermore, the second finger joint has a second receiving cavity inside, a second shaft hole connector is provided at the side end of the second finger joint near the first finger joint, and a third shaft hole connector is provided at the side end of the second finger joint near the third finger joint.

[0017] Furthermore, a set of fourth shaft hole connectors is provided on the side end of the third finger joint near the second finger joint.

[0018] Furthermore, the first and second finger joints are provided with shaft holes for mounting the first or second transmission unit.

[0019] In summary, this utility model has the following beneficial effects:

[0020] The first, second, and third finger joint components, which are driven by piezoelectric motors to form the full drive system, achieve precise hierarchical control of joint movement through a combination of distributed drive and mechanical transmission. This effectively improves the system's response speed and motion coordination while ensuring power output.

[0021] Piezoelectric ceramic motors have extremely high displacement resolution and fast response characteristics, enabling precise angle adjustments in an instant. Combined with the synergistic drive of dual tendon cords, piezoelectric ceramic motors can simulate the extremely delicate movements of human fingers. Attached Figure Description

[0022] Fig. 1 This is a schematic diagram of the fully driven finger joint structure based on a piezoelectric motor described in this utility model.

[0023] Fig. 2 This is a schematic diagram of the finger joint described in this utility model.

[0024] Fig. 3 This is a schematic diagram of the transmission unit described in this utility model.

[0025] Fig. 4 This is a top view of the transmission unit described in this utility model. Detailed Implementation

[0026] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with the illustrations and specific embodiments.

[0027] like Figs. 1 to 4 As shown, the present invention proposes a fully driven finger joint structure based on a piezoelectric motor, comprising a first finger joint assembly 1, a second finger joint assembly 2, and a third finger joint assembly 3 constituting a fully driven system.

[0028] The first finger joint assembly 1 includes a first finger joint 11, a first transmission unit 12 is provided on the first finger joint 11, and is connected to the second finger joint 21 through the first transmission unit 12.

[0029] The second finger joint assembly 2 includes a second finger joint 21, on which a second transmission unit 22 is provided, and is connected to the third finger joint 31 through the second transmission unit 22.

[0030] The third finger joint assembly 3 includes a third finger joint 31 that is drively connected to the second transmission unit 22.

[0031] The fully driven finger joint structure of this application has a transmission assembly set in the first finger joint assembly 1 and the second finger joint assembly 2 respectively. The transmission assembly includes a piezoelectric motor 4 and a matching gearbox 41, forming a redundant drive system to improve control accuracy and load capacity. Example 1

[0032] In this embodiment, the first finger joint 11 has a first receiving cavity 111 inside, which is used to install the first transmission unit 12.

[0033] Traditional knuckle structures typically use electromagnetic motors as the driving source. However, electromagnetic motor drive structures are large and heavy, have slow response speeds, and generate interference during operation, making them unsuitable for use in environments with strict electromagnetic requirements.

[0034] In this embodiment, the driving device of the first transmission unit 12 adopts a piezoelectric motor 4, which uses the inverse piezoelectric effect to convert electrical energy into mechanical energy. The piezoelectric motor 4 has higher precision than the electromagnetic motor. The piezoelectric motor 4 has lower torque. When combined with the gearbox 41, the knuckle structure not only improves the gripping force but also improves the gripping accuracy.

[0035] In this embodiment, the piezoelectric motor 4 of the first transmission unit 12 is fixedly mounted on the shaft hole of the side wall of the first receiving cavity 111. The output end of the piezoelectric motor 4 extends into the first receiving cavity 111. A gearbox 41 is provided at the output end of the piezoelectric motor 4. After the piezoelectric motor 4 is energized, it outputs high-speed, low-torque rotation. After being amplified by the gearbox 41, it is converted into the precise torque required to drive the joint. An output gear 42 is provided at the output end of the gearbox 41. The output gear 42 is driven by a meshing structure to form a power output mechanism.

[0036] In this embodiment, the two ends of the first rotating shaft 43 are respectively mounted on another set of side wall shaft holes of the first receiving cavity 111 through a first bearing 44. A transmission gear 40 that meshes with the output gear 42 is sleeved in the middle position of the first rotating shaft 43 to realize the transmission connection with the piezoelectric motor unit 12 and obtain the driving force of the piezoelectric motor 4.

[0037] Traditional finger joint drive structures mostly transmit power through a single tendon chord. However, prolonged friction between the tendon chord and components like pulleys causes wear, resulting in a thinner diameter and altered surface roughness. This not only exacerbates elastic deformation but can also cause slippage in the tendon chord's transmission through the pulley, further reducing transmission accuracy and shortening the tendon chord's lifespan.

[0038] Therefore, in this embodiment, two first pulleys 45 are also provided on the first rotating shaft 43. A tendon rope 6 is provided on each of the first pulleys 45. One end of the tendon rope 6 is sleeved on the first pulley 45, and the other end of the tendon rope 6 is sleeved on the second pulley 47 corresponding to the second rotating shaft 46.

[0039] This embodiment uses two sets of tendon cord systems to transmit power between the first finger joint assembly 1 and the first finger joint assembly 2, thereby driving the rotation of the first finger joint assembly 2. It can also alleviate the wear of the tendon cord 6 and avoid the problem of reduced transmission accuracy caused by the wear of the tendon cord 6.

[0040] In this embodiment, the first finger joint 11 has a first shaft hole connector 112 at its side end near the second finger joint 21, and the first shaft hole connector 112 has a shaft hole. Correspondingly, a second shaft hole connector 212 is also provided at the end of the second finger joint 21 near the first finger joint 11, and the second shaft hole connector 212 also has a shaft hole. In this embodiment, a set of first shaft hole connectors 112 are provided, which are arranged opposite each other at the side end of the first finger joint 11. The second shaft hole connectors 212 are pre-positioned by inserting two first shaft hole connectors 112 to align their shaft holes.

[0041] The second rotating shaft 46 passes through the shaft holes aligned with the first shaft hole connector 112 and the second shaft hole connector 212 in sequence, and is fixedly installed by the second bearing 48 and the third bearing 49 respectively.

[0042] After the above-described structure is used in this embodiment, the first shaft 43 of the piezoelectric motor 4 can rotate, and the first shaft 43 drives the second bearing 48 and the second finger joint 21 to rotate through the double tendon rope.

[0043] Similarly, a third shaft hole connector 213 is provided on the side of the second finger joint 21 near the third finger joint 31, and a fourth shaft hole connector 311 is provided on the side of the third finger joint 31 near the second finger joint 21. Furthermore, the second transmission unit 22 within the second finger joint 21 drives the third finger joint 31 to rotate in the same way as the piezoelectric motor 4 described above, so it will not be described in detail here.

[0044] In this document, the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer", "vertical", and "horizontal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the purpose of clarifying the technical solution and for the convenience of description, and therefore should not be construed as limiting the present utility model.

[0045] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0046] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A fully driven finger joint structure based on a piezoelectric motor, characterized in that, include The first finger joint assembly (1) includes a first finger joint (11), a first transmission unit (12) is provided on the first finger joint (11), and is connected to the second finger joint (21) through the first transmission unit (12). The second finger joint assembly (2) includes a second finger joint (21), on which a second transmission unit (22) is provided, and is connected to the third finger joint (31) via the second transmission unit (22). The third finger joint assembly (3) includes a third finger joint (31) which is drively connected to the second transmission unit (22); The first transmission unit (12) and the second transmission unit (22) both include a piezoelectric motor (4). The output end of the piezoelectric motor (4) is provided with a gearbox (41). The output end of the gearbox (41) is connected to the transmission gear (40) provided on the first rotating shaft (43) through the output gear (42). The first rotating shaft (43) has a set of first bearings (44) and first pulleys (45) at both ends, and the first pulleys (45) are connected to the second rotating shaft (46) by a tendon rope (6); The second shaft (46) has a set of second pulleys (47) and a second bearing (48) at both ends, and a third bearing (49) at the middle position of the second shaft (46).

2. The piezoelectric motor-based fully driven finger joint structure according to claim 1, characterized in that, The first finger joint (11) has a first receiving cavity (111) inside, and a set of first shaft hole connectors (112) are provided on the side end of the first finger joint (11) near the second finger joint (21).

3. The piezoelectric motor-based fully driven finger joint structure according to claim 1, characterized in that, The second finger joint (21) has a second receiving cavity (211) inside, a second shaft hole connector (212) is provided at the side end of the second finger joint (21) near the first finger joint (11), and a third shaft hole connector (213) is provided at the side end of the second finger joint (21) near the third finger joint (31).

4. The piezoelectric motor-based fully driven finger joint structure according to claim 1, characterized in that, The third finger joint (31) is provided with a set of fourth shaft hole connectors (311) on the side end near the second finger joint (21).

5. The piezoelectric motor-based fully driven finger joint structure according to claim 1, characterized in that, The first finger joint (11) and the second finger joint (21) are provided with shaft holes for setting the first transmission unit (12) or the second transmission unit (22).

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