CN100513097C - Robot clever hand modular finger - Google Patents
Robot clever hand modular finger Download PDFInfo
- Publication number
- CN100513097C CN100513097C CNB2007100725881A CN200710072588A CN100513097C CN 100513097 C CN100513097 C CN 100513097C CN B2007100725881 A CNB2007100725881 A CN B2007100725881A CN 200710072588 A CN200710072588 A CN 200710072588A CN 100513097 C CN100513097 C CN 100513097C
- Authority
- CN
- China
- Prior art keywords
- housing
- knuckle
- steel wire
- joint
- dactylus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention, which relates to the technical field of fingers of the dexterous robot hand, discloses a modular finger of the dexterous robot hand. The invention aims at solving the problems of low reliability, complication in structure and inconvenience in maintenance of the multi-fingered dexterous robot hand in the current robot field. The inside of a housing of a base joint (1) is provided with a double-drive driving mechanism (1-2) and a differential movement mechanism of the base joint (1-4). The differential movement mechanism of the base joint (1-4) is actively connected with a first knuckle housing (2) through a U-shaped connecting joint(1-5). A driving mechanism (2-1) in the first knuckle housing (2) is connected by transmission with a coupling steel wire transmission mechanism (3-1) inside a middle knuckle housing(3), and the middle knuckle housing(3) is connected with an end knuckle housing (4) through the coupling steel wire transmission mechanism (3-1). The finger of the invention, with four knuckles and three degrees of freedom, is provided with an independent controller. All motors and the functions like speed reduction, transmission, sensing and controlling (electricity) are integrated in the finger. The integrated and modularized finger increases the reliability and maintainability of the dexterous hand system.
Description
Technical field
The present invention relates to a kind of robot clever hand finger technical field.
Background technology
The robot delicate technology is as an important branch of Robotics, development through decades has obtained good achievement, some representational Dextrous Hand that also have been born in succession are such as Stanford/JPL (Dextrous Hand of Stamford development), Utan/M.I.T (Dextrous Hand of Massachusetts science and engineering development), DLR (Dextrous Hand of German Aerospace Center's development), NASA (Dextrous Hand of NASA's development) or the like.The progressive part of above-mentioned these Dextrous Hand is mainly reflected in aspects such as frame for movement, driving, sensing, integrated level and control.But owing to be subjected to the restriction of motor technology, electronic products manufacturing technology etc., Dextrous Hand does not in the past also reach gratifying degree aspect integrated level, such as Stanford/JPL hand, Utan/M.I.T hand and commercial Shadow hand etc., driver etc. is placed the outside (in forearm) of Dextrous Hand, it is far away and the path is irregular to transmit the space length of power this moment, realizes transmission by tendon (rope).
The advantage of tendon transmission system is: driver is separated with the finger body, help the size and the weight that reduce to point; The tendon transmission has best overall target at aspects such as the flexibility of the compactedness of structure, development, costs; The tendon transmission is a kind of submissive kind of drive of zero return difference, thereby design that can the reduced force controller.But the tendon transmission arranges in the implementation space freely that simultaneously its inevitable defective is arranged: because the rigidity of tendon is limited, so drive system shows certain hysteresis, thus the impact position precision, even cause the instability of high gain system; Must carry out pretension to tendon, this has increased the complexity of structure and the difficulty of assembling; Simultaneously, the pretension degree has very big influence to the performance of drive system, bigger pretightning force can produce bigger frictional force, and less pretightning force can cause the lax of tendon, if the tension force of tendon and fluctuation are very big, vibration that may activating system, thus cause the unstable of tendon or cause the damage of tendon.Simultaneously, because the path complexity that tendon connects, the existence of hidden danger such as end wear has influenced reliability, the maintainability of system, when certain root disinsertion, must carry out the dismounting of Dextrous Hand integral body, and workload is big.
Summary of the invention
The objective of the invention is to have poor reliability, structural complexity and maintainable poor problem, and a kind of robot clever hand modular finger is provided for solving present robot field's multi-finger clever hand.
The present invention is by basic joint housing 1, base joint main circuit board 1-1, two driving mechanism 1-2 that drive, base joint connecting circuit plate 1-3, base joint differential attachment 1-4, U-shaped connector 1-5, base joint two dimension torque sensor 1-6, base joint absolute position sensing device 1-7, first knuckle housing 2, driving mechanism 2-1, first refers to circuit board 2-2, middle dactylus housing 3, coupling steel wire transmission mechanism 3-1, terminal dactylus housing 4, finger-joint one dimension position sensor 4-1, one dimension torque sensor 4-5 forms;
Base joint main circuit board 1-1 is arranged on the lower end of basic joint housing 1, and basic joint connecting circuit plate 1-3 is arranged on the upside of basic joint housing 1, and first refers to that circuit board 2-2 is arranged on the back side of first knuckle housing 2 inboards, first knuckle; Two driving mechanism 1-2 that drive are arranged in the middle and lower part of basic joint housing 1, and basic joint differential attachment 1-4 is arranged in the top of basic joint housing 1; Described pair is driven driving mechanism 1-2 and comprises two motor 1-2-1, two harmonic speed reducer 1-2-2 and two regulating wheel 1-2-3; Described basic joint differential attachment 1-4 is made up of two drive bevel gear 1-4-1, two driven wheel of differential 1-4-2 and two belt pulley 1-4-3; The output belt pulley of two motor 1-2-1 is in transmission connection with the input belt pulley of two harmonic speed reducer 1-2-2 respectively by belt; The output belt pulley of two harmonic speed reducer 1-2-2 is in transmission connection by two belt pulley 1-4-3 on belt and two regulating wheel 1-2-3, the basic joint differential attachment 1-4 respectively; Two drive bevel gear 1-4-1 and two driven wheel of differential 1-4-2 are apart from one another by being connected with a joggle, the axial line of two drive bevel gear 1-4-1 overlaps, the axial line of two driven wheel of differential 1-4-2 overlaps, the axial line of the axial line of two drive bevel gear 1-4-1 and two driven wheel of differential 1-4-2 is in the same plane, and two belt pulley 1-4-3 are socketed in respectively on the rotating shaft 1-8 of two drive bevel gear 1-4-1; The rotating shaft of a axis hole on the one end 1-5-1 of the U-shaped of U-shaped connector 1-5 and the driven wheel of differential 1-4-2 of basic joint differential attachment 1-4 is rotationally connected, and the rotating shaft of another driven wheel of differential 1-4-2 of the Kong Yuji joint differential attachment 1-4 on the other end 1-5-2 of the U-shaped of U-shaped connector 1-5 is fixedly connected; The edge end face of U-shaped connector 1-5 upper end cross structure is connected on the lower end of first knuckle housing 2, and basic joint two dimension torque sensor 1-6 is arranged on the end face of U-shaped connector 1-5 upper end cross structure; The upper end axis hole of first knuckle housing 2 is rotationally connected by the first 5 lower end axis hole with middle dactylus housing 3; Described driving mechanism 2-1 is made up of first knuckle motor 2-1-1 and first knuckle harmonic speed reducer 2-1-2; Described coupling steel wire transmission mechanism 3-1 is made up of the first runner 3-1-1, the second runner 3-1-2, the first steel wire 3-1-3 and the second steel wire 3-1-4; The first knuckle motor 2-1-1 of driving mechanism 2-1 is arranged on the inside of first knuckle housing 2, the input hollow shaft sleeve of the first knuckle harmonic speed reducer 2-1-2 of driving mechanism 2-1 is connected on first 5, and the output belt pulley of first knuckle motor 2-1-1 is in transmission connection by the belt pulley 2-1-3 on belt and first 5; The first runner 3-1-1 turning set of coupling steel wire transmission mechanism 3-1 is connected on first 5, fixedly connected with the upside inner face of first knuckle housing 2 in the side end face of the first runner 3-1-1, support 3-1-5 on middle dactylus housing 3 madial walls rotates end with the output of the first knuckle harmonic speed reducer 2-1-2 of driving mechanism 2-1 fixedlys connected, the rotating shaft 6 of the second runner 3-1-2 of coupling steel wire transmission mechanism 3-1 is rotationally connected with the axis hole of middle dactylus housing 3 upper ends, the two ends of the first steel wire 3-1-3, the two ends of the second steel wire 3-1-4 are separately fixed on the first runner 3-1-1 periphery and the second runner 3-1-2 periphery, and the first runner 3-1-1 is by the first steel wire 3-1-3, the second steel wire 3-1-4 and the second runner 3-1-2 intersect transmission; Terminal dactylus housing 4 is fixedlyed connected with the side end face of the second runner 3-1-2 of coupling steel wire transmission mechanism 3-1 by the support 4-2 on the inwall; The end face of rotating shaft 6 axial lines that support 4-2 is parallel to the second runner 3-1-2 of coupling steel wire transmission mechanism 3-1 is provided with one dimension torque sensor 4-5, is provided with finger-joint one dimension position sensor 4-1 between the end face of middle dactylus housing 3 upper end medial surfaces and the rotating shaft 6 of the second runner 3-1-2 of the steel wire transmission mechanism 3-1 that is coupled.
The present invention has following beneficial effect: finger of the present invention has four joints, three degree of freedom, wherein base joint mechanism has two frees degree, realize that by the differential attachment of two motor-driven high speed odontoid belts, harmonic speed reducer, low speed odontoid belt and four bevel gear compositions the warpage of finger and side-sway move, the synthetic realization of the motion of the drive bevel gear that moves through differential attachment of two frees degree of finger-base joint.For the ease of the selection of belt, motor, deceleration, the drive mechanism of two cover drive systems are identical, and two motors are placed side by side the bottom of framework, and two harmonic speed reducers are placed side by side the top of two motors.The output torque of finger-base joint is synthetic by two cover drive systems, thereby under identical joint output torque, help adopting littler drive system, reduce volume to greatest extent, reduce weight, make structure compact more, processing, assembling are more prone to, and whole finger has independently controller.All motors, deceleration, transmission, sensing and control (electric) etc. all are integrated in the finger.Integrated, modular finger has strengthened reliability, the maintainability of dexterous hand system.
Description of drawings
Fig. 1 is the perspective view of integral body of the present invention, Fig. 2 is two driving mechanism 1-2 that drive of basic joint housing 1 inside among Fig. 1, the right back perspective view of looking of base joint differential attachment 1-4 and basic joint and first knuckle U-shaped connector 1-5, Fig. 3 is the structural representation of absolute position, basic joint sensing device 1-7 among Fig. 2, Fig. 4 is the left view of Fig. 3, the 5th, the three-dimensional structure diagram of basic joint and first knuckle U-shaped connector 1-5 among Fig. 2, Fig. 6 is a first knuckle housing 2 among Fig. 1, the right back perspective view of looking of the driving mechanism 2-1 of middle dactylus housing 3 inside and coupling steel wire transmission mechanism 3-1, Fig. 7 is the rear perspective structural representation of Fig. 6, Fig. 8 is the rearview of finger-joint one dimension position sensor 4-1 among Fig. 6, and Fig. 9 is Fig. 8 medium-height trestle 4-2 left side perspective view.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1～Fig. 9 present embodiment is described, present embodiment is by basic joint housing 1, base joint main circuit board 1-1, two driving mechanism 1-2 that drive, base joint connecting circuit plate 1-3, base joint differential attachment 1-4, U-shaped connector 1-5, base joint two dimension torque sensor 1-6, base joint absolute position sensing device 1-7, first knuckle housing 2, driving mechanism 2-1, first refers to circuit board 2-2, middle dactylus housing 3, coupling steel wire transmission mechanism 3-1, terminal dactylus housing 4, finger-joint one dimension position sensor 4-1, one dimension torque sensor 4-5 forms;
Base joint main circuit board 1-1 is arranged on the lower end of basic joint housing 1, and basic joint connecting circuit plate 1-3 is arranged on the upside of basic joint housing 1, and first refers to that circuit board 2-2 is arranged on the back side of first knuckle housing 2 inboards, first knuckle; Two driving mechanism 1-2 that drive are arranged in the middle and lower part of basic joint housing 1, and basic joint differential attachment 1-4 is arranged in the top of basic joint housing 1; Described pair is driven driving mechanism 1-2 and comprises two motor 1-2-1, two harmonic speed reducer 1-2-2 and two regulating wheel 1-2-3; Described basic joint differential attachment 1-4 is made up of two drive bevel gear 1-4-1, two driven wheel of differential 1-4-2 and two belt pulley 1-4-3; The output belt pulley of two motor 1-2-1 is in transmission connection with the input belt pulley of two harmonic speed reducer 1-2-2 respectively by belt; The output belt pulley of two harmonic speed reducer 1-2-2 is in transmission connection by two belt pulley 1-4-3 on belt and two regulating wheel 1-2-3, the basic joint differential attachment 1-4 respectively; Two drive bevel gear 1-4-1 and two driven wheel of differential 1-4-2 are apart from one another by being connected with a joggle, the axial line of two drive bevel gear 1-4-1 overlaps, the axial line of two driven wheel of differential 1-4-2 overlaps, the axial line of the axial line of two drive bevel gear 1-4-1 and two driven wheel of differential 1-4-2 is in the same plane, and two belt pulley 1-4-3 are socketed in respectively on the rotating shaft 1-8 of two drive bevel gear 1-4-1; The rotating shaft of a axis hole on the one end 1-5-1 of the U-shaped of U-shaped connector 1-5 and the driven wheel of differential 1-4-2 of basic joint differential attachment 1-4 is rotationally connected, and the rotating shaft of another driven wheel of differential 1-4-2 of the Kong Yuji joint differential attachment 1-4 on the other end 1-5-2 of the U-shaped of U-shaped connector 1-5 is fixedly connected; The edge end face of U-shaped connector 1-5 upper end cross structure is connected on the lower end of first knuckle housing 2, and basic joint two dimension torque sensor 1-6 is arranged on the end face of U-shaped connector 1-5 upper end cross structure; When two drive bevel gear 1-4-1 rotation directions are identical, realize that first knuckle housing 2 is that warping movement is done in the axle center with the rotating shaft 1-8 of two drive bevel gear 1-4-1, range of movement is-20 °～+ 90 °; When two drive bevel gear 1-4-1 direction of rotation, realize the side-sway motion of first knuckle housing 2, range of movement is-20 °～+ 20 °.
The upper end axis hole of first knuckle housing 2 is rotationally connected by the first 5 lower end axis hole with middle dactylus housing 3; Described driving mechanism 2-1 is made up of first knuckle motor 2-1-1 and first knuckle harmonic speed reducer 2-1-2; Described coupling steel wire transmission mechanism 3-1 is made up of the first runner 3-1-1, the second runner 3-1-2, the first steel wire 3-1-3 and the second steel wire 3-1-4; The first knuckle motor 2-1-1 of driving mechanism 2-1 is arranged on the inside of first knuckle housing 2, the input hollow shaft sleeve of the first knuckle harmonic speed reducer 2-1-2 of driving mechanism 2-1 is connected on first 5, and the output belt pulley of first knuckle motor 2-1-1 is in transmission connection by the belt pulley 2-1-3 on belt and first 5; The first runner 3-1-1 turning set of coupling steel wire transmission mechanism 3-1 is connected on first 5, fixedly connected with the upside inner face of first knuckle housing 2 in the side end face of the first runner 3-1-1, support 3-1-5 on middle dactylus housing 3 madial walls rotates end with the output of the first knuckle harmonic speed reducer 2-1-2 of driving mechanism 2-1 fixedlys connected, the rotating shaft 6 of the second runner 3-1-2 of coupling steel wire transmission mechanism 3-1 is rotationally connected with the axis hole of middle dactylus housing 3 upper ends, the two ends of the first steel wire 3-1-3, the two ends of the second steel wire 3-1-4 are separately fixed on the first runner 3-1-1 periphery and the second runner 3-1-2 periphery, and the first runner 3-1-1 is by the first steel wire 3-1-3, the second steel wire 3-1-4 and the second runner 3-1-2 intersect transmission; Terminal dactylus housing 4 is fixedlyed connected with the side end face of the second runner 3-1-2 of coupling steel wire transmission mechanism 3-1 by the support 4-2 on the inwall; The end face of rotating shaft 6 axial lines that support 4-2 is parallel to the second runner 3-1-2 of coupling steel wire transmission mechanism 3-1 is provided with one dimension torque sensor 4-5, is provided with finger-joint one dimension position sensor 4-1 between the end face of middle dactylus housing 3 upper end medial surfaces and the rotating shaft 6 of the second runner 3-1-2 of the steel wire transmission mechanism 3-1 that is coupled.
Described finger-joint one dimension position sensor 4-1 is made up of terminal dactylus circuit board 4-6, terminal dactylus Hall sensitive chip 4-4, terminal dactylus magnet steel 4-3; Terminal dactylus circuit board 4-6 is arranged on the middle dactylus housing 3, terminal dactylus circuit board 4-6 one end is provided with terminal dactylus Hall sensitive chip 4-4, an end face of the rotating shaft 6 of the second runner 3-1-2 of coupling steel wire transmission mechanism 3-1 is inlaid with terminal dactylus magnet steel 4-3, gapped L1 between terminal dactylus Hall sensitive chip 4-4 and the terminal dactylus magnet steel 4-3, L1 is 0.4mm.
Described basic joint absolute position sensing device 1-7 is made up of circuit board 1-7-1, two Hall sensitive chip 1-7-2, two magnet steel 1-7-3; The two sides of circuit board 1-7-1 fixedly are equipped with Hall sensitive chip 1-7-2 respectively, be respectively arranged with magnet steel 1-7-3 on two axle heads that drive two regulating wheel 1-2-3 among the driving mechanism 1-2, two Hall sensitive chip 1-7-2 gapped L2 respectively and between two magnet steel 1-7-3, L2 is 0.4mm.
Described basic joint main circuit board 1-1 is provided with a plurality of spring stylus 1-1-1, and spring stylus 1-1-1 is made up of blind pipe 1-1-2, helical spring 1-1-3 and contact 1-1-4; Blind pipe 1-1-2 slip cap is connected on the tail end of contact 1-1-4, and helical spring 1-1-3 is arranged between the tail end of the interior end of blind pipe 1-1-2 and contact 1-1-4; The outer bottom of the blind pipe 1-1-2 of each spring stylus 1-1-1 all is connected with welding hole on the basic joint main circuit board 1-1.It is simple, convenient that this kind electric connecting mode has connection, advantages such as anti-installing/dismounting repeatedly.
Basic joint two dimension torque sensor 1-6 with rood beam structure places basic joint connector U-shaped connector 1-5 and the link position of pointing first knuckle housing 2, as unique passage of carry-over moment.One dimension torque sensor 4-5 places terminal cradle head and terminal dactylus finger tip, as unique passage of carry-over moment.
The model that the model of motor 1-2-1, first knuckle motor 2-1-1 all selects for use maxon (Switzerland) company to make is that EC20 (disc type), power are that 3W, supply voltage are 9V, to export torque continuously be 4mNm; The model that harmonic speed reducer 1-2-2, first knuckle harmonic speed reducer 2-1-2 model all select for use Harmonic Drive (Japan) company to make is HDUC-5-80-2A-BLR, and speed reducing ratio is 100:1, and the maximum torque of output continuously is 0.5Nm.
Housing in the present embodiment, the material of support can be selected aluminum alloy materials for use, and the material of turning cylinder can be selected stainless steel material for use.
Claims (8)
1, robot clever hand modular finger, it is by basic joint housing (1), base joint main circuit board (1-1), two driving mechanisms (1-2) that drive, base joint connecting circuit plate (1-3), base joint differential attachment (1-4), U-shaped connector (1-5), base joint two dimension torque sensor (1-6), base joint absolute position sensing device (1-7), first knuckle housing (2), driving mechanism (2-1), first refers to circuit board (2-2), middle dactylus housing (3), coupling steel wire transmission mechanism (3-1), terminal dactylus housing (4), finger-joint one dimension position sensor (4-1) and one dimension torque sensor (4-5) are formed;
It is characterized in that basic joint main circuit board (1-1) is arranged on the lower end of basic joint housing (1), base joint connecting circuit plate (1-3) is arranged on the upside of basic joint housing (1), and first refers to that circuit board (2-2) is arranged on the back side of first knuckle housing (2) inboard, first knuckle;
Two driving mechanisms (1-2) that drive are arranged in the middle and lower part of basic joint housing (1), and basic joint differential attachment (1-4) is arranged in the top of basic joint housing (1); Described pair is driven driving mechanism (1-2) and comprises two motor (1-2-1), two harmonic speed reducers (1-2-2) and two regulating wheels (1-2-3); Described basic joint differential attachment (1-4) is made up of two drive bevel gear (1-4-1), two driven wheels of differential (1-4-2) and two belt pulleys (1-4-3); The output belt pulley of two motor (1-2-1) is in transmission connection with the input belt pulley of two harmonic speed reducers (1-2-2) respectively by belt; The output belt pulley of two harmonic speed reducers (1-2-2) is in transmission connection by two belt pulleys (1-4-3) on belt and two regulating wheels (1-2-3), the basic joint differential attachment (1-4) respectively; Two drive bevel gear (1-4-1) and two driven wheels of differential (1-4-2) are apart from one another by being connected with a joggle, the axial line of two drive bevel gear (1-4-1) overlaps, the axial line of two driven wheels of differential (1-4-2) overlaps, the axial line of the axial line of two drive bevel gear (1-4-1) and two driven wheels of differential (1-4-2) is in the same plane, and two belt pulleys (1-4-3) are socketed in respectively in the rotating shaft (1-8) of two drive bevel gear (1-4-1); The rotating shaft of the axis hole on one end (1-5-1) of the U-shaped of U-shaped connector (1-5) and a driven wheel of differential (1-4-2) of basic joint differential attachment (1-4) is rotationally connected, and the rotating shaft of another driven wheel of differential (1-4-2) of the Kong Yuji joint differential attachment (1-4) on the other end (1-5-2) of the U-shaped of U-shaped connector (1-5) is fixedly connected; The edge end face of U-shaped connector (1-5) upper end cross structure is connected on the lower end of first knuckle housing (2), and basic joint two dimension torque sensor (1-6) is arranged on the end face of U-shaped connector (1-5) upper end cross structure; The upper end axis hole of first knuckle housing (2) is rotationally connected by first (5) lower end axis hole with middle dactylus housing (3); Described driving mechanism (2-1) is made up of first knuckle motor (2-1-1) and first knuckle harmonic speed reducer (2-1-2); Described coupling steel wire transmission mechanism (3-1) is made up of first runner (3-1-1), second runner (3-1-2), first steel wire (3-1-3) and second steel wire (3-1-4); The first knuckle motor (2-1-1) of driving mechanism (2-1) is arranged on the inside of first knuckle housing (2), the input hollow shaft sleeve of the first knuckle harmonic speed reducer (2-1-2) of driving mechanism (2-1) is connected on first (5), and the output belt pulley of first knuckle motor (2-1-1) is in transmission connection by the belt pulley (2-1-3) on belt and first (5); First runner (3-1-1) turning set of coupling steel wire transmission mechanism (3-1) is connected on first (5), fixedly connected with the upside inner face of first knuckle housing (2) in a side end face of first runner (3-1-1), support (3-1-5) on middle dactylus housing (3) madial wall rotates end with the output of the first knuckle harmonic speed reducer (2-1-2) of driving mechanism (2-1) fixedlys connected, the rotating shaft (6) of second runner (3-1-2) of coupling steel wire transmission mechanism (3-1) is rotationally connected with the axis hole of middle dactylus housing (3) upper end, the two ends of first steel wire (3-1-3), the two ends of second steel wire (3-1-4) are separately fixed on first runner (3-1-1) periphery and second runner (3-1-2) periphery, and first runner (3-1-1) is by first steel wire (3-1-3), second steel wire (3-1-4) and second runner (3-1-2) intersect transmission; Terminal dactylus housing (4) is fixedlyed connected with the side end face of second runner (3-1-2) of coupling steel wire transmission mechanism (3-1) by the support on the inwall (4-2); The end face of rotating shaft (6) axial line that support (4-2) is parallel to second runner (3-1-2) of coupling steel wire transmission mechanism (3-1) is provided with one dimension torque sensor (4-5), is provided with finger-joint one dimension position sensor (4-1) between the end face of middle dactylus housing (3) upper end medial surface and the rotating shaft (6) of second runner (3-1-2) of the steel wire transmission mechanism (3-1) that is coupled.
2, robot clever hand modular finger according to claim 1 is characterized in that described finger-joint one dimension position sensor (4-1) is made up of terminal dactylus circuit board (4-6), terminal dactylus Hall sensitive chip (4-4) and terminal dactylus magnet steel (4-3); Terminal dactylus circuit board (4-6) is arranged on the middle dactylus housing (3), terminal dactylus circuit board (4-6) end is provided with terminal dactylus Hall sensitive chip (4-4), an end face of the rotating shaft (6) of second runner (3-1-2) of coupling steel wire transmission mechanism (3-1) is inlaid with terminal dactylus magnet steel (4-3), between terminal dactylus Hall sensitive chip (4-4) and the terminal dactylus magnet steel (4-3) gapped (L1).
3, robot clever hand modular finger according to claim 1 is characterized in that described basic joint absolute position sensing device (1-7) is made up of circuit board (1-7-1), two Hall sensitive chips (1-7-2) and two magnet steel (1-7-3); The two sides of circuit board (1-7-1) fixedly are equipped with Hall sensitive chip (1-7-2) respectively, be respectively arranged with magnet steel (1-7-3) on two axle heads that drive two regulating wheels (1-2-3) in the driving mechanism (1-2), two Hall sensitive chips (1-7-2) are respectively and between two magnet steel (1-7-3) gapped (L2).
4, robot clever hand modular finger according to claim 1, the described basic joint two dimension torque sensor (1-6) that it is characterized in that having the rood beam structure places the link position of basic joint connector U-shaped connector (1-5) and first knuckle housing (2), as unique passage of carry-over moment.
5, robot clever hand modular finger according to claim 1 is characterized in that described one dimension torque sensor (4-5) places terminal cradle head and terminal dactylus finger tip, as unique passage of carry-over moment.
6, robot clever hand modular finger according to claim 1, it is characterized in that described basic joint main circuit board (1-1) is provided with a plurality of spring stylus (1-1-1), spring stylus (1-1-1) is made up of blind pipe (1-1-2), helical spring (1-1-3) and contact (1-1-4); Blind pipe (1-1-2) slip cap is connected on the tail end of contact (1-1-4), and helical spring (1-1-3) is arranged between the tail end of the interior end of blind pipe (1-1-2) and contact (1-1-4); The outer bottom of the blind pipe (1-1-2) of each spring stylus (1-1-1) all is connected with welding hole on the basic joint main circuit board (1-1).
7, robot clever hand modular finger according to claim 2 is characterized in that the gap (L1) between terminal dactylus Hall sensitive chip (4-4) and the terminal dactylus magnet steel (4-3) is 0.4mm.
8, robot clever hand modular finger according to claim 3, it is characterized in that two Hall sensitive chips (1-7-2) respectively and the gap (L2) between two magnet steel (1-7-3) for 0.4mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100725881A CN100513097C (en) | 2007-07-31 | 2007-07-31 | Robot clever hand modular finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100725881A CN100513097C (en) | 2007-07-31 | 2007-07-31 | Robot clever hand modular finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101104267A CN101104267A (en) | 2008-01-16 |
| CN100513097C true CN100513097C (en) | 2009-07-15 |
Family
ID=38998453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100725881A Expired - Fee Related CN100513097C (en) | 2007-07-31 | 2007-07-31 | Robot clever hand modular finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100513097C (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214648B (en) * | 2008-01-18 | 2010-06-02 | 南京航空航天大学 | Five-finger intelligent hand driven by ultrasound electric motor |
| CN102114631B (en) * | 2010-01-06 | 2013-10-30 | 深圳华强智能技术有限公司 | Simulated hand |
| CN102085666B (en) * | 2010-12-29 | 2013-05-01 | 长春工业大学 | Humanoid manipulator |
| CN104339361B (en) * | 2013-07-29 | 2016-06-01 | 上海德致伦电子科技有限公司 | Machinery finger and mechanical manipulator |
| CN104999470A (en) * | 2015-03-13 | 2015-10-28 | 山东科技大学 | All-driving three-finger ingenious mechanical arm |
| CN104825125B (en) * | 2015-05-08 | 2016-08-31 | 浙江优亿医疗器械有限公司 | Hose laryngoscope coupling head |
| CN105415391A (en) * | 2015-12-22 | 2016-03-23 | 哈尔滨工业大学 | Dexterous robot hand thumb rotating mechanism based on crown gear |
| CN106903712B (en) * | 2015-12-22 | 2021-05-18 | 上海航天设备制造总厂 | Two-degree-of-freedom collinear mechanical arm joint based on differential rope transmission |
| CN106113024B (en) * | 2016-06-30 | 2018-12-14 | 北京空间飞行器总体设计部 | A kind of three freedom degree manipulator of tendon-connecting rod mixed drive refers to and control method |
| CN106564063B (en) * | 2016-10-12 | 2019-09-20 | 清华大学 | The flat folder indirect self-adaptive robot finger apparatus of rack gear parallel connection is set in motor |
| CN106491250B (en) * | 2016-11-08 | 2018-09-07 | 哈尔滨工业大学 | The imitative coupling thumb of electric motor built-in height done evil through another person for disabled person |
| DE102017001220A1 (en) * | 2017-02-09 | 2018-08-09 | Günther Zimmer | Gripping device with integrated magnetic field sensor |
| CN107336259A (en) * | 2017-08-09 | 2017-11-10 | 江苏木盟智能科技有限公司 | A kind of joint of robot and robot |
| CN109807920A (en) * | 2019-03-01 | 2019-05-28 | 上海傲鲨智能科技有限公司 | A kind of gripper structure based on steel wire driving |
| CN110202607B (en) * | 2019-04-29 | 2022-06-24 | 天津大学 | Pneumatic-line dual-drive supporting type soft hand |
| CN110271021A (en) * | 2019-05-29 | 2019-09-24 | 浙江大学 | The bionic mechanical hand of non-jitter |
| CN110696026B (en) * | 2019-11-01 | 2022-04-19 | 湖南大学 | Differential drive formula manipulator based on flexible coupling |
| CN114102658B (en) * | 2021-12-27 | 2024-06-14 | 佗道医疗科技有限公司 | Robot transmission joint |
| CN114888833A (en) * | 2022-05-17 | 2022-08-12 | 哈尔滨工业大学 | Humanoid manipulator |
-
2007
- 2007-07-31 CN CNB2007100725881A patent/CN100513097C/en not_active Expired - Fee Related
Non-Patent Citations (6)
| Title |
|---|
| 基于机电一体化的机器人灵巧手手指的研制. 刘伊威，刘宏，姜力，金明河，魏然.哈尔滨工业大学学报，第37卷第8期. 2005 |
| 基于机电一体化的机器人灵巧手手指的研制. 刘伊威，刘宏，姜力，金明河，魏然.哈尔滨工业大学学报，第37卷第8期. 2005 * |
| 智能机器人灵巧手的研究. 刘宏，G.Hirzinger.西安交通大学学报，第37卷第4期. 2003 |
| 智能机器人灵巧手的研究. 刘宏，G.Hirzinger.西安交通大学学报，第37卷第4期. 2003 * |
| 机器人灵巧手手指耦合传动机构的研究. 刘伊威，姜力.机械传动，第28卷第6期. 2004 |
| 机器人灵巧手手指耦合传动机构的研究. 刘伊威，姜力.机械传动，第28卷第6期. 2004 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101104267A (en) | 2008-01-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100513097C (en) | Robot clever hand modular finger | |
| CN100496903C (en) | Finger-base joint mechanism for smart robot hand | |
| EP0044548B1 (en) | Articulated industrial robot | |
| US5355743A (en) | Robot and robot actuator module therefor | |
| CN110171015B (en) | Motion decoupling hydraulic drive three-degree-of-freedom spherical wrist | |
| CN201042980Y (en) | Castor floating structure for wheeled mobile welding robot | |
| TWI480139B (en) | Robot joint and robot arm using the same | |
| CN100522508C (en) | Finger joint for robot clever hand finger | |
| CN104607982A (en) | Dual rotation driving device | |
| CN104589333A (en) | Stacking mechanical arm with five degrees of freedom | |
| US10814478B2 (en) | Joint module and multi-joint modular robot arm | |
| CN208977805U (en) | A kind of five articulated robots | |
| US20190128390A1 (en) | Slip-modulated Prioperceptive Infinitely Variable Transmission and Robotic Power Distribution System | |
| JPH09290391A (en) | Robot | |
| CN106142066A (en) | A kind of modular end of lightweight directly drives planar multiple-articulation robot system | |
| CN106041921A (en) | Six-degree-of-freedom hybrid robot | |
| CN208246811U (en) | A kind of five articulated robots | |
| KR102066333B1 (en) | Industrial robot | |
| Ruiken et al. | uBot-7: A dynamically balancing mobile manipulator with series elastic actuators | |
| CN203726484U (en) | Six-degree-of-freedom robot | |
| JPH0475891A (en) | Wrist mechanism for industrial robot | |
| CN208246812U (en) | A kind of wu-zhi-shan pig | |
| CN109434820B (en) | Six-degree-of-freedom industrial robot | |
| TW486413B (en) | Articulated manipulator | |
| CN113305876B (en) | High-redundancy flexible robot joint, robot and joint structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090715 Termination date: 20100731 |