A single power source driving based linkage type bionic manipulator

Abstract

The utility model discloses a kind of single power source driving-based connecting rod type bionic manipulator, belong to bionic mechanical technical field.The manipulator adopts highly integrated structure design, and the power output by single motor is efficiently distributed and transmitted to five mechanical fingers by connecting rod transmission mechanism.The connecting rod transmission mechanism includes power distribution mechanism, first transmission connecting rod assembly and second transmission connecting rod assembly, can synchronously drive five finger root mechanisms and five fingertip mechanisms coordinated motion under single power source driving, realize the synchronous gripping action of five fingers.The utility model utilizes connecting rod mechanism to realize the accurate transmission and distribution of motion and force, replaces traditional multi-motor driving scheme by single motor, significantly reduces the weight and volume of manipulator, simplifies structure complexity, improves the compactness, reliability and integration of system, and is suitable for the application scene with higher requirements for lightweight and space compactness.

Description

Technical Field

[0001] This utility model relates to the field of biomimetic mechanical technology, and in particular to a linkage-type biomimetic manipulator driven by a single power source. Background Technology

[0002] Currently, linkage-type bionic robotic arms generally adopt a design scheme with a single finger as an independent power source. Although this structure can achieve precise control, it inevitably leads to an increase in the overall weight and size of the robotic arm, while also significantly increasing the complexity of the control system. Summary of the Invention

[0003] This invention provides a linkage-type bionic robotic hand driven by a single power source. It employs a highly integrated structural design, efficiently distributing and transmitting the output power of a single motor to five robotic fingers via a linkage transmission mechanism. Through the coordinated operation of multiple functional components, it achieves coordinated movement among the fingers, solving the problems of increased overall weight and size of robotic hands caused by independent power sources for each finger in existing technologies, and significantly increasing the complexity of the control system. To achieve the above objectives, the technical solution of this invention is as follows: A linkage-type bionic robotic hand based on a single power source drive is characterized by comprising a palm support, five finger root mechanisms, five fingertip mechanisms, a power source, and a linkage transmission mechanism. The power source is mounted on the palm support; the linkage transmission mechanism includes a power distribution mechanism, a first transmission linkage assembly, and a second transmission linkage assembly; the power distribution mechanism is driven by the power source, converting the rotational motion output by the power source into linear motion, and synchronously driving all the finger base mechanisms through the first transmission linkage assembly; at the same time, it synchronously drives all the fingertip mechanisms through the second transmission linkage assembly, thereby realizing the synchronous grasping action of the five fingers under the drive of a single power source.

[0004] Furthermore, the power distribution mechanism includes a dual-output shaft gearbox, two turntables, a first crank rocker arm, and a second crank rocker arm. The dual-output shaft gearbox is connected to a power source, and the two turntables are respectively disposed on both sides of the dual-output shaft gearbox. One end of the first crank rocker arm and the second crank rocker arm are respectively connected to the two turntables, and the other end is connected to the first transmission connecting rod assembly.

[0005] The first transmission linkage assembly includes a first link, a second link, and five first tie rods. The first link and the second link are respectively connected to the first crank rocker and the second crank rocker. One end of each of the five first tie rods is hinged to either the first link or the second link in parallel, and the other end is hinged to each of the five finger root mechanisms.

[0006] The second transmission linkage assembly includes five second pull rods, one end of which is hinged to the five finger root mechanisms, and the other end of which is hinged to the five finger tip mechanisms, respectively, for driving all finger tip mechanisms to perform synchronous opening and closing movements relative to the finger root mechanisms.

[0007] Furthermore, the power source is a motor reducer assembly, which is fixed to the palm support via a detachable structure.

[0008] Furthermore, the palm support is composed of multiple metal rods welded together to form a polygonal mesh hollow structure; the palm support is provided with finger connectors for hinged to the fingertip mechanisms.

[0009] Furthermore, all five first tie rods are length-adjustable structures.

[0010] Furthermore, the five first tie rods are joint bearing tie rods.

[0011] Furthermore, the five second tie rods are ball-head bearing tie rods.

[0012] Furthermore, the adjustment range of the hinge angle of the ball bearing is ±20°.

[0013] Beneficial Effects: This invention provides a linkage-based bionic robotic hand driven by a single power source. It employs a highly integrated structural design, efficiently distributing and transmitting the output power of a single motor to five robotic fingers via a linkage transmission mechanism. Through the coordinated operation of multiple functional components, orderly and coordinated movements among the fingers are achieved. This design fully utilizes the advantages of linkage mechanisms in force transmission and motion decomposition, replacing the traditional multi-motor independent drive scheme with a single motor. This significantly reduces the overall weight and size of the robotic hand, effectively simplifies structural complexity, and improves the system's compactness, reliability, and integration. It solves the problems of bloated structure, complex control, and increased weight caused by multiple drive sources in existing technologies. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the overall hand mechanism; Figure 2 This is a schematic diagram of the power source and linkage mechanism; Figure 3 This is a schematic diagram of the power source structure; Figure 4This is a schematic diagram of the connection between the fingers and the interphalangeal joint. In the picture: 1. Power source; 2. The tip of the thumb; 3. The first lever is the thumb; 4. The base of the thumb; 5. The tip of the index finger; 6. The index finger pulls the lever first; 7. Base of the index finger; 8. The tip of the middle finger; 9. Middle finger first pull lever; 10. Base of the middle finger; 11. The tip of the ring finger; 12. The ring finger is the first lever; 13. Base of the ring finger; 14. The tip of the little finger; 15. The first lever is the little finger; 16. Base of the little finger; 17. The second lever for the thumb; 18. The index finger pulls the second lever; 19. Middle finger second lever; 20. Second lever with the ring finger; 21. The second lever for the little finger; 22. First link; 23. Second link; 24. Hand support; 25. Turntable; 26. First crank rocker arm; 27. Second crank rocker arm; 28. Bearing housing; 29. Dual output shaft gearbox. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0017] like Figures 1 to 4 As shown in the figure, the present invention provides a linkage-type bionic manipulator based on a single power source drive, which mainly includes: a palm support 24, five finger root mechanisms, five fingertip mechanisms, a power source 1, and a linkage transmission mechanism.

[0018] The hand support 24, serving as the main support structure of the robotic hand, is composed of multiple metal rods (such as aluminum alloy or stainless steel rods) welded together to form a polygonal mesh-like hollow structure, featuring high strength, lightweight, and high space utilization. The hand support 24 is used to mount the power source 1 and the transmission mechanism. Its front end is equipped with multiple finger connectors for hinged connection of the fingertip mechanisms, ensuring the flexibility and stability of finger movement.

[0019] The power source 1 is mounted on the palm support 24, specifically a motor reducer assembly, which is fixed to the palm support 24 by bolts or clamps or other detachable structures. This motor reducer serves as a single power source, providing a stable and sufficiently high torque output to drive the movement of the entire robotic arm.

[0020] The linkage transmission mechanism is the core of achieving synchronized five-finger movements, and includes a power distribution mechanism, a first transmission linkage assembly, and a second transmission linkage assembly. The power distribution mechanism, driven by the motor reducer, is responsible for converting rotational motion into reciprocating linear motion and achieving symmetrical power distribution.

[0021] Specifically, the power distribution mechanism includes a dual-output-shaft gearbox 29, two turntables 25, a first crank-rocker 26, and a second crank-rocker 27. The dual-output-shaft gearbox 29 is connected to the output shaft of the motor reducer, receiving power and transmitting it to the output shafts symmetrically arranged on both sides. The two turntables 25 are respectively mounted on the left and right output shafts of the dual-output-shaft gearbox 29 and rotate synchronously with them. One end of the first crank-rocker 26 is hinged to an eccentric position on the left turntable 25, and one end of the second crank-rocker 27 is hinged to the corresponding eccentric position on the right turntable 25. The other ends of both are connected to a first connecting rod 22 and a second connecting rod 23, respectively. When the motor is running, the turntables 25 drive the crank-rockers to reciprocate, thereby driving the first connecting rod 22 and the second connecting rod 23 to perform approximately linear reciprocating motion.

[0022] The first transmission linkage assembly includes a first link 22, a second link 23, and five first pull rods (thumb 3, index finger 6, middle finger 9, ring finger 12, and little finger 15, respectively). The first link 22 and the second link 23 are hinged to the first crank rocker 26 and the second crank rocker 27, respectively, and move synchronously back and forth under the drive of the crank rocker. One end of each of the five first pull rods is hinged side-by-side to either the first link 22 or the second link 23 (for example, the first pull rods for the thumb and index finger are hinged to the first link, and the first pull rods for the middle, ring, and little fingers are hinged to the second link), and the other end is hinged to the corresponding five finger root mechanisms. When the first link 22 and the second link 23 move, the five first pull rods synchronously pull each finger root mechanism to rotate around its axis, achieving synchronous flexion and extension of the five finger roots.

[0023] The second transmission linkage assembly includes five second levers (thumb 17, index finger 18, middle finger 19, ring finger 20, and little finger 21). One end of each second lever is hinged to its corresponding finger root mechanism, and the other end is hinged to its corresponding fingertip mechanism. When the finger root mechanism moves under the drive of the first transmission assembly, the second levers move accordingly, pushing or pulling the fingertip mechanism to perform a synchronous opening and closing movement relative to the finger root mechanism, thereby completing the coordinated grasping action of the five fingers as a whole.

[0024] In this embodiment, the five first pull rods adopt an adjustable length structure, for example, through a threaded adjustment mechanism to achieve fine-tuning of the length, facilitating the adjustment of the initial position and movement stroke of each finger during assembly and ensuring the consistency of the five finger movements. Preferably, the five first pull rods are articulated bearing pull rods, which can effectively compensate for assembly errors and reduce movement interference. The five second pull rods are ball-end bearing pull rods, whose ball-end hinge structure allows for flexible angle adjustment within a range of ±20°, adapting to the complex movement trajectory of the fingers during grasping and improving the compliance and adaptability of the robotic arm.

[0025] This invention, through the aforementioned structural design, achieves synchronized and coordinated movement of all five fingers driven by a single power source. After the motor starts, it drives the two turntables to rotate via a reducer and a dual-output shaft gearbox. The rotational motion is converted into the reciprocating motion of the connecting rods through a crank-rocker mechanism, and then transmitted through two stages of pull rods, ultimately achieving coordinated gripping between the finger roots and fingertips. The entire transmission process is smooth, efficient, and compact, significantly reducing the weight, size, and control complexity issues associated with traditional multi-motor drives.

[0026] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A linkage-type bionic robotic hand based on a single power source drive, characterized in that: It includes a palm support (24), five finger root mechanisms, five finger tip mechanisms, a power source (1), and a linkage transmission mechanism; The power source (1) is mounted on the palm support (24); the linkage transmission mechanism includes a power distribution mechanism, a first transmission linkage assembly, and a second transmission linkage assembly; the power distribution mechanism is driven by the power source (1), converts the rotational motion output by the power source (1) into linear motion, and synchronously drives all the finger base mechanisms through the first transmission linkage assembly; at the same time, it synchronously drives all the fingertip mechanisms through the second transmission linkage assembly, thereby realizing the synchronous grasping action of the five fingers under the drive of a single power source.

2. The linkage-type bionic manipulator based on a single power source drive according to claim 1, characterized in that: The power distribution mechanism includes a dual-output shaft gearbox (29), two turntables (25), a first crank rocker arm (26), and a second crank rocker arm (27). The dual-output shaft gearbox (29) is connected to the power source (1), and the two turntables (25) are respectively located on both sides of the dual-output shaft gearbox (29). One end of the first crank rocker arm (26) and the second crank rocker arm (27) are respectively connected to the two turntables (25), and the other end is connected to the first transmission connecting rod assembly. The first transmission linkage assembly includes a first link (22), a second link (23), and five first tie rods. The first link (22) and the second link (23) are respectively connected to the first crank rocker (26) and the second crank rocker (27). One end of each of the five first tie rods is hinged to the first link (22) or the second link (23) in parallel, and the other end is hinged to the five finger root mechanisms. The second transmission linkage assembly includes five second pull rods, one end of which is hinged to the five finger root mechanisms, and the other end of which is hinged to the five finger tip mechanisms, respectively, for driving all finger tip mechanisms to perform synchronous opening and closing movements relative to the finger root mechanisms.

3. The linkage-type bionic manipulator based on a single power source drive according to claim 1, characterized in that: The power source (1) is a motor reducer assembly, which is fixed to the palm support (24) by a detachable structure.

4. The linkage-type bionic manipulator based on a single power source drive according to claim 1, characterized in that: The palm support (24) is formed by welding multiple metal rods to form a polygonal mesh hollow structure; the palm support (24) is provided with finger connectors for hinged fingertip mechanisms.

5. A linkage-type bionic manipulator based on a single power source drive according to claim 2, characterized in that: All five first tie rods are adjustable in length.

6. A linkage-type bionic manipulator based on a single power source drive according to claim 5, characterized in that: The five first tie rods are joint bearing tie rods.

7. A linkage-type bionic manipulator based on a single power source drive according to claim 2, characterized in that: The five second tie rods are ball bearing tie rods.

8. A linkage-type bionic manipulator based on a single power source drive according to claim 7, characterized in that: The adjustment range of the hinge angle of the ball bearing is ±20°.

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