CN102806564A - Arc-shaped basal articulation for humanized flexible hand - Google Patents
Arc-shaped basal articulation for humanized flexible hand Download PDFInfo
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- CN102806564A CN102806564A CN2012103337713A CN201210333771A CN102806564A CN 102806564 A CN102806564 A CN 102806564A CN 2012103337713 A CN2012103337713 A CN 2012103337713A CN 201210333771 A CN201210333771 A CN 201210333771A CN 102806564 A CN102806564 A CN 102806564A
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- conical gear
- direct current
- current generator
- articulation
- basal
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Abstract
The invention discloses an arc-shaped basal articulation for a humanized flexible hand, which comprises a first direct current motor, a second direct current motor, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear, a first shaft, a second shaft, a U-shaped bracket, an oval frame, a slide block and a lower palm knuckle. According to the arc-shaped basal articulation for the humanized flexible hand, a built-in direct current motor is used for driving and the bevel gears are used for realizing the lateral swinging and bending motion of the basal articulation, so that the motion is stable and the transmission precision is high; the lateral swinging and the bending motion can be carried out around one point, the two-freedom-degree separated basal articulation is realized, the flexibility and the control of a manipulator are increased and the capturing space and the stability of the manipulator are increased; and the arc-shaped basal articulation for the humanized flexible hand meets the properties of the basal articulation of a flexible manipulator of a robot.
Description
Technical field
The present invention relates to a kind of finger-base joint of robot, especially relate to and can carry out bending and side-sway motion around same center of rotation, and a kind of anthropomorphic Dextrous Hand circular arc type base joint of both motion independent separate.
Background technology
Along with the expansion in robot application field, operating environment and task complicated, and ordinary robot's most important position be terminal clamping device oneself can not satisfy the requirement of various dexterities and accurate operation task far away.Owing to most terminal clamper to particular task, specificly be held part design; Exist and lack limitation such as flexibility and method of clamping be limited; Plant a general terminal clamper and develop; Replace various particular end clampers, accomplish the dexterous manipulation task under the various environment, as in danger, bad working environment such as spacecraft out of my cabin, nuclear power station, chemical plant, being engaged in detection, sampling, assembling, reconditioning work; The work of battlefield detecting a mine and this type danger of removing mines becomes a kind of needs in robot research field.Therefore, people begin one's study based on integrated multi-finger clever hands (Multi-Fingered Dexterous Hand) of key technology such as mechanism, driving, control technology and Robot Force feel, visions, hope to replace traditional clamper of robot end.
Multi-finger clever hand is a kind of apery hand, have multiple degrees of freedom and multiple perceptional function, can accomplish the robot of complicated grasping movement.It can grasp the object of difformity, size, material, can also carry out the multiple accurate operation of certain amplitude to the object that is grasped.Replace special-purpose end effector of robot with it, can improve the job area and the work capacity of robot.
Therefore the research of multi-finger clever hand just becomes the focus of current robot technical research.The most important thing is the two-freedom problem of implementation in basic joint in the clever hands at present,, all can not realize dexterity truly though proposed many solutions.
Summary of the invention
The object of the present invention is to provide a kind of anthropomorphic Dextrous Hand circular arc type base joint, can a bit carry out the motion of bending and side-sway around the space, and the finger-base joint of the Dextrous Hand of both motion independent separate.It can make the control of mechanical Dextrous Hand be more prone to, and activity is more flexible, the mankind can't come to personally or rugged environment in work.
The technical solution adopted for the present invention to solve the technical problems is:
The present invention includes first direct current generator, second direct current generator, first conical gear, second conical gear, the 3rd conical gear, the 4th conical gear, the 5th conical gear, first, second, U-shaped carriage, oval frame, slide block and palm dactylus down; First direct current generator is fixedly connected with first conical gear; First conical gear and the engagement of second conical gear; Second conical gear and U-shaped carriage outer bottom are affixed, and the second conical gear hole and first are matched in clearance, and first direct current generator rotates and makes the U-shaped carriage carry out the side-sway motion around first; Second direct current generator is fixedly connected with the 3rd conical gear; Oval frame is installed in the U-shaped carriage; Be equipped with second in the oval frame, second each other vertical with first axis and be positioned on the same horizontal plane, and the 3rd conical gear meshes with the 4th conical gear that is installed in the framework; The 4th conical gear and the 5th conical gear engagement that is installed on second; Stretch out outside the oval frame at second two ends, and the 5th conical gear drives the slide block that is installed in second two ends and rotates, and two slide blocks are installed in down respectively in the arc-shaped guide rail in the palm dactylus; The projection of slapping the dactylus two ends down cooperates with the U-shaped carriage turns, and second direct current generator rotates and makes down palm dactylus carry out bending motion around second.
Compare with background technology, the beneficial effect that the present invention has is:
1. the present invention adopts the built-in type direct current motor-driven, and through the side-sway and the bending motion of conical gear realization base pitch, motion is steady, and transmission accuracy is high.
2. the present invention can carry out side-sway and bending motion around a bit, has realized the basic joint of the separation of two frees degree, has improved the dexterity and the control of manipulator, has increased the extracting space and the stability of manipulator.
Therefore, the present invention can satisfy the performance in dexterous robot manipulator base joint.
Description of drawings:
Fig. 1 is a structural representation of the present invention.
Fig. 2 is that the present invention removes the structural representation of palm dactylus down.
Fig. 3 is the structural representation of side-sway motion of the present invention.
Fig. 4 is the structural representation of bending motion of the present invention.
Fig. 5 is the present invention's structural representation of palm dactylus down.
Among the figure: 1, first direct current generator, 2, second direct current generator, 3, first conical gear, 4, second conical gear, the 5, the 3rd conical gear; 6, the 4th conical gear, the 7, the 5th conical gear, 8, first; 9, second, 10, the U-shaped carriage, 11, oval frame; 12, slide block, 13, slap dactylus down, 14, arc-shaped guide rail.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
Like Fig. 1, shown in Figure 2, the present invention includes first direct current generator 1, second direct current generator 2, first conical gear 3, second conical gear 4, the 3rd conical gear 5, the 4th conical gear 6, the 5th conical gear 7, first 8, second 9, U-shaped carriage 10, oval frame 11, slide block 12 and palm dactylus 13 down; First direct current generator 1 is fixedly connected with first conical gear 3; First conical gear 3 and 4 engagements of second conical gear; Second conical gear 4 is affixed with U-shaped carriage 10 outer bottoms; Second conical gear, 4 holes and first 8 are matched in clearance, and first direct current generator 1 rotates and makes U-shaped carriage 10 carry out the side-sway motion around first 8; Second direct current generator 2 is fixedly connected with the 3rd conical gear 5; Oval frame 11 is installed in the U-shaped carriage 10; To be equipped with second 9, the second 9 in the oval frame 11 vertical each other with first 8 axis and be positioned on the same horizontal plane, and the 3rd conical gear 5 meshes with the 4th conical gears 6 that are installed in the framework 11; The 4th conical gear 6 and the 5th conical gear 7 engagements that are installed on second 9; Stretch out outside the oval frame 11 at second 9 two ends, and the 5th conical gear 7 drives the slide block 12 that is installed in second 9 two ends and rotates, and two slide blocks 12 are installed in down respectively in the arc-shaped guide rail 14 in the palm dactylus 13; Projection and the U-shaped carriage 10 of slapping dactylus 13 two ends down are rotatably assorted, and second direct current generator 2 rotates and makes down palm dactylus 13 carry out bending motion around second 9.
As shown in Figure 3; The side-sway motion in base joint: first direct current generator 1 is fixedly connected with first conical gear 3; First conical gear 3 and 4 engagements of second conical gear; Second conical gear 4 is affixed with U-shaped carriage 10 outer bottoms, and second conical gear, 4 holes be matched in clearance with first 8, and 1 rotation of first direct current generator makes U-shaped carriage 10 carry out side-sway around first 8 and moves.When first direct current generator 1 rotates, through the engagement of first conical gear 3 and second conical gear, 4 conical gears, drive U-shaped carriage 10, and then drive the side-sway motion of palm dactylus 13 down around first 8 rotation.When slapping the motion of dactylus 13 side-swaies instantly, following palm dactylus 13 inboard arc-shaped guide rails 14 can slide with slide block 12 each other, can not drive second 9 rotation, make that the side-sway motion in basic joint is independent fully.
As shown in Figure 4, the bending motion in basic joint: second direct current generator 2 is fixedly connected with the 3rd conical gear 5, and oval frame 11 is installed in the U-shaped carriage 10; Be equipped with second 9 in the framework 11; Second 9 vertical each other with first 8 axis and be positioned on the same horizontal plane, and the 3rd conical gear 5 meshes with the 5th conical gear 7 that is installed in second 9 with the 4th conical gears 6 engagements that are installed in the framework 11, the 4th conical gear 6; And drive is installed in slide block 12 rotations at second 9 two ends; Two slide blocks 12 all are positioned at outside the oval frame 11, and two slide blocks 12 are installed in down respectively in the arc-shaped guide rail 14 in the palm dactylus 13, and the projection and the U-shaped carriage 10 at following palm dactylus 13 two ends are rotatably assorted; Second direct current generator 2 rotates and makes down palm dactylus 13 around second 9 bending motion, thereby has realized the bending motion of time palm dactylus 13.
Claims (1)
1. an anthropomorphic Dextrous Hand circular arc type base joint is characterized in that: comprise first direct current generator (1), second direct current generator (2), first conical gear (3), second conical gear (4), the 3rd conical gear (5), the 4th conical gear (6), the 5th conical gear (7), first (8), second (9), U-shaped carriage (10), oval frame (11), slide block (12) and slap dactylus (13) down; First direct current generator (1) is fixedly connected with first conical gear (3); First conical gear (3) and second conical gear (4) engagement; Second conical gear (4) is affixed with U-shaped carriage (10) outer bottom; Second conical gear (4) hole and first (8) are matched in clearance, and first direct current generator (1) rotates and makes U-shaped carriage (10) carry out the side-sway motion around first (8); Second direct current generator (2) is fixedly connected with the 3rd conical gear (5); Oval frame (11) is installed in the U-shaped carriage (10); Be equipped with in the oval frame (11) second (9); Second (9) and first (8) axis are vertical each other and be positioned on the same horizontal plane; The 3rd conical gear (5) and the 4th conical gear (6) engagement that is installed in the framework (11), the 4th conical gear (6) and the 5th conical gear (7) engagement that is installed on second (9), stretch out outside the oval frame (11) at second (9) two ends; The 5th conical gear (7) drives the slide block (12) that is installed in second (9) two ends and rotates; Two slide blocks (12) are installed in down respectively in the arc-shaped guide rail (14) in the palm dactylus (13), and the projection and the U-shaped carriage (10) at following palm dactylus (13) two ends are rotatably assorted, and second direct current generator (2) rotates and makes down palm dactylus (13) carry out bending motion around second (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210333771.3A CN102806564B (en) | 2012-09-11 | 2012-09-11 | Arc-shaped basal articulation for humanized flexible hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210333771.3A CN102806564B (en) | 2012-09-11 | 2012-09-11 | Arc-shaped basal articulation for humanized flexible hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102806564A true CN102806564A (en) | 2012-12-05 |
| CN102806564B CN102806564B (en) | 2014-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210333771.3A Expired - Fee Related CN102806564B (en) | 2012-09-11 | 2012-09-11 | Arc-shaped basal articulation for humanized flexible hand |
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| Country | Link |
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| CN (1) | CN102806564B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000508A (en) * | 2018-01-25 | 2018-05-08 | 西南石油大学 | A kind of movement adjusting device |
| CN113548461A (en) * | 2021-08-18 | 2021-10-26 | 滁州市朝友精密制造有限公司 | Sheet metal component pneumatic manipulator automatic feeding device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4655201A (en) * | 1984-07-13 | 1987-04-07 | Northwestern University | Knee orthosis and joint construction therefor |
| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
| US6488711B1 (en) * | 1997-12-19 | 2002-12-03 | Josef Grafinger | Knee-joint prosthesis |
| CN1418765A (en) * | 2002-12-13 | 2003-05-21 | 北京航空航天大学 | Clever hands mechanism of robot |
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| CN102085662A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | Prosthetic electric smart manipulator |
| CN202910872U (en) * | 2012-09-11 | 2013-05-01 | 浙江大学 | Circular arc-shaped base joint |
-
2012
- 2012-09-11 CN CN201210333771.3A patent/CN102806564B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4655201A (en) * | 1984-07-13 | 1987-04-07 | Northwestern University | Knee orthosis and joint construction therefor |
| US6488711B1 (en) * | 1997-12-19 | 2002-12-03 | Josef Grafinger | Knee-joint prosthesis |
| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
| CN1418765A (en) * | 2002-12-13 | 2003-05-21 | 北京航空航天大学 | Clever hands mechanism of robot |
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| CN102085662A (en) * | 2010-12-18 | 2011-06-08 | 浙江理工大学 | Prosthetic electric smart manipulator |
| CN202910872U (en) * | 2012-09-11 | 2013-05-01 | 浙江大学 | Circular arc-shaped base joint |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000508A (en) * | 2018-01-25 | 2018-05-08 | 西南石油大学 | A kind of movement adjusting device |
| CN108000508B (en) * | 2018-01-25 | 2024-01-26 | 西南石油大学 | Motion adjusting device |
| CN113548461A (en) * | 2021-08-18 | 2021-10-26 | 滁州市朝友精密制造有限公司 | Sheet metal component pneumatic manipulator automatic feeding device |
| CN113548461B (en) * | 2021-08-18 | 2022-09-20 | 滁州市朝友精密制造有限公司 | Automatic feeding device of pneumatic manipulator for sheet metal parts |
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| Publication number | Publication date |
|---|---|
| CN102806564B (en) | 2014-10-15 |
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