CN102233583A - Rack connecting rod type two-degree-of-freedom thumb root joint device - Google Patents
Rack connecting rod type two-degree-of-freedom thumb root joint device Download PDFInfo
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- CN102233583A CN102233583A CN2011101243882A CN201110124388A CN102233583A CN 102233583 A CN102233583 A CN 102233583A CN 2011101243882 A CN2011101243882 A CN 2011101243882A CN 201110124388 A CN201110124388 A CN 201110124388A CN 102233583 A CN102233583 A CN 102233583A
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Abstract
The invention relates to a rack connecting rod type two-degree-of-freedom thumb root joint device and belongs to the technical field of humanoid robot hands. The rack connecting rod type two-degree-of-freedom thumb root joint device comprises a thumb, a base, a thumb swinging mechanism and a thumb expanding and contracting mechanism, wherein the thumb swinging mechanism comprises a first motor and a rotating shaft; and the thumb expanding and contracting mechanism comprises a second motor, a gear, a rack sleeve, a sleeve ring, an expanding and contracting connecting rod and a thumb connecting rod. According to the rack connecting rod type two-degree-of-freedom thumb root joint device, the two motors, the gear, the rack, the sleeve ring, the sleeve and the inverted V-shaped connecting rod are adopted, the two-degree-of-freedom flexible action of independent swinging, expanding and contracting of a thumb root is comprehensively realized, simultaneously, the structure is simple and compact, the cost is low, the control is easy, the transmission is stable and accurate, a transmission chain is short, the transmission slot is small, and the transmission efficiency is high. The rack connecting rod type two-degree-of-freedom thumb root joint device is applicable to the humanoid robot hands, the flexibility and stability of the robot hands in grabbing objects are enhanced, and the robot hand can be used for realizing more gestures and is more humanoid.
Description
Technical field
The invention belongs to the human simulating manipulator technical field, particularly a kind of structural design of tooth bar link-type double freedom thumb root joint device.
Background technology
Along with the development of society, the application of manipulator progressively transforms to the anthropomorphic robot from the industrial production demand.The finger motion joint that people just are faced with small designization and control more flexibly in the process of this reform can be good at realizing human finger's multiple degrees of freedom flexible motion.
And the motion with the thumb root joint is the most complicated and flexible in the human finger.It mainly needs to realize oscillating motion and thumb applying palm and the open opening and closing campaign of thumb from the palmar side to the front; And since people's articulations digitorum manus, this two-freedom quadrature.Thereby efficient, the exquisite kinetic characteristic that simulates human thumb is the key of anthropomorphic mechanical hand technical field.
In the mechanism that realizes the motion of thumb root joint, mainly contain in parallel and two kinds of forms of series connection.Advantages such as wherein series connection form has simple in structure, and range of operation is bigger; But also brought manipulation simple inadequately, direct simultaneously, control system complexity, the shortcoming that the movement parts quality is more, bigger.Thereby for the thumb root joint, parallel institution has advantages such as control is simple, and moving component is few, size is little.And in parallel institution, mainly be the primary structure form now with the differential gear train.It has characteristics such as kinematic accuracy height, but has assembling, maintenance requirement height, the high deficiency of parts processing cost.
A kind of thumb two-freedom root joint device, as Chinese invention patent CN101570024B, adopt bi-motor, active dial, a plurality of connecting rod, the collar and sleeve to wait swing and the opening and closing two-freedom of realizing the thumb root to move, have the following disadvantages: thumb opening and closing mechanism has wherein adopted initiatively dial and a plurality of connecting rod, cause the drive gap of opening and closing action big, transmission not steadily, transmission inaccuracy, gearratio be non-linear, the control dead band is big and Position Control is non-linear; Driving member is many, the transmission chain length, and transmission efficiency is low, and mechanism is complicated, the installation and maintenance difficulty; Mechanism's space hold rate is big, and quality is big.
Summary of the invention
The objective of the invention is for overcoming the weak point of prior art, design a kind of tooth bar link-type double freedom thumb root joint device, this device can realize that the thumb root of robot has the dexterity action of independently swing and two frees degree of opening and closing, while is simple in structure, compact, cost is low, control easily, stable drive is accurate, driving-chain is short, drive gap is little, the transmission efficiency height is applicable to anthropomorphic robot's hand, strengthens dexterity, stability that robot grasps object, make robot can realize more gesture, personalize more.
The present invention adopts following technical scheme:
A kind of tooth bar link-type double freedom thumb root joint device comprises pedestal, thumb, thumb swing mechanism and thumb opening and closing mechanism; Described thumb swing mechanism comprises first motor and rotating shaft; Described first motor 31 is fixed in the pedestal, and the output shaft of described first motor links to each other with rotating shaft, and described rotating shaft is movably set on the pedestal; It is characterized in that: described thumb opening and closing mechanism comprises second motor, gear, rack sleeve, the collar, opening and closing connecting rod and thumb connecting rod; Described second motor is fixed in the pedestal; Described gear is fixed on the output shaft of second motor, and the tooth bar on the described wheel and rack sleeve is meshed, and rack sleeve is actively socketed in the rotating shaft, and described collar activity is nested in the lower annular recess of rack sleeve; One end of described opening and closing connecting rod and the middle part of the collar are hinged by first connecting axle, the center line of described first connecting axle and the vertical and intersectant centerline of rotating shaft; The middle part of the other end of described opening and closing connecting rod and thumb connecting rod is hinged by second connecting axle; One end of described thumb connecting rod and rotating shaft are hinged by the 3rd connecting axle, and the other end and the thumb of thumb connecting rod are affixed; The center line and the shaft centerline of the 3rd connecting axle intersect vertically; The center line of described first connecting axle, second connecting axle and the 3rd connecting axle is parallel to each other in twos.
Tooth bar link-type double freedom thumb root joint device of the present invention, it is characterized in that: described thumb swing mechanism also comprises first decelerator, first bevel gear and second bevel gear; The output shaft of described first motor links to each other with first input shaft of speed reducer, and described first bevel gear is fixed on the output shaft of first decelerator, and first bevel gear is meshed with second bevel gear, and second bevel gear is fixed in the rotating shaft.
Tooth bar link-type double freedom thumb root joint device of the present invention is characterized in that: described thumb opening and closing mechanism also comprises second decelerator; The output shaft of described second motor links to each other with second input shaft of speed reducer, and described gear is fixed on the output shaft of second decelerator.
The present invention has the following advantages and the high-lighting effect:
Tooth bar link-type double freedom thumb root joint device of the present invention adopts bi-motor, gear-tooth bar, the collar-sleeve and herringbone connecting rod comprehensively to realize the independent swing and the dexterous action of opening and closing two-freedom of thumb root, while is simple in structure, compact, cost is low, control easily, stable drive is accurate, driving-chain is short, drive gap is little, the transmission efficiency height, be applicable to anthropomorphic robot's hand, strengthen dexterity, stability that robot grasps object, make robot can realize more gesture, personalize more.
Description of drawings
Fig. 1 is the palm cutaway view of a kind of embodiment of tooth bar link-type double freedom thumb root joint device provided by the invention, and this moment, thumb was put palmar side, and tiger is opened, from the palm top view.
Fig. 2 is the cutaway view of Fig. 1 at the A-A place.
Fig. 3 is the cutaway view of Fig. 2 at the B-B place.
Fig. 4 is a side sectional view embodiment illustrated in fig. 1, and this moment, thumb was put palmar side.
Fig. 5 is a palm cutaway view embodiment illustrated in fig. 1, and this moment, thumb was put palmar side, and tiger is closed.
Fig. 6 is a side sectional view embodiment illustrated in fig. 1, and this moment, thumb was put the palm front.
In Fig. 1 to Fig. 6:
The 1-pedestal, the 11-rotating shaft, 121-palm header board, plate behind the 122-palm,
The 2-thumb, 3-thumb swing mechanism, 311 first bevel gears, 312-second bevel gear,
31-first motor, 32-first decelerator, 4-thumb opening and closing mechanism, the 411-gear,
The 412-rack sleeve, the 421-collar, 422-opening and closing connecting rod, 423-thumb connecting rod,
41-second motor, 42-second decelerator, 451-first connecting axle, 452-second connecting axle,
453-the 3rd connecting axle.
The specific embodiment
Further describe the content of concrete structure of the present invention, operation principle below in conjunction with drawings and Examples.
The embodiment of a kind of tooth bar link-type double freedom thumb root joint device of the present invention as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and shown in Figure 6, comprises pedestal 1, thumb 2, thumb swing mechanism and thumb opening and closing mechanism; Described thumb swing mechanism comprises first motor 31 and rotating shaft 11; Described first motor 31 is fixed in the pedestal 1, and the output shaft of described first motor 31 links to each other with rotating shaft 11, and described rotating shaft 11 is movably set on the pedestal 1; Described thumb opening and closing mechanism comprises second motor 41, gear 411, rack sleeve 412, the collar 421, opening and closing connecting rod 422 and thumb connecting rod 423; Described second motor 41 is fixed in the pedestal 1; Described gear 411 is fixed on the output shaft of second motor 41, described gear 411 is meshed with tooth bar on the rack sleeve 412, rack sleeve 412 is actively socketed in the rotating shaft 11, and the described collar 421 activities are nested in the lower annular recess of rack sleeve 412; One end of described opening and closing connecting rod 422 and the middle part of the collar 421 are hinged by first connecting axle 451, the vertical and intersectant centerline of the center line of described first connecting axle 451 and rotating shaft 11; The middle part of the other end of described opening and closing connecting rod 422 and thumb connecting rod 423 is hinged by second connecting axle 452; One end of described thumb connecting rod 423 and rotating shaft 11 are hinged by the 3rd connecting axle 453, and the other end of thumb connecting rod 423 and thumb 2 are affixed; The center line of the 3rd connecting axle 453 and rotating shaft 11 vertical and intersectant centerlines; The center line of described first connecting axle 451, second connecting axle 452 and the 3rd connecting axle 453 is parallel to each other in twos.
In the present embodiment, described thumb swing mechanism also comprises first decelerator 32, first bevel gear 311 and second bevel gear 312; The output shaft of described first motor 31 links to each other with the power shaft of first decelerator 32, described first bevel gear 311 is fixed on the output shaft of first decelerator 32, first bevel gear 311 is meshed with second bevel gear 312, and second bevel gear 312 is fixed in the rotating shaft 11.
In the present embodiment, described thumb opening and closing mechanism also comprises second decelerator 42; The output shaft of described second motor 41 links to each other with the power shaft of second decelerator 42, and described gear 411 is fixed on the output shaft of second decelerator 42.
Narrate the operation principle of present embodiment below in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6.
When the robot thumb need be swung, first motor 31 rotated, and drove first bevel gear 311 by first decelerator 32 and rotated, drive second bevel gear 312 by engagement and rotate, rotating shaft 11 is rotated, and thumb connecting rod 423 rotates, 2 swings of pulling thumb, the corresponding rotation in rack sleeve of collar this moment.
When the robot thumb needs the opening and closing campaign, second motor 41 rotates, rotate by second decelerator, 42 driven gears 411, drive rack sleeve along rotating shaft 11 axis direction rectilinear motions, the collar 421 rectilinear motions, opening and closing connecting rod 422 drives thumb connecting rod 423 and rotates around the 3rd connecting axle 453 centers, realizes the opening and closing campaign of thumb.
Tooth bar link-type double freedom thumb root joint device of the present invention adopts bi-motor, gear-tooth bar, the collar-sleeve and herringbone connecting rod comprehensively to realize the independent swing and the dexterous action of opening and closing two-freedom of thumb root, while is simple in structure, compact, cost is low, control easily, stable drive is accurate, driving-chain is short, drive gap is little, the transmission efficiency height, be applicable to anthropomorphic robot's hand, strengthen dexterity, stability that robot grasps object, make robot can realize more gesture, personalize more.
Claims (3)
1. a tooth bar link-type double freedom thumb root joint device comprises pedestal (1), thumb (2), thumb swing mechanism and thumb opening and closing mechanism; Described thumb swing mechanism comprises first motor (31) and rotating shaft (11); Described first motor (31) is fixed in the pedestal (1), and the output shaft of described first motor (31) links to each other with rotating shaft (11), and described rotating shaft (11) is movably set on the pedestal (1); It is characterized in that: described thumb opening and closing mechanism comprises second motor (41), gear (411), rack sleeve (412), the collar (421), opening and closing connecting rod (422) and thumb connecting rod (423); Described second motor (41) is fixed in the pedestal (1); Described gear (411) is fixed on the output shaft of second motor (41), described gear (411) is meshed with tooth bar on the rack sleeve (412), rack sleeve (412) is actively socketed in the rotating shaft (11), and the described collar (421) activity is nested in the lower annular recess of rack sleeve (412); The middle part of one end of described opening and closing connecting rod (422) and the collar (421) is hinged by first connecting axle (451), the vertical and intersectant centerline of the center line of described first connecting axle (451) and rotating shaft (11); The middle part of the other end of described opening and closing connecting rod (422) and thumb connecting rod (423) is hinged by second connecting axle (452); One end of described thumb connecting rod (423) and rotating shaft (11) are hinged by the 3rd connecting axle (453), and the other end of thumb connecting rod (423) and thumb (2) are affixed; The center line of the 3rd connecting axle (453) and rotating shaft (11) vertical and intersectant centerline; The center line of described first connecting axle (451), second connecting axle (452) and the 3rd connecting axle (453) is parallel to each other in twos.
2. tooth bar link-type double freedom thumb root joint device as claimed in claim 1, it is characterized in that: described thumb swing mechanism also comprises first decelerator (32), first bevel gear (311) and second bevel gear (312); The output shaft of described first motor (31) links to each other with the power shaft of first decelerator (32), described first bevel gear (311) is fixed on the output shaft of first decelerator (32), first bevel gear (311) is meshed with second bevel gear (312), and second bevel gear (312) is fixed in the rotating shaft (11).
3. tooth bar link-type double freedom thumb root joint device as claimed in claim 1 or 2 is characterized in that: described thumb opening and closing mechanism also comprises second decelerator (42); The output shaft of described second motor (41) links to each other with the power shaft of second decelerator (42), and described gear (411) is fixed on the output shaft of second decelerator (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101243882A CN102233583A (en) | 2011-05-13 | 2011-05-13 | Rack connecting rod type two-degree-of-freedom thumb root joint device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101243882A CN102233583A (en) | 2011-05-13 | 2011-05-13 | Rack connecting rod type two-degree-of-freedom thumb root joint device |
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| CN102233583A true CN102233583A (en) | 2011-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101243882A Pending CN102233583A (en) | 2011-05-13 | 2011-05-13 | Rack connecting rod type two-degree-of-freedom thumb root joint device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142128A (en) * | 2016-07-28 | 2016-11-23 | 上海交通大学 | Revolution rocking type mechanical arm joint module |
| CN108908391A (en) * | 2018-08-14 | 2018-11-30 | 东南大学 | A kind of bionic mechanical hand based on differential design |
| CN109620487A (en) * | 2019-02-19 | 2019-04-16 | 上海理工大学 | A kind of artificial limb thumb mechanism |
| CN111265349A (en) * | 2020-02-17 | 2020-06-12 | 中国人民解放军军事科学院军事医学研究院 | Thumb connecting mechanism and bionic hand |
| CN112720560A (en) * | 2020-12-11 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Biax output steering wheel and robot |
Citations (6)
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|---|---|---|---|---|
| US5080682A (en) * | 1990-07-05 | 1992-01-14 | Schectman Leonard A | Artificial robotic hand |
| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
| CN101214656A (en) * | 2008-01-11 | 2008-07-09 | 清华大学 | Rack bar under-driven modularization anthropomorphic robot multi-finger hand device |
| CN101570024A (en) * | 2009-06-16 | 2009-11-04 | 清华大学 | Thumb two-freedom root joint device |
| CN201361870Y (en) * | 2008-11-07 | 2009-12-16 | 上海电机学院 | Gripper mechanical hand |
| CN201779228U (en) * | 2010-04-19 | 2011-03-30 | 吴远东 | Novel mechanical transmission mechanism |
-
2011
- 2011-05-13 CN CN2011101243882A patent/CN102233583A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5080682A (en) * | 1990-07-05 | 1992-01-14 | Schectman Leonard A | Artificial robotic hand |
| JP2001277175A (en) * | 2000-03-30 | 2001-10-09 | Hiroshima Pref Gov | Multi-fingered movable robot hand and its gripping control method |
| CN101214656A (en) * | 2008-01-11 | 2008-07-09 | 清华大学 | Rack bar under-driven modularization anthropomorphic robot multi-finger hand device |
| CN201361870Y (en) * | 2008-11-07 | 2009-12-16 | 上海电机学院 | Gripper mechanical hand |
| CN101570024A (en) * | 2009-06-16 | 2009-11-04 | 清华大学 | Thumb two-freedom root joint device |
| CN201779228U (en) * | 2010-04-19 | 2011-03-30 | 吴远东 | Novel mechanical transmission mechanism |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142128A (en) * | 2016-07-28 | 2016-11-23 | 上海交通大学 | Revolution rocking type mechanical arm joint module |
| CN106142128B (en) * | 2016-07-28 | 2019-09-03 | 上海交通大学 | Turn round rocking type mechanical arm joint module |
| CN108908391A (en) * | 2018-08-14 | 2018-11-30 | 东南大学 | A kind of bionic mechanical hand based on differential design |
| CN109620487A (en) * | 2019-02-19 | 2019-04-16 | 上海理工大学 | A kind of artificial limb thumb mechanism |
| CN109620487B (en) * | 2019-02-19 | 2020-07-28 | 上海理工大学 | Artificial limb thumb mechanism |
| CN111265349A (en) * | 2020-02-17 | 2020-06-12 | 中国人民解放军军事科学院军事医学研究院 | Thumb connecting mechanism and bionic hand |
| CN111265349B (en) * | 2020-02-17 | 2021-08-31 | 中国人民解放军军事科学院军事医学研究院 | Thumb connecting mechanism and bionic hand |
| CN112720560A (en) * | 2020-12-11 | 2021-04-30 | 深圳市优必选科技股份有限公司 | Biax output steering wheel and robot |
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Application publication date: 20111109 |