A finger linkage rudder hand palm

Abstract

The utility model relates to mechanical engineering technical field and disclose a kind of rudder hand palm of finger linkage, the rudder hand palm of finger linkage, including mounting plate, fixed mounting is equipped with connecting frame on the mounting plate, linkage assembly is provided on the mounting plate, and the linkage assembly includes rudder body. The rudder hand palm of finger linkage, in order to make the device applicable to service robot, industrial grabbing etc. scene, by setting linkage assembly, the component cooperation five groups of rudder body respectively drive corresponding finger structure, by eccentric frame drive no. 1 hinged frame and round rod transmission, make preliminary swing frame rotate around hinged rod, and middle end swing frame swings under the restraint of Z-shaped hinged frame, and arc hinged frame then assist mechanical finger tip to complete bending action, form similar human finger's flexion trajectory, wherein one set of differentiating design component simulates thumb movement, and cooperation remaining four fingers complete gripping, pinching etc. fine operation.

Description

Technical Field

[0001] This utility model relates to the field of mechanical engineering technology, specifically to a servo hand that can be linked with fingers. Background Technology

[0002] In the field of robotics, robotic hands are the core components for achieving fine movements such as grasping and manipulation, and are widely used in industrial automation, service robots, rehabilitation medicine and other scenarios. A servo hand capable of finger-linkage typically consists of a hand base, a multi-joint finger structure, a linkage transmission mechanism, a multi-servo drive system, and an intelligent control system. The hand base is made of high-strength, lightweight alloy material, providing stable support for the overall structure. The multi-joint finger structure includes the thumb, index finger, middle finger, ring finger, and little finger, each finger consisting of 2-3 movable joints, with bearings connecting the joints to reduce friction. The linkage transmission mechanism connects the finger joints via gears, connecting rods, or steel cables to achieve motion transmission and coordination. The multi-servo drive system equips each finger's key joints with a high-precision servo, providing power output. The intelligent control system integrates sensors and control algorithms, receiving motion commands and planning the motion parameters of each servo.

[0003] However, the above-mentioned devices have obvious shortcomings in use. Traditional servo hands are mostly simple structures of "one servo controlling one joint". The fingers can only perform a single bending action and lack the coordinated linkage of the metacarpophalangeal, proximal, and distal interphalangeal joints. The movement trajectory is very different from that of human fingers and cannot complete fine operations. In view of this, we propose a servo hand that can link the fingers. Utility Model Content

[0004] The purpose of this invention is to provide a servo hand that can be linked with fingers, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A finger-linkable servo hand includes a mounting plate, a connecting bracket fixedly mounted on the mounting plate, and a linkage component disposed on the mounting plate, the linkage component comprising: The servo motor body is fixedly mounted on the mounting plate. An eccentric frame is fixedly mounted on the output end of the servo motor body. A mounting bracket is fixedly mounted on the mounting plate, and a mounting rod is fixedly mounted on the mounting bracket. A hinge rod is fixedly installed on the mounting frame. One end of the initial swing frame is hingedly installed on the hinge rod, and one end of the intermediate swing frame is hingedly installed on the other end of the initial swing frame. A Z-shaped hinge frame is hinged between the mounting rod and the middle swing frame. A mechanical finger tip is hinged to the other end of the middle swing frame. An arc-shaped hinge frame is hinged between the initial swing frame and the mechanical finger tip.

[0006] In a further embodiment, a first hinge frame is hingedly mounted on the eccentric frame, one end of a round rod is fixedly mounted on the first hinge frame, and a second hinge frame is fixedly mounted on the other end of the round rod. The second hinge frame is hingedly mounted on the initial swing frame.

[0007] In a further embodiment, the servo motor body, eccentric frame, mounting frame, mounting rod, hinge rod, initial swing frame, intermediate swing frame, Z-shaped hinge frame, mechanical finger tip, arc-shaped hinge frame, first hinge frame, round rod, and second hinge frame are provided in five sets.

[0008] In a further embodiment, one of the five sets of components—the servo body, eccentric frame, mounting frame, mounting rod, hinge rod, initial swing frame, intermediate swing frame, Z-shaped hinge frame, mechanical fingertip, arc-shaped hinge frame, first hinge frame, round rod, and second hinge frame—has a different shape from the other four sets, forming a mechanical thumb.

[0009] In a further embodiment, the mounting plate is provided with a stabilizing component, which includes a vertical rod. One end of the vertical rod is fixedly mounted on the mounting plate, and a protective frame is fixedly mounted on the other end of the vertical rod. A cylinder is fixedly mounted on the mounting plate, and one end of a tension spring is fixedly mounted inside the cylinder. One end of a straight rod is fixedly mounted on the other end of the tension spring, and a support plate is fixedly mounted on the other end of the straight rod.

[0010] In a further embodiment, multiple sets of the vertical rod, cylinder, tension spring, and straight rod are provided.

[0011] In a further embodiment, the protective frame is positioned above multiple sets of servo motor bodies, and the support plate is attached to the bottom of the multiple sets of servo motor bodies.

[0012] Compared with the prior art, this utility model provides a servo hand that can be linked with fingers, which has the following beneficial effects: 1. This finger-linked servo hand, designed for use in service robots, industrial grasping, and other applications, incorporates a linkage component. This component, in conjunction with five servo motors, drives the corresponding finger structures. An eccentric frame drives the first articulated frame and a round rod, causing the initial swing frame to rotate around the articulated rod. The middle swing frame swings in tandem under the constraint of the Z-shaped articulated frame, while the arc-shaped articulated frame assists the mechanical fingertips in bending motions, forming a flexion-extension trajectory similar to that of human fingers. One set of differentiated components simulates thumb movement, achieving palm-to-palm action through a unique hinge angle, working in conjunction with the other four fingers to perform fine operations such as grasping and pinching.

[0013] 2. This finger-linked servo hand, to ensure precise linkage during high-frequency operation, incorporates a stabilizing component. This component, along with a protective frame supported by multiple vertical rods, covers the top of the servo body, blocking external collisions and preventing deformation of the linkage components due to external forces. Simultaneously, the support plate, under the tension of the spring, adheres to the bottom of the servo, and the sliding guide of the straight rod within the cylinder ensures even force distribution on the support plate, absorbing high-frequency vibrations during servo operation and reducing the operational error of the linkage components. Furthermore, the buffering effect of the spring can accommodate slight displacements during servo operation, ensuring long-term operational stability. Attached Figure Description

[0014] Figure 1 This is a first-view schematic diagram of the overall structure of this utility model; Figure 2 This is a second-view schematic diagram of the overall structure of this utility model; Figure 3 This is a third-view schematic diagram of the overall structure of this utility model; Figure 4 This is a first-view schematic diagram of the finger linkage structure of this utility model; Figure 5 This is a second-view schematic diagram of the finger linkage structure of this utility model; Figure 6 This is a schematic diagram of part of the structure of this utility model; Figure 7 This is a cross-sectional view of part of the structure of this utility model; Figure 8 This is a schematic diagram of the stabilizing component of this utility model; Figure 9 This is a schematic diagram of the hinge frame structure of this utility model.

[0015] Explanation of icon numbers: 1. Mounting plate; 2. Connecting bracket; 3. Linkage components; 31. Servo body; 32. Eccentric frame; 33. Mounting bracket; 34. Mounting rod; 35. Hinge rod; 36. Initial swing frame; 37. Mid-range swing frame; 38. Z-shaped hinge frame; 39. Mechanical finger tip; 310. Arc-shaped hinge frame; 311. First hinge frame; 312. Round rod; 313. Second hinge frame; 4. Stabilizing components; 41. Vertical rod; 42. Protective frame; 43. Cylinder; 44. Tension spring; 45. Straight rod; 46. Support plate. Detailed Implementation

[0016] 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. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] In this application, the term "above" indicates the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is primarily used to better describe this application and its embodiments, and is not intended to limit the indicated device, element, or component to having a specific orientation, or to construct and operate in a specific orientation. Furthermore, the term "above" may also be used in certain circumstances to indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0018] Please see Figures 1-9 This utility model provides a technical solution: A servo hand that can be linked by fingers includes a mounting plate 1, on which a connecting bracket 2 is fixedly mounted.

[0019] In one embodiment of this utility model, a linkage assembly 3 is provided on the mounting plate 1. The linkage assembly 3 includes a servo motor body 31. The servo motor body 31 is fixedly mounted on the mounting plate 1. An eccentric frame 32 is fixedly mounted on the output end of the servo motor body 31. A mounting bracket 33 is fixedly mounted on the mounting plate 1. A mounting rod 34 is fixedly mounted on the mounting bracket 33. A hinge rod 35 is fixedly mounted on the mounting bracket 33. One end of a preliminary swing frame 36 is hingedly mounted on the hinge rod 35. One end of a mid-range swing frame 37 is hingedly mounted on the other end of the preliminary swing frame 36. A Z-shaped hinge frame 38 is hinged between the mounting rod 34 and the mid-range swing frame 37. A mechanical finger tip 39 is hingedly mounted on the other end of the mid-range swing frame 37. An arc-shaped hinge frame 310 is hinged between the preliminary swing frame 36 and the mechanical finger tip 39. A first hinge frame 311 is hingedly mounted on the eccentric frame 32. One end of a round rod 312 is fixedly mounted on frame 311, and the other end of the round rod 312 is fixedly mounted on a second hinge frame 313. The second hinge frame 313 is hingedly mounted on the initial swing frame 36. Other components include: servo motor body 31, eccentric frame 32, mounting frame 33, mounting rod 34, hinge rod 35, initial swing frame 36, intermediate swing frame 37, Z-shaped hinge frame 38, mechanical finger tip 39, arc-shaped hinge frame 310, and first hinge frame 31. 1. The round rod 312 and the second articulation frame 313 are provided in five sets. The five sets of servo body 31, eccentric frame 32, mounting frame 33, mounting rod 34, articulation rod 35, initial swing frame 36, intermediate swing frame 37, Z-shaped articulation frame 38, mechanical finger tip 39, arc-shaped articulation frame 310, first articulation frame 311, round rod 312 and second articulation frame 313 are different in shape from the other four sets, forming a mechanical thumb.

[0020] In this embodiment, when grasping or other actions are required, the five sets of servo motors 31 are activated respectively. The eccentric frame 32 drives the first articulated frame 311 to move. The first articulated frame 311 transmits power to the second articulated frame 313 through the round rod 312. The second articulated frame 313 pushes the initial swing frame 36 to rotate around the articulated rod 35 on the mounting frame 33. The middle swing frame 37, which is hinged at the other end of the initial swing frame 36, swings in coordination under the constraint of the Z-shaped articulated frame 38 between the mounting rod 34 and the middle swing frame 37. At the same time, the arc-shaped articulated frame 310 between the initial swing frame 36 and the tip of the mechanical finger 39 assists in exerting force, so that the tip of the mechanical finger 39 completes the bending action, forming a flexion and extension trajectory similar to that of a human finger. Meanwhile, the differentiated mechanical thumb component, through a unique hinge angle and transmission relationship, realizes the palm-to-palm action under the drive of the servo motor 31, and works with the other four fingers to complete fine operations such as grasping and pinching. It is suitable for service robots, industrial grasping and other scenarios.

[0021] In one embodiment of this utility model, a stabilizing component 4 is provided on the mounting plate 1. The stabilizing component 4 includes a vertical rod 41. One end of the vertical rod 41 is fixedly installed on the mounting plate 1, and a protective frame 42 is fixedly installed on the other end of the vertical rod 41. A cylinder 43 is fixedly installed on the mounting plate 1. One end of a tension spring 44 is fixedly installed inside the cylinder 43. One end of a straight rod 45 is fixedly installed on the other end of the tension spring 44. A support plate 46 is fixedly installed on the other end of the straight rod 45. Multiple sets of vertical rods 41, cylinders 43, tension springs 44, and straight rods 45 are provided. The protective frame 42 is located above multiple sets of servo motor bodies 31, and the support plate 46 is attached to the bottom of multiple sets of servo motor bodies 31.

[0022] In this embodiment, multiple sets of vertical rods 41 fixed on the mounting plate 1 support the protective frame 42. The protective frame 42 covers the multiple sets of servo motor bodies 31, which can block external collisions and prevent the linkage component 3 from deforming due to external forces, thus ensuring structural integrity. At the same time, a tension spring 44 is installed inside the cylinder 43 on the mounting plate 1. One end of the tension spring 44 is fixed to the cylinder 43, and the other end is connected to a straight rod 45. The support plate 46 at the other end of the straight rod 45 is attached to the bottom of the multiple sets of servo motor bodies 31. The tension of the tension spring 44 makes the support plate 46 fit tightly against the bottom of the servo motor. The sliding guide of the straight rod 45 in the cylinder 43 ensures that the support plate 46 is evenly stressed, which can absorb the high-frequency vibration during the operation of the servo motor and reduce the action error of the linkage component 3. At the same time, the buffering effect of the tension spring 44 can adapt to the slight displacement of the servo motor during operation, ensuring the stability and precise linkage of the robotic hand during long-term operation at high frequency.

[0023] All electrical components mentioned in this application are electrically connected to the PLC controller and 220V AC mains power. The PLC controller is a conventional and known device that can control the servo motor body 31. All standard parts used in this application can be purchased from the market. The specific connection methods of each part are all conventional methods such as riveting and welding that are mature in the prior art. The mechanical parts and equipment are all conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art. The supporting structures of the hydraulic drive structure mentioned in this application, such as hydraulic tanks and hydraulic pumps, are existing equipment and will not be described in detail here.

[0024] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A servo hand capable of finger-operated linkage, comprising a mounting plate (1), wherein a connecting bracket (2) is fixedly mounted on the mounting plate (1), characterized in that: The mounting plate (1) is provided with a linkage component (3), the linkage component (3) including: Servo body (31), servo body (31) is fixedly mounted on the mounting plate (1), eccentric frame (32) is fixedly mounted on the output end of servo body (31), mounting bracket (33) is fixedly mounted on the mounting plate (1), and mounting rod (34) is fixedly mounted on the mounting bracket (33). A hinge rod (35) is fixedly installed on the mounting frame (33). One end of a preliminary swing frame (36) is hingedly installed on the hinge rod (35), and the other end of the preliminary swing frame (36) is hingedly installed on one end of a middle swing frame (37). Z-shaped hinge frame (38), Z-shaped hinge frame (38) is hinged between the mounting rod (34) and the middle swing frame (37), mechanical finger tip (39) is hinged at the other end of the middle swing frame (37), and arc-shaped hinge frame (310) is hinged between the initial swing frame (36) and the mechanical finger tip (39).

2. The servo hand capable of finger-linkage as described in claim 1, characterized in that: A first hinge frame (311) is hingedly installed on the eccentric frame (32). One end of a round rod (312) is fixedly installed on the first hinge frame (311), and a second hinge frame (313) is fixedly installed on the other end of the round rod (312). The second hinge frame (313) is hingedly installed on the initial swing frame (36).

3. A servo hand capable of finger-linkage as described in claim 1, characterized in that: The servo motor body (31), eccentric frame (32), mounting frame (33), mounting rod (34), hinge rod (35), initial swing frame (36), intermediate swing frame (37), Z-shaped hinge frame (38), mechanical finger tip (39), arc-shaped hinge frame (310), first hinge frame (311), round rod (312) and second hinge frame (313) are provided in five sets.

4. A servo hand capable of finger-linkage as described in claim 1, characterized in that: The five groups of servo motor body (31), eccentric frame (32), mounting frame (33), mounting rod (34), hinge rod (35), initial swing frame (36), intermediate swing frame (37), Z-shaped hinge frame (38), mechanical finger tip (39), arc-shaped hinge frame (310), first hinge frame (311), round rod (312) and second hinge frame (313) have different shapes from the other four groups, forming a mechanical thumb.

5. A servo hand capable of finger-linkage as described in claim 1, characterized in that: The mounting plate (1) is provided with a stabilizing component (4), which includes a vertical rod (41). One end of the vertical rod (41) is fixedly installed on the mounting plate (1), and a protective frame (42) is fixedly installed on the other end of the vertical rod (41). A cylinder (43) is fixedly installed on the mounting plate (1), and one end of a tension spring (44) is fixedly installed inside the cylinder (43). One end of a straight rod (45) is fixedly installed on the other end of the tension spring (44), and a support plate (46) is fixedly installed on the other end of the straight rod (45).

6. A servo hand capable of finger-linkage as described in claim 5, characterized in that: The vertical rod (41), cylinder (43), tension spring (44) and straight rod (45) are provided in multiple sets.

7. A servo hand capable of finger-linkage as described in claim 5, characterized in that: The protective frame (42) is positioned above the multiple sets of servo motor bodies (31), and the support plate (46) is attached to the bottom of the multiple sets of servo motor bodies (31).

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