CN102806564B - Arc-shaped basal articulation for humanized flexible hand - Google Patents
Arc-shaped basal articulation for humanized flexible hand Download PDFInfo
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- CN102806564B CN102806564B CN201210333771.3A CN201210333771A CN102806564B CN 102806564 B CN102806564 B CN 102806564B CN 201210333771 A CN201210333771 A CN 201210333771A CN 102806564 B CN102806564 B CN 102806564B
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- conical gear
- axle
- direct current
- current generator
- articulation
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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 the anthropomorphic Dextrous Hand circular arc type base of the one of both motion independent separate joint.
Background technology
Along with the expansion in robot application field, operating environment and task complicated, and ordinary robot's most important position be end clamping device oneself can not meet the requirement of various dexterities and accurate operation task far away.Due to most end clamper for particular task, be specificly held part design, exist and lack flexibility and the limitation such as method of clamping is limited, plant a general end clamper and develop, replace various particular end clampers, complete the dexterous manipulation task under various environment, as being engaged in detection, sampling, assembling, reconditioning work in the danger such as spacecraft out of my cabin, nuclear power station, chemical plant, severe working environment, the work of battlefield detecting a mine and this class 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, wish 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 complete the robot of complicated grasping movement.It can capture the object of difformity, size, material, can also carry out to grasped object the multiple accurate operation of certain amplitude.With it replace special end effector of robot, can improve 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.In clever hands, the most important thing is the two-freedom problem of implementation in base joint at present, although proposed many solutions, all can not realize dexterity truly.
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 around space bending and side-sway motion, and the finger-base joint of the Dextrous Hand of both motion independent separate.It can make mechanical Dextrous Hand control be more prone to, and activity is more flexible, the mankind cannot 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 the first direct current generator, the second direct current generator, the first conical gear, the second conical gear, the 3rd conical gear, the 4th conical gear, the 5th conical gear, the first axle, the second axle, U-shaped bracket, oval frame, slide block and lower palm dactylus, the first direct current generator is fixedly connected with the first conical gear, the first conical gear engages with the second conical gear, the second conical gear and U-shaped bracket outer bottom are affixed, and the second conical gear hole and the first axle are matched in clearance, and the first direct current generator rotates and makes U-shaped bracket carry out side-sway motion around the first axle, the second direct current generator is fixedly connected with the 3rd conical gear, oval frame is arranged in U-shaped bracket, the second axle is installed in oval frame, the second axle and the first axle axis are mutually vertical and be positioned in same level, the 3rd conical gear engages with the 4th conical gear being arranged in framework, the 4th conical gear engages with the 5th conical gear being arranged on the second axle, stretch out outside oval frame at the second axle two ends, the 5th conical gear drives the slide block that is arranged on the second axle two ends to rotate, two slide blocks are arranged on respectively in the arc-shaped guide rail in lower palm dactylus, the projection at lower palm dactylus two ends coordinates with U-shaped carriage turns, the second direct current generator rotates and makes lower palm dactylus carry out bending motion around the second axle.
Compared with background technology, the beneficial effect that the present invention has is:
1. the present invention adopts built-in type direct current motor to drive, and realizes side-sway and the bending motion of base pitch by conical gear, and steadily, transmission accuracy is high in motion.
2. the present invention can carry out side-sway and bending motion around a bit, has realized the base joint of the separation of two frees degree, has improved mechanical hand dexterity and control, has increased crawl space and the stability of manipulator.
Therefore, the present invention can meet the performance in dexterous robot manipulator base joint.
Brief description of the drawings:
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation that the present invention removes lower palm dactylus.
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 structural representation of slapping dactylus under the present invention.
In figure: 1, the first direct current generator, 2, the second direct current generator, 3, the first conical gear, 4, the second conical gear, 5, the 3rd conical gear, 6, the 4th conical gear, 7, the 5th conical gear, 8, the first axle, 9, the second axle, 10, U-shaped bracket, 11, oval frame, 12, slide block, 13, lower palm dactylus, 14, arc-shaped guide rail.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1 and Figure 2, the present invention includes the first direct current generator 1, the second direct current generator 2, the first conical gear 3, the second conical gear 4, the 3rd conical gear 5, the 4th conical gear 6, the 5th conical gear 7, the first axle 8, the second axle 9, U-shaped bracket 10, oval frame 11, slide block 12 and lower palm dactylus 13, the first direct current generator 1 is fixedly connected with the first conical gear 3, the first conical gear 3 engages with the second conical gear 4, the second conical gear 4 is affixed with U-shaped bracket 10 outer bottoms, the second conical gear 4 holes and the first axle 8 are matched in clearance, and the first direct current generator 1 rotates and makes U-shaped bracket 10 carry out side-sway motion around the first axle 8, the second direct current generator 2 is fixedly connected with the 3rd conical gear 5, oval frame 11 is arranged in U-shaped bracket 10, the second axle 9 is installed in oval frame 11, the second axle 9 and the first axle 8 axis are mutually vertical and be positioned in same level, the 3rd conical gear 5 engages with the 4th conical gear 6 being arranged in framework 11, the 4th conical gear 6 engages with the 5th conical gear 7 being arranged on the second axle 9, stretch out outside oval frame 11 at the second axle 9 two ends, the 5th conical gear 7 drives the slide block 12 that is arranged on the second axle 9 two ends to rotate, two slide blocks 12 are arranged on respectively in the arc-shaped guide rail 14 in lower palm dactylus 13, projection and the U-shaped bracket 10 at lower palm dactylus 13 two ends are rotatably assorted, the second direct current generator 2 rotates and makes lower palm dactylus 13 carry out bending motion around the second axle 9.
As shown in Figure 3, the side-sway motion in base joint: the first direct current generator 1 is fixedly connected with the first conical gear 3, the first conical gear 3 engages with the second conical gear 4, the second conical gear 4 is affixed with U-shaped bracket 10 outer bottoms, the second conical gear 4 holes and the first axle 8 are matched in clearance, and the first direct current generator 1 rotates and makes U-shaped bracket 10 carry out side-sway motion around the first axle 8.When the first direct current generator 1 rotates, by the engagement of the first conical gear 3 and the second conical gear 4 conical gears, drive U-shaped bracket 10 to rotate around the first axle 8, and then drive the side-sway motion of lower palm dactylus 13.Instantly while slapping dactylus 13 side-sway motion, arc-shaped guide rail 14 and the slide block 12 of lower palm dactylus 13 inner sides can slide mutually, can not drive the second axle 9 to rotate, and make the side-sway motion in base joint completely independent.
As shown in Figure 4, the bending motion in base joint: the second direct current generator 2 is fixedly connected with the 3rd conical gear 5, oval frame 11 is arranged in U-shaped bracket 10, the second axle 9 is installed in framework 11, the second axle 9 and the first axle 8 axis are mutually vertical and be positioned in same level, the 3rd conical gear 5 engages with the 4th conical gear 6 being arranged in framework 11, the 4th conical gear 6 engages with the 5th conical gear 7 that is arranged on the second axle 9, and drive the slide block 12 that is arranged on the second axle 9 two ends to rotate, two slide blocks 12 are all positioned at outside oval frame 11, two slide blocks 12 are arranged on respectively in the arc-shaped guide rail 14 in lower palm dactylus 13, projection and the U-shaped bracket 10 at lower palm dactylus 13 two ends are rotatably assorted, the second direct current generator 2 rotates and makes lower palm dactylus 13 around the second axle 9 bending motions, thereby realize 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 the first direct current generator (1), the second direct current generator (2), the first conical gear (3), the second conical gear (4), the 3rd conical gear (5), the 4th conical gear (6), the 5th conical gear (7), the first axle (8), the second axle (9), U-shaped bracket (10), oval frame (11), slide block (12) and lower palm dactylus (13), the first direct current generator (1) is fixedly connected with the first conical gear (3), the first conical gear (3) engages with the second conical gear (4), the second conical gear (4) is affixed with U-shaped bracket (10) outer bottom, the second conical gear (4) hole and the first axle (8) are matched in clearance, and the first direct current generator (1) rotates and makes U-shaped bracket (10) carry out side-sway motion around the first axle (8), the second direct current generator (2) is fixedly connected with the 3rd conical gear (5), oval frame (11) is arranged in U-shaped bracket (10), the second axle (9) is installed in oval frame (11), the second axle (9) and the first axle (8) axis are mutually vertical and be positioned in same level, the 3rd conical gear (5) engages with the 4th conical gear (6) being arranged in oval frame (11), the 4th conical gear (6) engages with the 5th conical gear (7) being arranged on the second axle (9), stretch out outside oval frame (11) at the second axle (9) two ends, the 5th conical gear (7) drives the slide block (12) that is arranged on the second axle (9) two ends to rotate, two slide blocks (12) are arranged on respectively in the arc-shaped guide rail (14) in lower palm dactylus (13), projection and the U-shaped bracket (10) at lower palm dactylus (13) two ends are rotatably assorted, the second direct current generator (2) rotates and makes lower palm dactylus (13) carry out bending motion around the second axle (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 CN102806564A (en) | 2012-12-05 |
| CN102806564B true 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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000508B (en) * | 2018-01-25 | 2024-01-26 | 西南石油大学 | Motion adjusting 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 |
Citations (6)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
-
2012
- 2012-09-11 CN CN201210333771.3A patent/CN102806564B/en not_active Expired - Fee Related
Patent Citations (6)
| 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 |
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2001-277175A 2001.10.09 |
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| CN102806564A (en) | 2012-12-05 |
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Granted publication date: 20141015 Termination date: 20180911 |