A humanoid hand finger linkage
The human-hand-like finger linkage structure, which combines worm gears and gears, solves the problems of complexity and slow response of traditional structures, and achieves precise power transmission and flexible finger movement, making it suitable for a variety of application scenarios.
Patent Information
- Application Number
- CN202522150599.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-11
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-10-11
AI Technical Summary
Traditional human hand finger linkage structures are complex in multi-joint linkage, have large transmission gaps, and slow response, making it difficult to simulate the natural movement of human fingers and limiting high-precision and high-flexibility applications.
It employs a combination of worm gear, worm, driving gear, driven gear, and rotating gear, and drives the worm to rotate via a drive motor, achieving precise power transmission and flexible finger movement. The design of the arc plate and fixed plate ensures transmission accuracy and a compact structure.
It achieves precise finger movement control, improves transmission accuracy and flexibility, adapts to more application scenarios, and can complete complex finger movements such as grasping objects of different shapes and sizes.
Smart Images
Figure CN224674923U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of finger linkage technology, and in particular to a human hand-like finger linkage structure. Background Technology
[0002] The demand for humanoid hands is growing in many fields such as intelligent manufacturing, medical rehabilitation, and service robots. Humanoid hands need to have similar dexterity to human fingers to complete complex tasks such as fine manipulation and object grasping. As the core component of humanoid hands, the performance of the finger linkage structure directly determines the working effect of humanoid hands.
[0003] Traditional humanoid hand finger linkage structures, some of which employ simple linkage mechanisms or single gear transmissions, have several shortcomings. While linkage mechanisms can achieve a certain degree of motion transmission, their transmission accuracy is low, making it difficult to precisely control the movement angles and speeds of each finger joint. Single gear transmissions, when involving multiple joints, are often structurally complex and prone to problems such as large transmission gaps and slow response times. They cannot accurately simulate the natural and smooth movement of human fingers, thus limiting the application of humanoid hands in scenarios requiring high precision and high flexibility. Utility Model Content
[0004] The purpose of this invention is to solve the problem that in the existing technology, when a single gear transmission is used in multi-joint linkage, the structure is often relatively complex and prone to problems such as large transmission gaps and untimely response. Therefore, a human hand finger linkage structure is proposed.
[0005] To achieve the above objectives, this utility model adopts the following technical solution: a human hand finger linkage structure, including a forefinger, a middle finger at the top of the forefinger, a little finger at the top of the middle finger, a first arc plate fixedly connected to the top of the forefinger near its edge, a second arc plate fixedly connected to the top of the middle finger near its edge, a toothed cavity inside the middle finger, two driven gears inside the toothed cavity, a first rotating rod inside the second arc plate, a rotating gear sleeved and fixedly connected to the surface of the first rotating rod near its center, a first fixing plate sleeved and fixedly connected to the surface of the first rotating rod near both ends, the top of the first fixing plate fixedly connected to the bottom of the little finger, a second rotating rod inside the first arc plate, a driving gear sleeved and fixedly connected to the surface of the second rotating rod near its center, a second fixing plate sleeved and fixedly connected to the surface of the second rotating rod near both ends, the top of the second fixing plate fixedly connected to the bottom of the middle finger, a worm gear sleeved and fixedly connected to the surface of the second rotating rod on one side of the driving gear, and a worm meshing with the surface of the worm gear.
[0006] Preferably, the top edges of the first and second arc plates are rounded, and the top and near both ends of the first and second arc plates are rounded.
[0007] Preferably, a rotating rod is fixedly connected through and to the center of each driven gear, and both ends of the rotating rod are embedded in the inner wall of the gear cavity and rotatably connected to its bearing.
[0008] Preferably, both ends of the first rotating rod are embedded in the inner wall of the second arc plate and rotatably connected to its bearing, and both ends of the second rotating rod are embedded in the inner wall of the first arc plate and rotatably connected to its bearing.
[0009] Preferably, the top of the forefining finger and near the center has an arc groove, and the bottom of the drive gear is embedded in the arc groove and adapted to it.
[0010] Preferably, the two driven gears mesh with each other, the upper driven gear meshes with a rotating gear, and the driving gear meshes with the lower driven gear.
[0011] Preferably, a convex rod is connected to the bottom of the worm gear, a circular cavity is formed inside the front finger, the bottom of the convex rod passes through the top of the front finger and extends into the cavity, a drive motor is fixedly installed on the top inner wall of the cavity, and the output end of the drive motor is fixedly connected to the bottom of the convex rod.
[0012] Preferably, the top of the forefinger, both ends of the middle finger, and the bottom of the little finger are all chamfered, and the chamfers on the forefinger, middle finger, and little finger are matched.
[0013] Preferably, the tip of the little finger has rounded corners.
[0014] Preferably, the bottom of both the first fixing plate and the second fixing plate has rounded corners.
[0015] Compared with the prior art, the advantages and positive effects of this utility model are as follows:
[0016] 1. In this utility model, through the cooperation of worm gear, worm, driving gear, driven gear and rotating gear, precise power transmission can be achieved, effectively controlling the adjustment and movement of the middle finger and little finger, with high transmission accuracy, and can accurately simulate the movement angle and speed of human fingers.
[0017] 2. In this utility model, the layout of each component is reasonable. While ensuring the transmission effect, the finger linkage structure is relatively compact, which is conducive to the miniaturization design of the whole human hand and can adapt to more application scenarios.
[0018] 3. In this utility model, the middle finger and little finger can be flexibly coordinated and adjusted to complete a variety of complex finger movements, such as grasping objects of different shapes and sizes, thereby improving the human hand's operational capabilities. Attached Figure Description
[0019] Figure 1 This utility model provides a three-dimensional view of the overall structure of a human hand finger linkage structure;
[0020] Figure 2 A three-dimensional view of a finger folding structure that mimics the linkage structure of human hands is provided for this utility model;
[0021] Figure 3 A vertical sectional view of the overall structure of a human hand finger linkage structure is proposed for this utility model;
[0022] Figure 4 A cross-sectional view of the overall structure of a human hand finger linkage structure is proposed for this utility model;
[0023] Figure 5 A three-dimensional view of a gear structure that mimics the linkage of human hand fingers is presented for this utility model.
[0024] Legend: 1. Front finger; 2. Middle finger; 3. Tail finger; 4. First arc plate; 5. Second arc plate; 6. Gear cavity; 7. Rotating rod; 8. Driven gear; 9. First rotating rod; 10. Rotating gear; 11. First fixed plate; 12. Second rotating rod; 13. Driving gear; 14. Second fixed plate; 15. Worm gear; 16. Arc groove; 17. Circular cavity; 18. Convex rod; 19. Worm; 20. Drive motor; 21. Chamfer. Detailed Implementation
[0025] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.
[0026] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.
[0027] Example 1, as Figure 1-5As shown, this utility model provides a human hand finger linkage structure, including a forefinger 1, a middle finger 2 at the top of the forefinger 1, a little finger 3 at the top of the middle finger 2, a first arc plate 4 fixedly connected to the top of the forefinger 1 near its edge, a second arc plate 5 fixedly connected to the top of the middle finger 2 near its edge, a toothed cavity 6 inside the middle finger 2, two driven gears 8 inside the toothed cavity 6, a first rotating rod 9 inside the second arc plate 5, a rotating gear 10 sleeved and fixedly connected to the surface of the first rotating rod 9 near its center, and sleeved on the surface of the first rotating rod 9 near both ends. A first fixing plate 11 is fixedly connected to the first fixing plate 11. The top of the first fixing plate 11 is fixedly connected to the bottom of the little finger 3. A second rotating rod 12 is provided inside the first arc plate 4. A drive gear 13 is sleeved and fixedly connected to the surface of the second rotating rod 12 near the center. A second fixing plate 14 is sleeved and fixedly connected to the surface of the second rotating rod 12 near both ends. The top of the second fixing plate 14 is fixedly connected to the bottom of the middle finger 2. A worm gear 15 is sleeved and fixedly connected to the surface of the second rotating rod 12 on one side of the drive gear 13. A worm 19 is meshed with the surface of the worm gear 15.
[0028] The overall effect of Embodiment 1 is as follows: a middle finger 2 is provided at the top of the forefinger 1, a little finger 3 is provided at the top of the middle finger 2, a first arc plate 4 is fixedly connected to the top of the forefinger 1 near its edge, a second arc plate 5 is fixedly connected to the top of the middle finger 2 near its edge, a toothed cavity 6 is provided inside the middle finger 2, two driven gears 8 are provided inside the toothed cavity 6, a first rotating rod 9 is provided inside the second arc plate 5, a rotating gear 10 is sleeved and fixedly connected to the surface of the first rotating rod 9 near its center, and a first fixing plate 11 is sleeved and fixedly connected to the surface of the first rotating rod 9 near both ends, the top of the first fixing plate 11 is fixedly connected to the bottom of the little finger 3, which can enable the driven gear 8 to rotate, thereby driving the rotating gear 10 to rotate, and the rotating gear 10 to rotate, thereby driving the first rotating rod 9 to rotate, and the rotation of the first rotating rod 9 can be controlled by the first fixing plate 11. The fixed plate 11 can drive the little finger 3 to rotate. A second rotating rod 12 is provided inside the first arc plate 4. A drive gear 13 is sleeved and fixedly connected to the surface of the second rotating rod 12 near the center. A second fixed plate 14 is sleeved and fixedly connected to the surface of the second rotating rod 12 near both ends. The top of the second fixed plate 14 is fixedly connected to the bottom of the middle finger 2. This allows the second rotating rod 12 to rotate, which in turn drives the drive gear 13 to rotate. The rotation of the drive gear 13 can drive the middle finger 2 to rotate through the second fixed plate 14. A worm gear 15 is sleeved and fixedly connected to the surface of the second rotating rod 12 on one side of the drive gear 13. A worm 19 is meshed with the surface of the worm gear 15. This allows the worm 19 to rotate, which in turn drives the worm gear 15 to rotate. The rotation of the worm gear 15 can drive the second rotating rod 12 to rotate.
[0029] Example 2, as Figure 1-5As shown, the top edges of the first arc plate 4 and the second arc plate 5 are both rounded, and the tops and near both ends of the first arc plate 4 and the second arc plate 5 are also rounded; a rotating rod 7 is fixedly connected through the center of each driven gear 8, and both ends of the rotating rod 7 are embedded in the inner wall of the tooth cavity 6 and rotatably connected to its bearing; both ends of the first rotating rod 9 are embedded in the inner wall of the second arc plate 5 and rotatably connected to its bearing, and both ends of the second rotating rod 12 are embedded in the inner wall of the first arc plate 4 and rotatably connected to its bearing; an arc groove 16 is opened at the top and near the center of the front finger 1, and the bottom of the driving gear 13 is embedded in the arc groove 16 and adapted to it; the two driven gears 8 mesh with each other, and the upper driven gear... Wheel 8 meshes with rotating gear 10, and driving gear 13 meshes with driven gear 8 below. A convex rod 18 is fixedly connected through the bottom of worm gear 19. A circular cavity 17 is opened inside the front finger 1. The bottom of the convex rod 18 passes through the top of the front finger 1 and extends into the cavity 17. A drive motor 20 is fixedly installed on the top inner wall of the cavity 17. The output end of the drive motor 20 is fixedly connected to the bottom of the convex rod 18. Chamfers 21 are opened on the top of the front finger 1, both ends of the middle finger 2, and the bottom of the little finger 3. The chamfers 21 on the front finger 1, middle finger 2, and little finger 3 are compatible. The top of the little finger 3 is rounded. The bottoms of the first fixing plate 11 and the second fixing plate 14 are rounded.
[0030] The overall effect of Embodiment 2 is as follows: Since the top edges of the first arc plate 4 and the second arc plate 5 are both rounded, and the tops and near both ends of the first arc plate 4 and the second arc plate 5 are also rounded, this can prevent the tops of the first arc plate 4 and the second arc plate 5 from scratching people; Since a rotating rod 7 is connected and fixedly inserted through the center of the driven gear 8, and both ends of the rotating rod 7 are embedded in the inner wall of the tooth cavity 6 and rotatably connected to its bearing, this can position the driven gear 8; Since both ends of the first rotating rod 9 are embedded in the inner wall of the second arc plate 5 and rotatably connected to its bearing, the second rotating rod... Both ends of the first rotating rod 12 are embedded in the inner wall of the first arc plate 4 and rotatably connected to its bearing, which can position the first rotating rod 9 and the two ends of the second rotating rod 12. An arc groove 16 is opened at the top of the front finger 1 near the center. The bottom of the driving gear 13 is embedded in the arc groove 16 and adapted to it, which can prevent the bottom of the driving gear 13 from hitting the top of the front finger 1. The two driven gears 8 mesh with each other. The upper driven gear 8 meshes with the rotating gear 10, and the driving gear 13 meshes with the lower driven gear 8. The connection allows the driving gear 13 to rotate, which in turn drives the driven gear 8 to rotate. The driven gear 8 then drives another driven gear 8 to rotate, which in turn drives the rotating gear 10 to rotate. A convex rod 18 is connected and fixedly attached to the bottom of the worm gear 19. A circular cavity 17 is formed inside the front finger 1. The bottom of the convex rod 18 passes through the top of the front finger 1 and extends into the circular cavity 17. A drive motor 20 is fixedly installed on the top inner wall of the circular cavity 17. The output end of the drive motor 20 is fixedly connected to the bottom of the convex rod 18, allowing the drive motor 20 to drive the convex rod 18. The rotation of rod 18 can drive the worm gear 19 to rotate. Chamfers 21 are provided on the top of the front finger 1, both ends of the middle finger 2, and the bottom of the little finger 3. These chamfers 21 on the front finger 1, middle finger 2, and little finger 3 are matched to ensure that the chamfer 21 on the middle finger 2 is in contact with the chamfers 21 on the front finger 1 and the little finger 3. The rounded top of the little finger 3 enhances its aesthetics. The rounded bottoms of the first fixing plate 11 and the second fixing plate 14 prevent scratches to the installer.
[0031] Working principle: After the drive motor 20 starts, it drives the convex rod 18 to rotate. The convex rod 18 drives the worm 19 to rotate synchronously. Since the worm 19 meshes with the worm wheel 15, the rotation of the worm 19 drives the worm wheel 15 to rotate. The worm wheel 15 is fixed on the second rotating rod 12, so the second rotating rod 12 rotates together with the worm wheel 15. The driving gear 13 on the second rotating rod 12 rotates accordingly. The driving gear 13 meshes with the driven gear 8 in the lower part of the tooth cavity 6, driving the driven gear 8 to rotate around the rotating rod 7. The two driven gears 8 mesh with each other. The rotation of the lower driven gear 8 drives the upper driven gear 8 to rotate synchronously. Wheel 8 meshes with the rotating gear 10 on the first rotating rod 9, thereby driving the rotating gear 10 and the first rotating rod 9 to rotate. The first rotating rod 9 drives the little finger 3 to move through the first fixed plates 11 at both ends. At the same time, the second rotating rod 12 drives the middle finger 2 to move through the second fixed plates 14 at both ends. During this process, the first arc plate 4 and the second arc plate 5 provide rotational support for the second rotating rod 12 and the first rotating rod 9, respectively. The arc groove 16 provides space for the rotation of the drive gear 13. The chamfer 21 avoids mutual interference when the front finger 1, the middle finger 2 and the little finger 3 move, and finally realizes the coordinated linkage adjustment and movement of the middle finger 2 and the little finger 3.
[0032] The wiring diagrams of the driven gear 8, rotating gear 10, driving gear 13, worm gear 15, worm 19, and drive motor 20 in this utility model are common knowledge in the field. Their working principles are known technologies. The appropriate model is selected according to actual use. Therefore, the control methods and wiring arrangements of the driven gear 8, rotating gear 10, driving gear 13, worm gear 15, worm 19, and drive motor 20 will not be explained in detail.
[0033] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.
Claims
1. A human hand-like finger linkage structure, comprising a forefinger (1), characterized in that: The top of the forefinger (1) is provided with a middle finger (2), the top of the middle finger (2) is provided with a little finger (3), the top of the forefinger (1) and near the edge is fixedly connected with a first arc plate (4), the top of the middle finger (2) and near the edge is fixedly connected with a second arc plate (5), the middle finger (2) has a toothed cavity (6) inside, the toothed cavity (6) has two driven gears (8) inside, the second arc plate (5) has a first rotating rod (9) inside, the surface of the first rotating rod (9) and near the center is fitted with and fixedly connected with a rotating gear (10), the surface of the first rotating rod (9) and near both ends are fitted with and fixedly connected with a first fixed gear. Plate (11), the top of the first fixed plate (11) is fixedly connected to the bottom of the little finger (3), the interior of the first arc plate (4) is provided with a second rotating rod (12), the surface of the second rotating rod (12) and near the center is fitted with and fixedly connected with a drive gear (13), the surface of the second rotating rod (12) and near both ends are fitted with and fixedly connected with a second fixed plate (14), the top of the second fixed plate (14) is fixedly connected to the bottom of the middle finger (2), the surface of the second rotating rod (12) and located on one side of the drive gear (13) is fitted with and fixedly connected with a worm gear (15), the surface of the worm gear (15) is meshed with a worm (19).
2. The human hand-like finger linkage structure according to claim 1, characterized in that: The top edges of the first arc plate (4) and the second arc plate (5) are rounded, and the top and near both ends of the first arc plate (4) and the second arc plate (5) are rounded.
3. The human hand-like finger linkage structure according to claim 1, characterized in that: Each driven gear (8) has a rotating rod (7) that passes through and is fixedly connected to its center. Both ends of the rotating rod (7) are embedded in the inner wall of the tooth cavity (6) and rotatedly connected to its bearing.
4. The human hand-like finger linkage structure according to claim 1, characterized in that: Both ends of the first rotating rod (9) are embedded in the inner wall of the second arc plate (5) and rotatably connected to its bearing. Both ends of the second rotating rod (12) are embedded in the inner wall of the first arc plate (4) and rotatably connected to its bearing.
5. The human hand-like finger linkage structure according to claim 1, characterized in that: An arc groove (16) is provided at the top of the front finger (1) and near the center. The bottom of the drive gear (13) is embedded in the arc groove (16) and is adapted to it.
6. The human hand-like finger linkage structure according to claim 1, characterized in that: The two driven gears (8) mesh with each other, the upper driven gear (8) meshes with the rotating gear (10), and the driving gear (13) meshes with the lower driven gear (8).
7. The human hand-like finger linkage structure according to claim 1, characterized in that: The bottom of the worm (19) is connected to a convex rod (18), and a circular cavity (17) is opened inside the front finger (1). The bottom of the convex rod (18) passes through the top of the front finger (1) and extends into the circular cavity (17). A drive motor (20) is fixedly installed on the top inner wall of the circular cavity (17), and the output end of the drive motor (20) is fixedly connected to the bottom of the convex rod (18).
8. The human hand-like finger linkage structure according to claim 1, characterized in that: The top of the forefinger (1), both ends of the middle finger (2) and the bottom of the little finger (3) are all provided with chamfers (21), and the chamfers (21) on the forefinger (1), middle finger (2) and little finger (3) are compatible.
9. The human hand-like finger linkage structure according to claim 1, characterized in that: The tip of the little finger (3) is rounded.
10. The human hand-like finger linkage structure according to claim 1, characterized in that: The bottom of both the first fixing plate (11) and the second fixing plate (14) has rounded corners.