Gear driven artificial hand and robot

Abstract

The utility model discloses a gear drive simulation palm and robot belongs to mechanical dexterous hand field, and simulation palm includes: thumb subassembly is by gear mechanism and connecting rod mechanism drive's multi knuckle joint movable structure subassembly, vice finger subassembly, middle finger subassembly, ring finger subassembly and little finger subassembly are all by gear mechanism and connecting rod mechanism drive's multi knuckle joint movable structure subassembly, thumb subassembly and each vice finger subassembly arrange and set up on wrist subassembly, and wrist subassembly can drive each vice finger subassembly and carry out independent knuckle joint bending movement, and wrist subassembly can drive thumb subassembly and twist towards each vice finger subassembly to cooperate and form the action of holding. This simulation palm, and finger adopts the transmission principle of multistage gear plus connecting rod combination, can more accurately control the action and strength of finger while improving transmission efficiency, realizes fine movement such as finger and grasps object. The wrist part adopts two push rods and parallelly drives palm, makes palm can more flexibly simulate the real action of human palm.

Description

Technical Field

[0001] This utility model relates to the field of mechanical dexterity hand technology, and in particular to a gear-driven simulated hand and robot. Background Technology

[0002] As the most complex component of a humanoid robot, the mechanical dexterous hand needs to achieve the ability to operate more closely like a human hand, simulating actions such as grasping.

[0003] In existing technologies, most dexterous hands use flexible transmission methods such as tendons and springs as the driving structure for the fingers. However, the deformation of these flexible materials reduces the precision of finger movements and grasping force. Other dexterous hands also use rigid transmission methods such as linkages and lead screws, but most of these fingers only have two segments, which cannot fully achieve the movement effect of a three-segment finger. Even if linkages are applied to three-segment fingers, the transmission efficiency of the three-stage linkage is too low, and the linkage is prone to jamming near the dead point.

[0004] In view of the above, this utility model is hereby proposed. Utility Model Content

[0005] The purpose of this invention is to provide a gear-driven simulated hand and robot that can avoid jamming, has higher transmission efficiency, and achieves the movement effect of the three segments of a real finger, thereby solving the above-mentioned technical problems existing in the prior art.

[0006] The objective of this utility model is achieved through the following technical solution:

[0007] A gear-driven simulated hand, comprising:

[0008] A thumb component, a wrist component, and at least one secondary finger component; wherein,

[0009] The thumb assembly is a multi-finger joint movable structure assembly driven by a gear mechanism and a linkage mechanism;

[0010] Each sub-finger assembly is a multi-finger joint movable structure assembly driven by gear mechanisms and linkage mechanisms;

[0011] The thumb assembly and each sub-finger assembly are arranged on the wrist assembly, and the wrist assembly can drive each sub-finger assembly to perform independent finger joint bending movements.

[0012] The wrist component can drive the thumb component to twist toward the sub-finger components to cooperate in forming a gripping motion.

[0013] A robot is provided with at least one gear-driven simulated hand as described in this utility model.

[0014] Compared with the prior art, the gear-driven simulated hand and robot provided by this utility model have the following advantages:

[0015] By employing a multi-joint movable structure component driven by gear and linkage mechanisms for the thumb assembly, it can achieve finger joint bending motion through self-drive. Similarly, by employing multi-joint movable structure components driven by gear and linkage mechanisms for each sub-finger assembly, it can achieve independent finger joint bending motion under the drive of the wrist assembly. This drive method, which combines gear and linkage mechanisms, allows each finger joint to bend sequentially, avoids jamming, and has higher transmission efficiency, achieving the effect of realistic three-joint finger movements. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the structure of a gear-driven simulated hand provided in an embodiment of this utility model.

[0018] Figure 2 A schematic diagram of the thumb assembly structure of a gear-driven simulated hand provided in an embodiment of this utility model.

[0019] Figure 3 A schematic diagram of the internal structure of the thumb assembly of the gear-driven simulated hand provided in an embodiment of this utility model.

[0020] Figure 4 A schematic diagram of the sub-finger assembly of the gear-driven simulated hand provided in an embodiment of this utility model.

[0021] Figure 5 A schematic diagram of the internal structure of the sub-finger assembly of the gear-driven simulated hand provided in an embodiment of this utility model.

[0022] Figure 6 A schematic diagram of the wrist assembly of the gear-driven simulated hand provided in an embodiment of this utility model.

[0023] Figure 7 A schematic diagram of the back structure of the wrist assembly of the gear-driven simulated hand provided in an embodiment of this utility model.

[0024] Figure 8 for Figure 1 A schematic diagram of the connection structure of the wrist push rod of the wrist component of the simulated hand with gear driven at point X.

[0025] Figure 9 A schematic diagram of the hand base of the gear-driven simulated hand wrist assembly provided in this embodiment of the utility model.

[0026] Figure 10 A ten-byte structural diagram of the wrist component of the gear-driven simulated hand provided in an embodiment of this utility model.

[0027] The components marked in the diagram are as follows: 1-Thumb assembly; 101-Electric push rod; 102-First base; 103-Second base; 104-Second thumb knuckle; 105-First thumb knuckle; 106-First mounting base; 107-Rotating pin; 108-Drive connecting pin; 109-First fixed gear pin; 110-First fixed gear; 111-First moving gear; 112-First rocker arm; 113-First knuckle pin; 114-First connecting rod; 115-First moving gear pin; 116-First push rod; 2-Index finger assembly; 201-Third base; 202-Fourth base; 203-First knuckle; 204-Second knuckle; 205-Third knuckle; 206-Second push rod; 207-Second fixed gear pin; 208-Second fixed gear; 209-Second moving gear pin; 210-Second moving gear; 211-Second... Joystick; 212-Second Link; 213-Second Knuckle Pin; 214-Third Link; 215-Third Fixed Gear Pin; 216-Third Fixed Gear; 217-Third Moving Gear Pin; 218-Third Moving Gear; 219-Third Joystick; 3-Middle Finger Assembly; 4-Ring Finger Assembly; 5-Little Finger Assembly; 6-Wrist Assembly; 601-Wrist Seat; 602-First Wrist Pin; 603-Palm Lateral Push Rod; 60 4-Vertical push rod of the palm; 605-Palm base; 6051-First shaft of the base; 6052-First shaft hole of the base; 6053-Second shaft hole of the base; 6054-Third shaft hole of the base; 606-Joint bearing; 607-Wrist push rod; 608-Spherical joint; 609-Ten-piece joint; 6091-First hole of the ten-piece joint; 6092-Second hole of the ten-piece joint; 610-Second pin of the wrist; 611-Third pin of the wrist. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments, which do not constitute a limitation on the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0029] First, the following explanations are provided for the terms that may be used in this article:

[0030] The term "and / or" means that either or both can be achieved simultaneously. For example, X and / or Y means that it includes both "X" or "Y" as well as the three cases of "X and Y".

[0031] The terms "comprising," "including," "containing," "having," or other similar semantic descriptions should be interpreted as non-exclusive inclusion. For example, including a technical feature element (such as raw material, component, ingredient, carrier, dosage form, material, size, part, component, mechanism, device, step, process, method, reaction conditions, processing conditions, parameter, algorithm, signal, data, product or article of manufacture, etc.) should be interpreted as including not only the expressly listed technical feature element, but also other technical feature elements that are not expressly listed and are well-known in the art.

[0032] The term "composed of" excludes any technical features not expressly listed. When used in a claim, it closes the claim to exclude all technical features other than those expressly listed, except for associated conventional impurities. If the term appears only in a clause of a claim, it limits the claim to the elements expressly listed in that clause; elements recited in other clauses are not excluded from the overall claim.

[0033] Unless otherwise explicitly specified or limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this document according to the specific circumstances.

[0034] The terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” and “counterclockwise” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience and simplification of description and do not imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this document.

[0035] The solution provided by this utility model is described in detail below. Contents not described in detail in the embodiments of this utility model are prior art known to those skilled in the art. Where specific conditions are not specified in the embodiments of this utility model, they shall be performed according to conventional conditions in the art or conditions recommended by the manufacturer. Reagents or instruments used in the embodiments of this utility model whose manufacturers are not specified are all conventional products that can be purchased commercially.

[0036] like Figure 1 As shown, this utility model provides a gear-driven simulated hand, comprising:

[0037] Thumb component 1, wrist component 6, and at least one accessory finger component; wherein,

[0038] The thumb assembly 1 is a multi-finger joint movable structure assembly driven by a gear mechanism and a linkage mechanism;

[0039] Each sub-finger assembly is a multi-finger joint movable structure assembly driven by gear mechanisms and linkage mechanisms;

[0040] The thumb component 1 and each sub-finger component are arranged on the wrist component 6, and the wrist component 6 can drive each sub-finger component 5 to perform independent finger joint bending movements.

[0041] The wrist component 6 can drive the thumb component 1 to twist toward the sub-finger components to cooperate in forming a gripping action.

[0042] See Figure 2 and Figure 3 As shown, preferably, in the above-mentioned simulated hand, the multi-finger joint movable structure component driven by the gear mechanism and linkage mechanism of the thumb component 1 includes:

[0043] The system comprises: a rotating pin 107, a first mounting base 106, a linear drive device, a first mounting base, a first gear mechanism, a fixed gear pin 109, a first push rod 116, a first thumb knuckle 105, a first linkage mechanism, and a second thumb knuckle 104; wherein,

[0044] The rotating pin 107 is located at the rear end of the first mounting base 106 and can be inserted and connected to the wrist assembly 6, and rotate on the wrist assembly 6.

[0045] The rear end of the first mounting base 106 is hinged to the thumb drive end on the wrist assembly 6;

[0046] The linear drive device and the first mounting base are sequentially mounted on the first mounting base 106;

[0047] The first fixed gear 110 of the first gear mechanism is fixedly mounted in the first mounting base by the first fixed gear pin 109, and the first movable gear 111, which meshes with the first fixed gear 110, is movably hinged to the first thumb knuckle 105 and can rotate on the first thumb knuckle 105.

[0048] The rear end of the first thumb joint 105 is hinged to the first fixed gear pin 109 and can rotate around the first fixed gear pin 109.

[0049] The second thumb knuckle 104 is movably hinged to the first thumb knuckle 105 and can rotate on the first thumb knuckle 105;

[0050] The driving end of the linear drive device is hinged to the rear end of the first thumb knuckle 105 via the first push rod 116, which can drive the first thumb knuckle 105 to rotate around the fixed gear pin 109, and drive the first moving gear 111 to revolve around the first fixed gear 110 while rotating on its own axis.

[0051] The first moving gear 111 is connected to the second thumb knuckle 104 via the first linkage mechanism, and can drive the second thumb knuckle 104 to rotate on the first thumb knuckle 105 when rotating.

[0052] Preferably, in the thumb assembly 1 of the above-mentioned simulated hand, the linear drive device is an electric push rod 101;

[0053] The first mounting base is composed of a first base 102 and a second base 103 arranged symmetrically. The first base 102 and the second base 103 are located at the front end of the linear drive device. The first fixed gear 110 of the first gear mechanism is arranged in the space between the first base 102 and the second base 103.

[0054] The first linkage mechanism consists of a first rocker arm 112 and a first connecting rod 114. The first rocker arm 112 is fixedly connected to the first moving gear 111 and can rotate together with the first moving gear 111. One end of the first connecting rod 114 is hinged to the first rocker arm 112, and the other end is hinged to the second thumb knuckle 104.

[0055] In the thumb assembly 1 described above, the first moving gear 111 is movably hinged to the first thumb knuckle 105 via the first moving gear pin 115; the second thumb knuckle 104 is movably hinged to the first thumb knuckle 105 via the first knuckle pin 113.

[0056] See Figure 4 and Figure 5 As shown, preferably, in the above-mentioned simulated hand, the multi-joint movable structure component driven by the gear mechanism and linkage mechanism of the sub-finger assembly includes:

[0057] The system comprises a second mounting base, a first finger joint 203, a second finger joint 204, a third finger joint 205, a second gear mechanism, a third gear mechanism, a second push rod 206, a second linkage mechanism, and a third linkage mechanism; wherein...

[0058] The rear end of the second mounting base is fixedly connected to the wrist assembly 6;

[0059] The second fixed gear 208 of the second gear mechanism is fixedly installed in the front end of the second mounting base by the second fixed gear pin 207. The second moving gear 210, which meshes with the second fixed gear 208, is movably hinged to the first finger joint 203 and can rotate on the first finger joint 203.

[0060] The rear end of the first finger joint 203 is hinged to the second fixed gear pin 207 and can rotate around the second fixed gear pin 207;

[0061] The second phalanx 204 is movably hinged to the first phalanx 203 and can rotate on the first phalanx 203;

[0062] The third fixed gear 216 of the third gear mechanism is fixedly mounted on the second finger joint 204 by the third fixed gear pin 215, and the third moving gear 218 that meshes with the third fixed gear 216 is movably hinged on the second finger joint 204 and can rotate on the second finger joint 204.

[0063] The rear end of the second push rod 206 is connected to the finger drive end of the wrist assembly 6, and the front end of the second push rod 206 is hinged to the rear end of the first phalanx 203, which can drive the first phalanx 203 to rotate around the second fixed gear pin 207, and drive the second moving gear 210 to revolve around the second fixed gear 208 while rotating on its own axis.

[0064] The second moving gear 210 is connected to the second finger joint 204 via the second linkage mechanism, and can drive the second finger joint 204 to rotate on the first finger joint 203 when rotating, and drive the third moving gear 218 to revolve around the third fixed gear 216 while rotating on its own axis;

[0065] The third moving gear 218 is connected to the third finger joint 205 via a third linkage mechanism, and can drive the third finger joint 205 to rotate on the second finger joint 204 when rotating.

[0066] Preferably, in the above-mentioned simulated hand, in the index finger component 2,

[0067] The second mounting base consists of a third base 201 and a fourth base 202 arranged symmetrically, and the second fixed gear 208 of the second gear mechanism is arranged in the space between the third base 201 and the fourth base 202.

[0068] The second linkage mechanism consists of a second rocker arm 211 and a second link 212. The second rocker arm 211 is fixedly connected to the second moving gear 210 and can rotate together with the second moving gear 210. One end of the second link 212 is hinged to the second rocker arm 211, and the other end is hinged to the second finger joint 204.

[0069] The third linkage mechanism consists of a third rocker arm 219 and a third link 214. The third rocker arm 219 is fixedly connected to the third moving gear 218 and can rotate together with the third moving gear 218. One end of the third link 214 is hinged to the third rocker arm 219, and the other end is hinged to the third finger joint 205.

[0070] In the aforementioned index finger assembly 1, the second moving gear 210 is movably hinged to the first finger joint 203 via the second moving gear pin 209; the third moving gear 218 is movably hinged to the second finger joint 204 via the third moving gear pin 217; and the second finger joint 204 is movably hinged to the third finger joint 205 via the second finger joint pin 213.

[0071] In the above-mentioned simulated hand, there are four secondary finger components, which are arranged sequentially on the wrist component 6 to form a five-finger simulated hand together with the thumb component 1.

[0072] Alternatively, the number of secondary finger components is three, arranged sequentially on the wrist component 6, forming a four-finger simulated hand together with the thumb component 1;

[0073] Alternatively, there are two secondary finger components, which are arranged sequentially on the wrist component 6 to form a three-finger simulated hand together with the thumb component 1.

[0074] Alternatively, the number of secondary finger components is one, arranged sequentially on the wrist component 6, forming a two-finger simulated hand with the thumb component 1.

[0075] When there are multiple sub-components, they differ only in size, while the drive structure and materials are the same.

[0076] See Figure 6 , Figure 7 and Figure 8 As shown, preferably, in the above-mentioned simulated hand, the wrist component 6 includes:

[0077] The wrist rest 601, palm base 605, wrist push rod 607, third shaft hole 6054 of the base, palm transverse push rod 603, and at least one palm vertical push rod 604; wherein,

[0078] The palm base 605 is movably hinged to the wrist base 601;

[0079] The wrist push rod 607 is disposed inside the wrist seat 601. The driving end of the wrist push rod 607 is hinged to the palm base 605, and can drive the palm base 605 to move on the wrist seat 601.

[0080] The third shaft hole 6054 of the base is disposed on the palm base 605, and the thumb assembly 1 is rotatably disposed in the third shaft hole 6054 of the base;

[0081] The palm lateral push rod 603 is disposed on the palm base 605. The driving end of the palm lateral push rod 603 is hinged to the thumb assembly 1, which can drive the thumb assembly 1 to rotate toward each of the sub-finger assemblies to cooperate and form a gripping action.

[0082] Each palm vertical push rod 604 is arranged on the palm base 605, and the driving end of each palm vertical push rod 604 is connected to each sub-finger assembly, which can drive each sub-finger assembly to perform independent finger joint bending movements.

[0083] The drive end of the aforementioned palm lateral push rod 603 is hinged to the drive connecting pin 108 of the thumb assembly 1. The drive connecting pin 108 is located at the rear end of the first mounting base. See [link to documentation]. Figure 8 .

[0084] Preferably, the number of palm vertical push rods 604 is the same as the number of sub-finger components, and each palm vertical push rod 604 is connected to drive a corresponding sub-finger component to perform a knuckle bending action.

[0085] Preferably, in the above-mentioned simulated hand, the hand base 605 is movably hinged to the wrist base 601 in the following manner, including:

[0086] The palm base 605 is hinged to the wrist seat 601 via the wrist pin assembly and the ten-joint 609, and can rotate with two degrees of freedom relative to the wrist seat 601.

[0087] Preferably, in the above-mentioned simulated hand, the wrist first pin 602 of the wrist pin assembly passes through the base first shaft hole 6052 of the wrist seat 601 and the ten-byte first hole 6091 of the ten-byte 609, so that the hand base 605 and the ten-byte 609 are hinged.

[0088] The wrist second pin 610 of the wrist pin assembly passes through the shaft hole on the wrist seat 601 and the second hole 6092 of the ten-element 609, so that the ten-element 609 is hinged to the wrist seat 601.

[0089] There are two wrist push rods 607 arranged side by side, and the lower end of each wrist push rod 607 is connected to the wrist seat 601 through a ball joint 608 to form a ball joint.

[0090] The drive ends of the two wrist push rods 607 are rotatably connected to the third wrist pin 611 of the wrist pin assembly through a joint bearing 606. The third wrist pin 611 passes through the second shaft hole 6053 of the base of the wrist seat 601 and hinges the two wrist push rods 607 to the palm base 605. When the drive ends of the wrist push rods 607 extend or retract, they can drive the entire palm base 605 to move.

[0091] The lower ends of both wrist push rods 607 are connected to the wrist seat 601 via ball joints 608.

[0092] This utility model also provides a robot with at least one of the above-mentioned gear-driven simulated hands.

[0093] In summary, the gear-driven simulated hand provided by this utility model, by using a multi-finger joint movable structure component driven by a gear mechanism and a linkage mechanism for the thumb component, can achieve finger joint bending movement through self-drive. By using multi-finger joint movable structure components driven by gear mechanisms and linkage mechanisms for each sub-finger component, it can achieve independent finger joint bending movement under the drive of the wrist component. This driving method of gear mechanism and linkage mechanism can realize the bending of each finger joint in sequence, avoid jamming, and have higher transmission efficiency, achieving the movement effect of the three joints of a real finger.

[0094] To more clearly demonstrate the technical solution and its effects provided by this utility model, the following detailed description of the solution provided by the embodiments of this utility model is provided with reference to specific examples.

[0095] Example 1

[0096] This embodiment provides a gear-driven simulated hand, a five-finger simulated hand, suitable for humanoid robots, mechanical fingers, dexterous hands, medical devices, etc. Figure 1As shown, the gear-driven simulated hand includes: a thumb assembly 1, four sub-finger assemblies, and a wrist assembly 6. The four sub-finger assemblies correspond to the index finger assembly 2, middle finger assembly 3, ring finger assembly 4, and little finger assembly 5, respectively. The thumb assembly 1 is a multi-finger joint movable structure assembly driven by a gear mechanism and a linkage mechanism. The index finger assembly, middle finger assembly 3, ring finger assembly 4, and little finger assembly 5 are all multi-finger joint movable structure assemblies driven by a gear mechanism and a linkage mechanism. The thumb assembly 1, index finger assembly 2, middle finger assembly 3, ring finger assembly 4, and little finger assembly 5 are arranged on the wrist assembly 6. The wrist assembly 6 can drive the index finger assembly, middle finger assembly 3, ring finger assembly 4, and little finger assembly 5 to perform independent finger joint bending movements. The wrist assembly 6 can drive the thumb assembly 1 to twist toward the index finger assembly, middle finger assembly 3, ring finger assembly 4, and little finger assembly 5 to cooperate in forming a gripping action.

[0097] Among them, the four finger components, index finger component 2, middle finger component 3, ring finger component 4, and little finger component 5, have the same structural principle, only differing in size. The following will only take the sub-finger component, which is the index finger component 2, as an example to explain the structure and action material of the sub-finger component.

[0098] See Figure 2 and Figure 3 The thumb assembly 1 includes: an electric push rod 101 as a linear drive device, a first base 102, a second base 103, a second thumb knuckle 104, a first thumb knuckle 105, a mounting base 106, a rotating pin 107, a drive connecting pin 108, a first fixed gear pin 109, a first fixed gear 110, a first moving gear 111, a first rocker arm 112, a first knuckle pin 113, a first connecting rod 114, a first moving gear pin 115, and a first push rod 116.

[0099] The first base 102 and the second base 103 are symmetrical structures, and both, along with the electric push rod 101, are fixed to the mounting base 106. The first fixed gear 110 is installed in the middle of the first base 102 and the second base 103, and is fixed and does not rotate. A first fixed gear pin 109 is installed at the center of the first fixed gear 110, and the first thumb knuckle 105 can rotate around the first fixed gear pin 109. The first moving gear 111 meshes with the first fixed gear 110 to form a first gear mechanism. The first rocker arm 112 is fixedly connected to the first moving gear 111, and the first moving gear 111 is hinged to the first moving gear pin 115 at the center of the first moving gear. The first moving gear 111 and the first rocker arm 112 can rotate as a whole around the first moving gear pin 115. One end of the first connecting rod 114 is hinged to the first rocker arm 112 at point C, and the other end is hinged to the second thumb knuckle 104 at point D. The second thumb knuckle 104 can rotate around the first knuckle pin 113. The first rocker arm and the first connecting rod form the first linkage mechanism. The drive end of the electric push rod 101 is hinged to the first push rod 116 at point A, and the other end of the first push rod 116 is hinged to the first thumb knuckle 105 at point B. When the electric push rod 101 extends or retracts, it pushes the first push rod 116 to move, thereby causing the first thumb knuckle 105 to rotate around the first fixed gear pin 109. Since the first moving gear pin 115 is fixed on the first thumb knuckle 105, and the first moving gear 111 can rotate around the first moving gear pin 115, and the two gears mesh with each other, when the first thumb knuckle 105 rotates, the first moving gear 111 will revolve around the first fixed gear 110 while rotating on its own axis. The rotation of the first moving gear 111 will drive the first rocker arm 112 and the first connecting rod 114 to move, and finally drive the second thumb knuckle 104, which is hinged to the first connecting rod 114, to rotate, thus realizing the synchronous movement of the two joints of the same finger.

[0100] Therefore, by utilizing the revolution and rotation of the first moving gear around the first fixed gear in the first gear mechanism, along with the first linkage mechanism composed of the first rocker and the first connecting rod, the rotational motion of the previous joint can be synchronously transmitted to the next joint. It is evident that if another pair of fixed and moving gears, along with the linkage mechanism, are added, the synchronous movement of all three joints of the same finger can be achieved. Because the first linkage mechanism is a parallelogram linkage mechanism, the motion between the moving gear of the previous joint and the next joint is transmitted through the parallelogram linkage mechanism. The parallelogram mechanism can be arbitrarily adjusted according to the length differences of different finger joints, ensuring that the length of each joint is consistent with the actual length of a human hand joint.

[0101] See Figures 4-6The sub-finger assembly includes: a third base 201, a fourth base 202, a first phalanx 203, a second phalanx 204, a third phalanx 205, a second push rod 206, a second fixed gear pin 207, a second fixed gear 208, a second moving gear pin 209, a second moving gear 210, a second rocker arm 211, a second connecting rod 212, a second phalanx pin 213, a third connecting rod 214, a third fixed gear pin 215, a third fixed gear 216, a third moving gear pin 217, a third moving gear 218, and a third rocker arm 219. The third base 201 and the fourth base 202 are symmetrical structures, both fixed to the palm base 605. The second fixed gear 208 of the second gear mechanism is installed in the middle position between the third base 201 and the fourth base 202, and is fixed and does not rotate. A second fixed gear pin 207 is mounted at the center of the second fixed gear 208, and the first finger joint 203 can rotate around the second fixed gear pin 207 near point F. The second moving gear 210 of the second gear mechanism meshes with the second fixed gear 208 for transmission. The second rocker arm 211 of the second linkage mechanism is fixedly connected to the second moving gear 210. The second moving gear 210 is hinged to the second moving gear pin 209 at the center of the gear, and the second moving gear 210 and the second rocker arm 211 can rotate as a whole around the second moving gear pin 209. One end of the second link 212 of the second linkage mechanism is hinged to the second rocker arm 211 at point G, and the other end is hinged to the second finger joint 204 at point H. The second finger joint 204 can rotate around the third fixed gear pin 207 near point H. Similarly, one end of the third link 214 of the third linkage mechanism is hinged to the third rocker arm 211 at point I, and the other end is hinged to the third knuckle 205 at point J. The third knuckle 205 can rotate around the second knuckle pin 213. The driving end of the palm vertical push rod 604 is hinged to the second push rod 206 at point E, and the other end of the second push rod 206 is hinged to the first knuckle 203 at point F. When the palm extends or retracts the vertical push rod 604, it pushes the second push rod 206 to move, thereby causing the first phalanx 203 to rotate around the second fixed gear pin 207 near point F. Since the second moving gear pin 209 near point G is fixed to the first phalanx 203, and the second moving gear 210 can rotate around the second moving gear pin 209, and the two gears mesh with each other, when the first phalanx 203 rotates, the second moving gear 210 will revolve around the second fixed gear 208 while rotating on its own axis. The rotation of the second moving gear 210 will then drive the second rocker arm 211 and the second connecting rod 212 to move, ultimately causing the second phalanx 204, which is hinged to the second connecting rod 212, to rotate. Similarly, the next level of the third gear and the third connecting rod mechanism will drive the third phalanx 205 to rotate around the second phalanx pin 213, thereby achieving synchronous movement of the three joints of the same finger.

[0102] The aforementioned sub-finger assembly, employing a combination of two gear mechanisms and two linkage mechanisms, enables synchronized bending movements of the three finger joints. This effectively solves the problem that existing pure linkage or tendon-and-cord solutions cannot guarantee that all three finger joints bend at the same angle in dexterous hands. Furthermore, through the conversion of motion via the moving gears, all three joints can bend to 90-120 degrees, a greater bending angle than existing solutions.

[0103] In the aforementioned sub-finger assembly, the three joints of the finger are symmetrically distributed in two halves, with gears, connecting rods, and other transmission mechanisms arranged in the middle of the joint. This not only ensures symmetrical and uniform force distribution and improves transmission stability but also protects the transmission mechanism.

[0104] 6. The wrist joint adopts a structure with a ten-joint joint and two push rods connected in parallel, which can realize wrist bending / straightening, left and right lateral swinging and other movements, making the exercise effect richer and closer to the actual movement of the human hand.

[0105] See Figures 6 to 7 The wrist assembly 6 includes a wrist seat 601, a first wrist pin 602, a palm horizontal push rod 603, four palm vertical push rods 604, a palm base 605, a joint bearing 606, a wrist push rod 607, a ball joint 608, a cross joint 609, a second wrist pin 610, and a third wrist pin 611.

[0106] See Figure 6 The four auxiliary finger components are index finger component 2, middle finger component 3, ring finger component 4, and little finger component 5. They are hinged to the corresponding palm vertical push rods 604 at K, L, M, and N respectively. The palm vertical push rods 604 are fixedly installed on the palm base 605. The four palm vertical push rods 604 drive the four finger components to perform independent knuckle bending movements.

[0107] See Figures 6 to 10The tail end of the palm lateral push rod 603 is hinged to the first shaft 6051 of the base, and the other drive end is hinged to the drive connecting pin 108 of the thumb assembly 1. The rotation pin 107 of the thumb assembly 1 is hinged to the third shaft hole 6054 of the base. When the palm lateral push rod 603 extends or retracts, it can drive the thumb assembly 1 to rotate in the third shaft hole 6054 of the base, thereby realizing the gripping function of the thumb assembly 1 and the other four fingers. The palm base 605 is hinged to the wrist seat 601 via a ten-pin 609. Specifically, the wrist first pin 602 passes through the base's first shaft hole 6052 and the ten-pin first hole 6091, hinged together the palm base 605 and the ten-pin 609; the wrist second pin 610 passes through the shaft hole on the wrist seat 601 and the ten-pin second hole 6092, hinged together the ten-pin 609 and the wrist seat 601. Therefore, the palm base 605 has two degrees of rotation relative to the wrist seat 601. The lower end of the wrist push rod 607 is connected to the wrist seat 601 via a ball joint 608, forming a ball joint connection. The drive end of the wrist push rod 607 is rotatably connected to the third wrist pin 611 via a joint bearing 606. The third wrist pin 611 passes through the second shaft hole 6053 of the base and hinges the two wrist push rods 607 to the palm base 605. When the wrist push rods 607 extend or retract, they will drive the entire palm base 605 to move. Specifically, when the two wrist push rods 607 extend or retract synchronously, the wrist can bend or straighten. When one of the two wrist push rods 607 extends and the other retracts, the wrist can swing to the sides.

[0108] The wrist joint mentioned above adopts a structure with a ten-joint joint and two push rods connected in parallel, which can realize wrist bending, straightening, and lateral swinging movements, making the exercise effect richer and closer to the actual movements of the human hand.

[0109] Example 2

[0110] This embodiment provides a gear-driven simulated hand, which differs from Embodiment 1 in that it is equipped with three sub-finger components, which cooperate with the thumb component to form a four-finger simulated hand. The other structures are the same as in Embodiment 1, and can be found in Embodiment 1, which will not be described in detail here.

[0111] Example 3

[0112] This embodiment provides a gear-driven simulated hand. The difference from Embodiment 1 is that two auxiliary finger components are set, which cooperate with the thumb component to form a three-finger simulated hand. The other structures are the same as in Embodiment 1, and can be found in Embodiment 1. They will not be described in detail here.

[0113] Example 4

[0114] This embodiment provides a gear-driven simulated hand. The difference from Embodiment 1 is that a secondary finger component is provided, which cooperates with the thumb component to form a two-finger simulated hand. The other structures are the same as in Embodiment 1, and can be found in Embodiment 1. They will not be described in detail here.

[0115] The above embodiments can be transformed into different forms such as double-claw or triple-claw robotic hands by adjusting the number of auxiliary finger components, thereby enhancing the versatility and application scenarios of the simulated hand.

[0116] Example 5

[0117] This embodiment provides a robot, which can be a humanoid robot, a robotic arm, or a dexterous hand robot. The robot is equipped with at least one gear-driven simulated hand as described in any one of Embodiments 1, 2, 3, or 4.

[0118] In summary, the finger assembly of this invention employs a combination of gears and linkages for transmission, which not only avoids the dead points that may occur in pure linkage mechanisms but also boasts higher transmission efficiency and is energy-saving and environmentally friendly. The thumb assembly can not only bend but also rotate at a certain angle, allowing the thumb to face the other four fingers for a gripping function, highly replicating the actual movement of human fingers. Each of the four auxiliary finger assemblies is driven by an electric push rod, with independent power sources, thus allowing adjustment of the relative positions of the four fingers as needed. The four finger assemblies of this invention can be installed non-parallel, at a certain angle, and staggered in height, more closely resembling the actual positions of the joints of the human hand than existing solutions. Adjusting the installation position of the four finger assemblies only requires changing the external structure of the hand base. By providing two degrees of freedom for the wrist assembly, when applied to a humanoid robot, the two push rods of the wrist can be placed inside the forearm without exceeding the external dimensions of the human arm and without occupying space in other structures of the arm.

[0119] The above description is merely a preferred embodiment of this utility model, but the scope of protection of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this utility model should be included within the scope of protection of this utility model. Therefore, the scope of protection of this utility model should be determined by the scope of the claims. The information disclosed in the background section is intended only to enhance the understanding of the overall background technology of this utility model and should not be construed as an admission or implication in any way that such information constitutes prior art known to those skilled in the art.

Claims

1. A gear-driven simulated hand, characterized in that, include: A thumb component (1), a wrist component (6), and at least one secondary finger component; wherein, The thumb assembly (1) is a multi-finger joint movable structure assembly driven by a gear mechanism and a linkage mechanism; Each sub-finger assembly is a multi-finger joint movable structure assembly driven by gear mechanisms and linkage mechanisms; The thumb assembly (1) and each sub-finger assembly are arranged on the wrist assembly (6), and the wrist assembly (6) can drive each sub-finger assembly (5) to perform independent finger joint bending movements; The wrist component (6) can drive the thumb component (1) to twist toward the sub-finger components to cooperate in forming a gripping action.

2. The gear-driven simulated hand according to claim 1, characterized in that, The multi-finger joint movable structure assembly driven by the gear mechanism and linkage mechanism of the thumb assembly (1) includes: Rotating pin (107), first mounting base (106), linear drive device, first mounting base, first gear mechanism, first fixed gear pin (109), first push rod (116), first thumb knuckle (105), first linkage mechanism and second thumb knuckle (104); wherein, The rotating pin (107) is located at the rear end of the first mounting base (106) and can be inserted and connected to the wrist assembly (6) and rotate on the wrist assembly (6); The rear end of the first mounting base (106) is hinged to the thumb drive end on the wrist assembly (6); The linear drive device and the first mounting base are sequentially mounted on the first mounting base (106); The first fixed gear (110) of the first gear mechanism is fixedly installed in the first mounting base by the first fixed gear pin (109), and the first moving gear (111) that meshes with the first fixed gear (110) is movably hinged on the first thumb knuckle (105) and can rotate on the first thumb knuckle (105); The rear end of the first thumb joint (105) is hinged to the first fixed gear pin (109) and can rotate around the first fixed gear pin (109); The second thumb knuckle (104) is movably hinged to the first thumb knuckle (105) and can rotate on the first thumb knuckle (105); The driving end of the linear drive device is hinged to the rear end of the first thumb knuckle (105) via the first push rod (116), which can drive the first thumb knuckle (105) to rotate around the first fixed gear pin (109), and drive the first moving gear (111) to revolve around the first fixed gear (110) while rotating on its own axis. The first moving gear (111) is connected to the second thumb knuckle (104) via the first linkage mechanism, and can drive the second thumb knuckle (104) to rotate on the first thumb knuckle (105) when rotating.

3. The gear-driven simulated hand according to claim 2, characterized in that, In the thumb assembly (1), the linear drive device is an electric push rod (101); The first mounting base is composed of a first base (102) and a second base (103) arranged symmetrically. The first base (102) and the second base (103) are located at the front end of the linear drive device. The first fixed gear (110) of the first gear mechanism is arranged in the space between the first base (102) and the second base (103). The first linkage mechanism consists of a first rocker (112) and a first connecting rod (114). The first rocker (112) is fixedly connected to the first moving gear (111) and can rotate together with the first moving gear (111). One end of the first connecting rod (114) is hinged to the first rocker (112), and the other end is hinged to the second thumb knuckle (104).

4. The gear-driven simulated hand according to claim 1, characterized in that, The multi-finger joint movable structure component of the sub-finger assembly, driven by gear and linkage mechanisms, includes: The system comprises a second mounting base, a first finger joint (203), a second finger joint (204), a third finger joint (205), a second gear mechanism, a third gear mechanism, a second push rod (206), a second linkage mechanism, and a third linkage mechanism; wherein, The wrist assembly (6) is fixedly connected to the rear end of the second mounting base; The second fixed gear (208) of the second gear mechanism is fixedly installed in the front end of the second mounting base through the second fixed gear pin (207), and the second moving gear (210) that meshes with the second fixed gear (208) is movably hinged on the first finger joint (203) and can rotate on the first finger joint (203); The rear end of the first finger joint (203) is hinged to the second fixed gear pin (207) and can rotate around the second fixed gear pin (207); The second phalanx (204) is movably hinged to the first phalanx (203) and can rotate on the first phalanx (203); The third fixed gear (216) of the third gear mechanism is fixedly mounted on the second finger joint (204) by the third fixed gear pin (215), and the third moving gear (218) that meshes with the third fixed gear (216) is movably hinged on the second finger joint (204) and can rotate on the second finger joint (204); The rear end of the second push rod (206) is connected to the finger drive end of the wrist assembly (6), and the front end of the second push rod (206) is hinged to the rear end of the first phalanx (203), which can drive the first phalanx (203) to rotate around the second fixed gear pin (207), and drive the second moving gear (210) to revolve around the second fixed gear (208) while rotating on its own axis; The second moving gear (210) is connected to the second finger joint (204) via the second linkage mechanism, and can drive the second finger joint (204) to rotate on the first finger joint (203) when rotating, and drive the third moving gear (218) to revolve around the third fixed gear (216) while rotating on its own axis; The third moving gear (218) is connected to the third finger joint (205) via the third linkage mechanism, and can drive the third finger joint (205) to rotate on the second finger joint (204) when rotating.

5. The gear-driven simulated hand according to claim 4, characterized in that, In the sub-finger assembly, the second mounting base is composed of a third base (201) and a fourth base (202) arranged symmetrically, and the second fixed gear (208) of the second gear mechanism is arranged in the space between the third base (201) and the fourth base (202); The second linkage mechanism consists of a second rocker (211) and a second link (212). The second rocker (211) is fixedly connected to the second moving gear (210) and can rotate together with the second moving gear (210). One end of the second link (212) is hinged to the second rocker (211), and the other end is hinged to the second finger joint (204). The third linkage mechanism consists of a third rocker (219) and a third link (214). The third rocker (219) is fixedly connected to the third moving gear (218) and can rotate together with the third moving gear (218). One end of the third link (214) is hinged to the third rocker (219), and the other end is hinged to the third finger joint (205).

6. The gear-driven simulated hand according to claim 4, characterized in that, The number of the secondary finger components is four, which are arranged sequentially on the wrist component (6) to form a five-finger simulated hand with the thumb component (1); Alternatively, the number of the secondary finger components is three, arranged sequentially on the wrist component (6), forming a four-finger simulated hand with the thumb component (1); Alternatively, the number of the secondary finger components is two, arranged sequentially on the wrist component (6), forming a three-finger simulated hand with the thumb component (1); Alternatively, the number of the secondary finger components is one, arranged sequentially on the wrist component (6), forming a two-finger simulated palm with the thumb component (1).

7. The gear-driven simulated hand according to any one of claims 1-6, characterized in that, The wrist assembly (6) includes: A wrist rest (601), a palm base (605), a wrist push rod (607), a third shaft hole in the base (6054), a palm transverse push rod (603), and a vertical push rod (604) for at least one palm; wherein, The palm base (605) is movably hinged to the wrist base (601); The wrist push rod (607) is disposed inside the wrist seat (601). The driving end of the wrist push rod (607) is hinged to the palm base (605) and can drive the palm base (605) to move on the wrist seat (601). The third shaft hole (6054) of the base is disposed on the palm base (605), and the thumb assembly (1) is rotatably disposed in the third shaft hole (6054) of the base; The palm lateral push rod (603) is mounted on the palm base (605). The driving end of the palm lateral push rod (603) is hinged to the thumb assembly (1) and can drive the thumb assembly (1) to rotate toward each of the sub-finger assemblies to cooperate and form a gripping action. Each palm vertical push rod (604) is arranged on the palm base (605), and the driving end of each palm vertical push rod (604) is connected to each sub-finger assembly, which can drive the corresponding sub-finger assembly to perform independent finger joint bending movements.

8. The gear-driven simulated hand according to claim 7, characterized in that, The palm base (605) is movably hinged to the wrist base (601) in the following manner, including: The palm base (605) is hinged to the wrist seat (601) via a wrist pin assembly and a ten-joint (609), and can rotate with two degrees of freedom relative to the wrist seat (601).

9. The gear-driven simulated hand according to claim 8, characterized in that, The wrist first pin (602) of the wrist pin assembly passes through the base first shaft hole (6052) of the wrist seat (601) and the ten-byte first hole (6091) of the ten-byte (609), so that the palm base (605) and the ten-byte (609) are hinged. The wrist second pin (610) of the wrist pin assembly passes through the shaft hole on the wrist seat (601) and the second hole (6092) of the ten-element (609), so that the ten-element (609) is hinged to the wrist seat (601). The wrist pushers (607) are arranged in two parallel positions, and the lower end of each wrist pusher (607) is connected to the wrist seat (601) through a ball joint (608) to form a ball joint; The drive ends of the two wrist push rods (607) are rotatably connected to the third wrist pin (611) of the wrist pin assembly through a joint bearing (606). The third wrist pin (611) passes through the second shaft hole (6053) of the base of the wrist seat (601) and hinges the two wrist push rods (607) to the palm base (605). When the drive ends of the wrist push rods (607) extend or retract, they can drive the entire palm base (605) to move. The lower ends of both wrist pushers (607) are connected to the wrist seat (601) via ball joints (608).

10. A robot, characterized in that, The device comprises at least one gear-driven simulated hand as described in any one of claims 1-9.

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