CN101633172A - Finger device of duplex bevel gear coupling robot - Google Patents
Finger device of duplex bevel gear coupling robot Download PDFInfo
- Publication number
- CN101633172A CN101633172A CN200910089996A CN200910089996A CN101633172A CN 101633172 A CN101633172 A CN 101633172A CN 200910089996 A CN200910089996 A CN 200910089996A CN 200910089996 A CN200910089996 A CN 200910089996A CN 101633172 A CN101633172 A CN 101633172A
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- finger
- joint shaft
- duplex
- fixed
- 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.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a finger device of a duplex bevel gear coupling robot, belonging to the technical field of human simulation robots and comprising a pedestal, an electric motor, a middle finger section, a near joint shaft, a far joint shaft, an end finger section, a fixed bevel gear, a duplex bevel gear and a driven bevel gear. The device achieves the special effect that double-joint fingers grasp an object by a coupling mode through utilizing the coupling action formed by a duplex bevel gear transmission mechanism, the middle finger section fixedly jacketed on the near joint shaft, and the bevel gear fixed to the pedestal. The device has accurate transmission, stable grasping, no pretension, simple and reliable structure, low cost, convenient installation and maintenance and small size, and is similar to hands, thereby being suitable for serving as the fingers of the hands of the human simulation robots.
Description
Technical field
The invention belongs to anthropomorphic robot's technical field, particularly a kind of structural design of finger device of duplex bevel gear coupling robot.
Background technology
The people is in daily life and work, and all the time not at the both hands that use oneself, and both hands also deserve to be called one of the dexterousst human organ.With the mankind seemingly, hand structure also is anthropomorphic robot's a important component part.In order to increase personalizing of hand, hand will design more joint freedom degrees, yet, in order to alleviate the control difficulty of anthropomorphic robot's hand, and the volume, the weight that reduce hand, needing to reduce the driver number, the two has certain contradiction.The multi-joint finger mechanism that robot can adopt coupling to rotate reaches this target.
Existing a kind of robot finger's coupled transmission mechanism as Chinese invention patent CN101100064A, comprises annexes such as two joint steel wires wheel, two steel wire spares, two pre-tightening apparatus and steel wire clamp.Its operating principle is: when the transmission of power of external motor output is given the middle part section of pointing of finger (i.e. alleged " the middle dactylus " of this patent documentation), this middle part section of finger is rotated around nearly joint shaft (i.e. " middle joint "), figure of eight wire mechanism one end and pedestal (i.e. " first knuckle ") are fixing, and the other end and the end section of finger (" terminal dactylus ") are fixing.With the end section of finger of the middle part section of finger socket with the middle part section of finger when nearly joint shaft rotates, first joint steel wire wheel does not rotate, make the second joint wire wheel rotate with respect to the middle part section of finger, driving the end section of the finger joint shaft (" terminal joint ") of going the long way round synchronously rotates, be that joint shaft far away keeps rotating synchronously with nearly joint shaft, and then realized the coupled motions in two joints.
This device belongs to coupled transmission mechanism, and its weak point is: the steel wire transmission needs pretension, uses inconvenient.Steel wire is in use tired easily lax, transmission inaccuracy, poor reliability.If frequency of utilization is higher, often then need fastening or the replacing steel wire, cause extra burden.
Existing a kind of double bevel wheel under-driven robot finger, as Chinese invention patent CN101288954A, comprise pedestal, motor, decelerator, first bevel gear, drive bevel gear, nearly joint shaft, the middle part section of finger, double bevel wheel, driven wheel of differential, spring spare, joint shaft far away and the end section of finger.Motor drives the nearly joint shaft that is connected with the fixed cone gear by first bevel gear and rotates, and when not contacting object, spring spare makes middle part section of finger and the end section of finger keep linear state, rotates around nearly joint shaft jointly.The middle part section of finger is when touching object, and drive bevel gear is rotated further double bevel wheel is rotated, and drives the joint shaft far away that is connected with driven wheel of differential and rotates, and then drive the joint shaft rotation of going the long way round of the end section of finger by spring spare, also touches object up to the end section of finger.
This device does not belong to the finger mechanism of coupled drive, but a kind of finger mechanism of decoupling self-adaptive, its weak point is: in the process that grasps object, the rotation of nearly joint shaft and joint shaft far away is two steps of separating: finger is the straight configuration that relatively ossifys before touching object; After the middle part section of finger was by the object blocks stop motion, the end section of finger just began to rotate and grabbing object.The extracting process difference of this and staff is excessive.This Grasp Modes often is applicable to the affined object of an end, and it is not restrained to be difficult to extracting, can free-moving object.And the latter is more common in daily life and work.
Summary of the invention
The objective of the invention is weak point at prior art, a kind of finger device of duplex bevel gear coupling robot is provided, realize the special-effect that the doublejointed coupling is rotated, with a plurality of joint motions of less driver drives, personalize more realize extracting process, easier stable extracting not restrained, can free-moving object, transmission is accurate, need not pretension.
The present invention adopts following technical scheme:
A kind of finger device of duplex bevel gear coupling robot comprises pedestal, motor, the middle part section of finger, nearly joint shaft, joint shaft far away and the end section of finger; Said nearly joint shaft is set in the pedestal, said joint shaft far away is set in the section of finger of middle part, said motor and pedestal are affixed, the output shaft of motor links to each other with nearly joint shaft, it is characterized in that: this finger device of duplex bevel gear coupling robot also comprises fixed cone gear, double bevel wheel and driven wheel of differential; Said double bevel wheel is made up of lower end bevel gear, upper end bevel gear and double bevel wheel axle; Said lower end bevel gear and upper end bevel gear are fixed in the two ends of double bevel wheel axle respectively; Said double bevel wheel axle sleeve is connected in the section of finger of middle part, said lower end bevel gear and fixed cone gears engaged, said upper end bevel gear and driven wheel of differential engagement; The said middle part section of finger is fixed on the nearly joint shaft; Said fixedly vertebra geared sleeve is connected on the nearly joint shaft, and affixed with pedestal; The said end section of finger is socketed on the joint shaft far away, and said driven wheel of differential is socketed on the joint shaft far away, and the said end section of finger is affixed with driven wheel of differential.
The said finger device of duplex bevel gear coupling robot of the present invention is characterized in that, modulus, the number of teeth of said fixed cone gear, lower end bevel gear, upper end bevel gear and driven wheel of differential are identical.
The said finger device of duplex bevel gear coupling robot of the present invention is characterized in that, said motor links to each other with nearly joint shaft by decelerator.
The said finger device of duplex bevel gear coupling robot of the present invention is characterized in that, also comprises first bevel gear, second bevel gear; Said first bevel gear is fixed on the output shaft of motor, and said second bevel gear is fixed on the nearly joint shaft, first bevel gear and the engagement of second bevel gear.
The present invention compared with prior art has the following advantages and the high-lighting effect:
The formed coupling of bevel gear that this device utilizes the double bevel wheel transmission mechanism, is fixed in the middle part section of finger of nearly joint shaft and is fixed in pedestal, realized the special-effect when object is grasped in the coupling of doublejointed finger, transmission is accurate, grasps and stablizes, and need not pretension, simple in structure, reliable, cost is low, is convenient to installation and maintenance, and is similar to staff, volume is little, is suitable as the finger of anthropomorphic robot's hand.
Description of drawings
Fig. 1 is the front appearance figure of the embodiment of finger device of duplex bevel gear coupling robot provided by the invention.
Fig. 2 is the side view of present embodiment, also is the left view of Fig. 1.
Fig. 3 is the front section view of present embodiment, also is the cutaway view of Fig. 1.
Fig. 4 is the side sectional view of present embodiment, also is the A-A cutaway view of Fig. 2.
Fig. 5 is the stereoscopic figure of present embodiment.
Fig. 9, Figure 10, Figure 11 are several key positions side schematic appearance of present embodiment grasping object process.
Fig. 6, Fig. 7, Fig. 8 are several key position side sectional views of present embodiment grasping object process, respectively the cutaway view of corresponding diagram 9, Figure 10, Figure 11.
Figure 12 is the three-dimensional outer blast sight figure of present embodiment.
Figure 13 is the three-dimensional explosive view at double bevel wheel position in the present embodiment.
In Fig. 1 to Figure 13:
The 1-pedestal, the 2-motor, the 3-decelerator,
4-first bevel gear, the nearly joint shaft of 5-, 6-second bevel gear,
7-fixed cone gear, the 8-middle part section of finger, the 9-double bevel wheel,
91-lower end bevel gear, 92-double bevel wheel axle, 93-upper end bevel gear,
The 10-driven wheel of differential, 11-joint shaft far away, the 12-end section of finger.
The specific embodiment
Be described in further detail concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
A kind of embodiment of the finger device of duplex bevel gear coupling robot of the present invention's design as Fig. 1, Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5, comprises pedestal 1, motor 2, the middle part section of finger 8, nearly joint shaft 5, joint shaft 11 far away and the end section of finger 12; Said nearly joint shaft 5 is set in the pedestal 1, said joint shaft far away 11 is set in the section of finger 8 of middle part, said motor 2 is affixed with pedestal 1, the output shaft of motor 2 links to each other with nearly joint shaft 5, it is characterized in that: this finger device of duplex bevel gear coupling robot also comprises fixed cone gear 7, double bevel wheel 9 and driven wheel of differential 10; Said double bevel wheel 9 is made up of lower end bevel gear 91, upper end bevel gear 93 and double bevel wheel axle 92; Said lower end bevel gear 91 and upper end bevel gear 93 are fixed in the two ends of double bevel wheel axle 92 respectively; Said double bevel wheel axle 92 is socketed in the section of finger 8 of middle part, said lower end bevel gear 91 and 7 engagements of fixed cone gear, said upper end bevel gear 93 and driven wheel of differential 10 engagements; The said middle part section of finger 8 is fixed on the nearly joint shaft 5; Said fixedly vertebra gear 7 is socketed on the nearly joint shaft 5, and affixed with pedestal 1; The said end section of finger 12 is fixed on the joint shaft 11 far away, and said driven wheel of differential 10 is fixed on the joint shaft 11 far away.
In the present embodiment, modulus, the number of teeth of said fixed cone gear 7, lower end bevel gear 91, upper end bevel gear 93 and driven wheel of differential 10 are identical.
In the present embodiment, said motor links to each other with nearly joint shaft 5 by decelerator 3.
Present embodiment also comprises first bevel gear 4, second bevel gear 6; Said first bevel gear 4 is fixed on the output shaft of motor, and said second bevel gear 6 is fixed on the nearly joint shaft 5, first bevel gear 4 and 6 engagements of second bevel gear.
The operation principle of present embodiment as Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, is described below:
The initial position of this device such as Fig. 6, shown in Figure 9, this moment middle part section of finger 8 and the end section of finger 13 and pedestal 1 are straight line, promptly are equivalent to the state that people's finger stretches.When the robot extracting object of present embodiment was equipped with in use, the output shaft of motor 2 rotated, and drove the nearly joint shaft 5 that is connected with second bevel gear 6 by first bevel gear 4 and rotated.With the affixed middle part section of finger 8 of nearly joint shaft thereby begin to rotate, and fixed cone gear 7 is owing to be fixed in pedestal 1 thereby keep static.At this moment, with respect to the middle part section of finger 8, fixed cone gear 7 is rotating, and drives double bevel wheel 9 and rotates.Then double bevel wheel 9 continues to drive joint shaft 11 rotations far away, thereby the end section of finger 12 is rotated with respect to the middle part section of finger 8.Robot has realized that in the motor rotating process two axles rotate simultaneously, and the angle that the terminal section of finger is rotated equates with the angle of the middle part section of finger rotation, has realized coupling, as Fig. 7, shown in 10.
Special-effect when the formed coupling of bevel gear that this device utilizes the double bevel wheel transmission mechanism, be fixed in the middle part section of finger of nearly joint shaft and be fixed in pedestal has realized that object is grasped in the coupling of doublejointed finger, transmission is accurate, grasp stable, need not pretension, simple in structure, reliable, cost is low, be convenient to installation and maintenance, similar to staff, volume is little, is suitable as the finger of anthropomorphic robot's hand.
Claims (4)
1, a kind of finger device of duplex bevel gear coupling robot comprises pedestal (1), motor (2), the middle part section of finger (8), nearly joint shaft (5), joint shaft (11) far away and the end section of finger (12); Said nearly joint shaft (5) is set in the pedestal (1), said joint shaft far away (11) is set in the middle part section of finger (8), said motor (2) is affixed with pedestal (1), the output shaft of motor (2) links to each other with nearly joint shaft (5), it is characterized in that: this finger device of duplex bevel gear coupling robot also comprises fixed cone gear (7), double bevel wheel (9) and driven wheel of differential (10); Said double bevel wheel (9) is made up of lower end bevel gear (91), upper end bevel gear (93) and double bevel wheel axle (92); Said lower end bevel gear (91) and upper end bevel gear (93) are fixed in the two ends of double bevel wheel axle (92) respectively; Said double bevel wheel axle (92) is socketed in the middle part section of finger (8), said lower end bevel gear (91) and fixed cone gear (7) engagement, said upper end bevel gear (93) and driven wheel of differential (10) engagement; The said middle part section of finger (8) is fixed on the nearly joint shaft (5); Said fixedly vertebra gear (7) is socketed on the nearly joint shaft (5), and affixed with pedestal (1); The said end section of finger (12) is socketed on the joint shaft far away (11), and said driven wheel of differential (10) is socketed on the joint shaft far away (11), and the said end section of finger (12) is affixed with driven wheel of differential (10).
2, as the said finger device of duplex bevel gear coupling robot of claim 1, it is characterized in that: modulus, the number of teeth of said fixed cone gear (7), lower end bevel gear (91), upper end bevel gear (93) and driven wheel of differential (10) are identical.
3, as the said finger device of duplex bevel gear coupling robot of claim 1, it is characterized in that: the output shaft of said motor (2) links to each other with nearly joint shaft (5) by decelerator (3).
4, as the said finger device of duplex bevel gear coupling robot of claim 1, it is characterized in that: this device also comprises first bevel gear (4) and second bevel gear (6); Said first bevel gear (4) is fixed on the output shaft of motor, and said second bevel gear (6) is fixed on the nearly joint shaft (5), first bevel gear (4) and second bevel gear (6) engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910089996A CN101633172A (en) | 2009-07-31 | 2009-07-31 | Finger device of duplex bevel gear coupling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910089996A CN101633172A (en) | 2009-07-31 | 2009-07-31 | Finger device of duplex bevel gear coupling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101633172A true CN101633172A (en) | 2010-01-27 |
Family
ID=41592590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910089996A Pending CN101633172A (en) | 2009-07-31 | 2009-07-31 | Finger device of duplex bevel gear coupling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101633172A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166753A (en) * | 2011-05-20 | 2011-08-31 | 清华大学 | Bevel gear flexible piece compound grabbing robot fingers device |
| CN102179818A (en) * | 2011-05-20 | 2011-09-14 | 清华大学 | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system |
| CN102717394A (en) * | 2012-06-01 | 2012-10-10 | 清华大学 | Bevel-gear-coupling neat robot finger device |
| CN106826899A (en) * | 2017-04-11 | 2017-06-13 | 东南大学 | A kind of Apery manipulator based on axle transmission refers to structure |
| CN111360868A (en) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | Bionic robot and limb structure of parallel driving joint of bionic robot |
-
2009
- 2009-07-31 CN CN200910089996A patent/CN101633172A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102166753A (en) * | 2011-05-20 | 2011-08-31 | 清华大学 | Bevel gear flexible piece compound grabbing robot fingers device |
| CN102179818A (en) * | 2011-05-20 | 2011-09-14 | 清华大学 | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system |
| CN102166753B (en) * | 2011-05-20 | 2012-07-25 | 清华大学 | Bevel gear flexible piece compound grabbing robot fingers device |
| CN102717394A (en) * | 2012-06-01 | 2012-10-10 | 清华大学 | Bevel-gear-coupling neat robot finger device |
| CN102717394B (en) * | 2012-06-01 | 2014-11-26 | 清华大学 | Bevel-gear-coupling neat robot finger device |
| CN106826899A (en) * | 2017-04-11 | 2017-06-13 | 东南大学 | A kind of Apery manipulator based on axle transmission refers to structure |
| CN111360868A (en) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | Bionic robot and limb structure of parallel driving joint of bionic robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101474794B (en) | Bionic robot under-actuated delicacy hand device | |
| CN101972197B (en) | Multi-joint humanoid massage robot arm | |
| CN102161204B (en) | Double joint and equidirectional drive hybrid under-actuated robot finger device | |
| CN101508115B (en) | Variable sequence under-actuated two-articulated robot finger device | |
| CN101234489B (en) | Belt wheel under-driven robot finger device | |
| CN100439048C (en) | Under-actuated multi-finger device of robot humanoid finger | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN201283575Y (en) | Multi-finger dexterous hand of robot based on pneumatic flexible driver | |
| CN201881383U (en) | Arm of multi-joint humanoid massage robot | |
| CN101653941B (en) | Sliding block type direct under-actuated bionic hand device with changeable holding power | |
| CN104842345A (en) | Human-simulated mechanical arm based on hybrid driving of various artificial muscles | |
| CN101402200A (en) | Multi-finger dexterous hand of robot based on pneumatic flexible driver | |
| CN103056878B (en) | A kind of mechanical drive robot of bionic structure | |
| CN203077298U (en) | Under-actuation five-finger manipulator | |
| CN101633172A (en) | Finger device of duplex bevel gear coupling robot | |
| CN102310411B (en) | Three-axis gear and rack composite underactuated dual-joint robot finger device | |
| CN101633170B (en) | Finger device of coupling three-joint robot | |
| CN102126210A (en) | 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm | |
| CN102935642A (en) | Connection rod key slot type coupling under-actuated double-joint robot finger device | |
| CN101633171B (en) | Finger device of double-joint parallel under-actuated robot | |
| CN102179818A (en) | Finger device of composite underactuated double-joint robot with differential-motion bevel gear system | |
| CN100551637C (en) | Rack bar under-driven robot finger device | |
| CN102179817B (en) | Double-flexibility piece composite under-actuated double-joint finger device for robot | |
| CN101774176B (en) | Rack-flexible piece coupling underactuated double-joint robot finger device | |
| CN101444917A (en) | Mechanical finger device with functions of bionic displacement and self-adapting grasping |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20100127 |