CN102357889A - Spherical hinged connecting rod type double-degree-of-freedom finger root joint device - Google Patents
Spherical hinged connecting rod type double-degree-of-freedom finger root joint device Download PDFInfo
- Publication number
- CN102357889A CN102357889A CN2011102635778A CN201110263577A CN102357889A CN 102357889 A CN102357889 A CN 102357889A CN 2011102635778 A CN2011102635778 A CN 2011102635778A CN 201110263577 A CN201110263577 A CN 201110263577A CN 102357889 A CN102357889 A CN 102357889A
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- Prior art keywords
- bevel gear
- joint shaft
- opening
- thumb
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Abstract
A spherical hinged connecting rod type double-degree-of-freedom thumb root joint device belongs to the technical field of humanoid robot hands and comprises a palm base, fingers, joint shafts, a first motor, a second motor, a tilting mechanism and an opening-closing mechanism, wherein the tilting mechanism comprises a first reducer, a first bevel gear and a second bevel gear; and the opening-closing mechanism comprises a second reducer, a third bevel gear, a fourth bevel gear, check slide rails of the joint shafts, check slide blocks of the joint shafts, spherical hinges, opening-closing connecting rods and finger connecting rods. The device adopts two motors and threaded connection, the spherical hinges, a zig-zag connecting mechanism and the like, the separate swing of the finger roots and the opening-closing double-degree-of-freedom finger flexible motion are comprehensively realized, the swing is vertically intersected with the opening-closing double-joint freedom degrees, meanwhile, the device has a simple and compact structure, low cost, easiness in control, short transmission chains, small transmission gap and high transmission efficiency, is applicable to humanoid robot hands, the object grabbing flexibility and stability of robot hands are increased, so the robot hands can realize more gestures, and personification is more obvious.
Description
Technical field
The invention belongs to the human simulating manipulator technical field, particularly a kind of structural design of ball pivot 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 commercial production demand.People just are faced with small designization and the finger motion joint of controlling more flexibly in the process of this reform, can be good at realizing human finger's multiple degrees of freedom flexible motion.
And it is the most complicated and flexible with the motion of thumb root joint in the human finger.It mainly need 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 two kinds of forms of parallel connection and 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 complex, 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; Like 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; Not enough below existing: 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, and installation and maintenance are difficult; 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 ball pivot link-type double freedom robot thumb root joint device, this device can realize that the dexterity that the thumb root of robot has independently swing and two frees degree of opening and closing moves; While is simple in structure, compact, cost is low, control easily, and stable drive is accurate; Driving-chain is short, and drive gap is little, and transmission efficiency is high; Be applicable to anthropomorphic robot's hand; Strengthen dexterity, the stability of robot grasping objects, make robot can realize more gesture, personalize more.
The present invention adopts following technical scheme:
A kind of ball pivot link-type double freedom provided by the invention robot thumb root joint device comprises palm pedestal, thumb, joint shaft, first motor, second motor, swing mechanism and opening and closing mechanism; Said swing mechanism comprises first decelerator, first bevel gear and second bevel gear; Said first motor is fixed on the palm pedestal, and the output shaft of said first motor and first input shaft of speed reducer are affixed, and said first bevel gear is fixed on the output shaft of first decelerator, and said first bevel gear is meshed with second bevel gear; Described second motor is fixed on the palm pedestal; The output shaft of described second motor and second input shaft of speed reducer are affixed, and described third hand tap gear is fixed on the output shaft of second decelerator, and said third hand tap gear is meshed with the 4th bevel gear; It is characterized in that: said joint shaft is movably set in the palm pedestal, and said joint shaft top is provided with external screw thread, and the bottom is an optical axis; Said second bevel gear is actively socketed on the optical axis of joint shaft bottom; Said opening and closing mechanism comprises second decelerator, third hand tap gear, the 4th bevel gear, joint shaft spline slide rail, joint shaft spline slide block, ball pivot, opening and closing connecting rod and thumb connecting rod; One end of said thumb connecting rod and second bevel gear are hinged through the 3rd connecting axle, and the other end and the thumb of thumb connecting rod are affixed; Said the 4th bevel gear inside is provided with internal thread, and the external screw thread on internal thread of the 4th bevel gear and joint shaft top forms the screw thread drive connection; Said joint shaft spline slide block is fixed on the optical axis at joint shaft middle part through first connecting axle, and slides and be embedded in the joint shaft spline slide rail, and said joint shaft spline slide rail is fixed in the palm pedestal; The vertical and intersectant centerline of said first connecting axle center line and joint shaft; One end of said opening and closing connecting rod and the middle part of joint shaft are hinged through ball pivot, and the middle part of the other end of opening and closing connecting rod and thumb connecting rod is hinged through second connecting axle; Ball pivot is centered close on the joint shaft center line; The center line of the 3rd connecting axle and joint shaft vertical and intersectant centerline; The center line of said second connecting axle and the 3rd connecting axle is parallel to each other.
The present invention has the following advantages and the high-lighting effect:
Ball pivot link-type double freedom thumb root joint device of the present invention adopts that bi-motor is connected with spiral, spherical hinge and herringbone connecting rod etc., has realized that comprehensively the independent swing of thumb root and opening and closing two-freedom dexterity move; Swing intersects vertically with opening and closing two joint freedom degrees, and because the use of spherical hinge simplifies the structure greatly, compact conformation, cost are low simultaneously; Control easily, stable drive is accurate, and driving-chain is short; Drive gap is little, and transmission efficiency is high, is applicable to anthropomorphic robot's hand; Strengthen dexterity, the stability of robot grasping objects, make robot can realize more gesture, personalize more.
Description of drawings
Fig. 1 is the structural representation of ball pivot link-type double freedom thumb root joint device provided by the invention.
Fig. 2 is the A-A cutaway view of Fig. 1.
In Fig. 1 to Fig. 2:
1-palm pedestal, the 11-support plate, the 12-lower supporting plate,
The 2-thumb, 31-first motor,
32-first decelerator, 33-first bevel gear, 34-second bevel gear,
35-thumb connecting rod, 41-second motor,
42-second decelerator, 43-third hand tap gear, 44-the 4th bevel gear,
45-joint shaft spline slide rail, 46-joint shaft spline slide block, 47-opening and closing connecting rod,
The 5-joint shaft, 61-first connecting axle, the 62-ball pivot,
63-second connecting axle, 64-the 3rd connecting axle, the 71-clutch shaft bearing,
72-second bearing, 73-the 3rd bearing.
The specific embodiment
Content below in conjunction with accompanying drawing and embodiment further explain concrete structure of the present invention, operation principle.
Fig. 1 is the structural representation of ball pivot 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.
This thumb root joint device comprises palm pedestal 1, thumb 2, joint shaft 5, first motor 31, second motor 41, swing mechanism and opening and closing mechanism.
Said palm pedestal comprises gripper shoe 11 and lower supporting plate 12; Said joint shaft 5 is movably set in the palm pedestal 1, and said joint shaft 5 tops are provided with external screw thread, and the bottom is an optical axis; Said swing mechanism comprises first decelerator 32, first bevel gear 33 and second bevel gear 34; Said first motor 31 is fixed on the palm pedestal 1 through gripper shoe 11; The power shaft of the output shaft of said first motor 31 and first decelerator 32 is affixed; Said first bevel gear 33 is fixed on the output shaft of first decelerator 32, and said second bevel gear 34 is meshed with first bevel gear 33; Said second bevel gear 34 is actively socketed on the optical axis of joint shaft 5 bottoms through second bearing 72 and the 3rd bearing 73.First motor, 31 output shafts rotate, and drive first decelerator 32 and rotate, and drive second bevel gear 34 through first bevel gear 33 and rotate, and make thumb connecting rod 35 drive thumbs 2 rotate around joint shaft 5, thereby realize the swing of thumb 2.
Said opening and closing mechanism comprises second decelerator 42, third hand tap gear 43, the 4th bevel gear 44, joint shaft spline slide rail 45, joint shaft spline slide block 46, ball pivot 62, opening and closing connecting rod 47 and thumb connecting rod 35; One end of said thumb connecting rod 35 and second bevel gear 34 are hinged through the 3rd connecting axle 64, and the other end of thumb connecting rod 35 and thumb 2 are affixed; Described second motor 41 is fixed on the palm pedestal 1 through gripper shoe 11; The power shaft of the output shaft of said second motor 41 and second decelerator 42 is affixed, and said third hand tap gear 43 is fixed on the output shaft of second decelerator 42, and said third hand tap gear 43 is meshed with the 4th bevel gear 44; Said the 4th bevel gear 44 inside are provided with internal thread, and the 4th bevel gear 44 is socketed on the joint shaft 5 through clutch shaft bearing 71, and the 4th bevel gear 44 internal threads and joint shaft 5 upper external thread form the screw thread drive connection; Described joint shaft spline slide block 46 is fixed on the optical axis at joint shaft 5 middle parts through first connecting axle 61, and slides and to be embedded in the joint shaft spline slide rail 45, and described joint shaft spline slide rail 45 is fixed in the palm pedestal 1.The vertical and intersectant centerline of said first connecting axle, 61 center lines and joint shaft 5; One end of said opening and closing connecting rod 47 and the middle part of joint shaft 5 are hinged through ball pivot 62, and the middle part of the other end of opening and closing connecting rod 47 and thumb connecting rod 35 is through second connecting axle, 63 hinged formation herringbone linkages; Ball pivot 62 is centered close on the center line of joint shaft 5; The center line of the 3rd connecting axle 64 and joint shaft 5 vertical and intersectant centerlines; The center line of said second connecting axle 63 and the 3rd connecting axle 64 is parallel to each other.Second motor, 41 output shafts rotate, and through second decelerator 42, drive third hand tap gear 43 and rotate, and third hand tap gear 43 drives the 4th bevel gear 44 and rotates.Because joint shaft spline slide block 46 and joint shaft spline slide rail 45 are installed on the joint shaft 5, and its interaction makes joint shaft 5 not rotate around center line, can only move up and down.The 4th bevel gear 44 drives joint shaft 5 through worm drive and moves up and down, and drives the herringbone link motion of opening and closing connecting rod 47 and thumb connecting rod 35 compositions, drives thumb 2 motions, thereby realizes the opening and closing of thumb 2.
Narrate the operation principle of present embodiment below in conjunction with Fig. 1, Fig. 2.
When the thumb 2 of robot needs oscillating motion; First motor 31 drives first bevel gear 33 through first decelerator 32 and rotates; Drive second bevel gear 34 through engagement and rotate, make thumb connecting rod 35 drive thumb 2, thereby realize the swing of thumb 2 around joint shaft 5 rotations.Because ball pivot 62 is arranged, opening and closing connecting rod 47 rotates and is without hindrance.
When the thumb 2 of robot needed the opening and closing campaign, second motor 41 drove third hand tap gear 43 through second decelerator 42 and rotates, and drove the 4th bevel gear 44 through engagement and rotated.Because joint shaft spline slide block 46 and joint shaft spline slide rail 45 are installed on the joint shaft 5, and its interaction makes joint shaft 5 not rotate around center line, can only move up and down.The 4th bevel gear 44 that event is rotated drives joint shaft 5 through worm drive and moves up and down, and drives the herringbone link motion of opening and closing connecting rod 47 and thumb connecting rod 35 compositions, drives thumb 2 motions, thereby realizes the opening and closing of thumb 2.
Ball pivot link-type double freedom thumb root joint device of the present invention adopts that bi-motor is connected with spiral, spherical hinge and herringbone connecting rod etc., has realized that comprehensively the independent swing of thumb root and opening and closing two-freedom dexterity move; Swing intersects vertically with opening and closing two joint freedom degrees, and because the use of spherical hinge simplifies the structure greatly, compact conformation, cost are low simultaneously; Control easily, stable drive is accurate, and driving-chain is short; Drive gap is little, and transmission efficiency is high, is applicable to anthropomorphic robot's hand; Strengthen dexterity, the stability of robot grasping objects, make robot can realize more gesture, personalize more.
Claims (1)
1. a ball pivot link-type double freedom robot thumb root joint device comprises palm pedestal (1), thumb (2), joint shaft (5), first motor (31), second motor (41), swing mechanism and opening and closing mechanism; Said swing mechanism comprises first decelerator (32), first bevel gear (33) and second bevel gear (34); Said first motor (31) is fixed on the palm pedestal (1); The power shaft of the output shaft of said first motor (31) and first decelerator (32) is affixed; Said first bevel gear (33) is fixed on the output shaft of first decelerator (32), and said first bevel gear (33) is meshed with second bevel gear (34); Described second motor (41) is fixed on the palm pedestal (1); The power shaft of the output shaft of described second motor (41) and second decelerator (42) is affixed, and described third hand tap gear (43) is fixed on the output shaft of second decelerator (42), and said third hand tap gear (43) is meshed with the 4th bevel gear (44); It is characterized in that: said joint shaft (5) is movably set in the palm pedestal (1), and said joint shaft (5) top is provided with external screw thread, and the bottom is an optical axis; Said second bevel gear (34) is actively socketed on the optical axis of joint shaft (5) bottom; Said opening and closing mechanism comprises second decelerator (42), third hand tap gear (43), the 4th bevel gear (44), joint shaft spline slide rail (45), joint shaft spline slide block (46), ball pivot (62), opening and closing connecting rod (47) and thumb connecting rod (35); One end of said thumb connecting rod (35) and second bevel gear (34) are hinged through the 3rd connecting axle (64), and the other end of thumb connecting rod (35) and thumb (2) are affixed; Said the 4th bevel gear (44) inside is provided with internal thread, and the external screw thread on internal thread of the 4th bevel gear and joint shaft (5) top forms the screw thread drive connection; Said joint shaft spline slide block (46) is fixed on the optical axis at joint shaft (5) middle part through first connecting axle (61), and slides and be embedded in the joint shaft spline slide rail (45), and said joint shaft spline slide rail (45) is fixed in the palm pedestal (1); The vertical and intersectant centerline of said first connecting axle (61) center line and joint shaft (5); The middle part of one end of said opening and closing connecting rod (47) and joint shaft (5) is hinged through ball pivot (62), and the middle part of the other end of opening and closing connecting rod (47) and thumb connecting rod (35) is hinged through second connecting axle (63); Ball pivot (62) is centered close on joint shaft (5) center line; The center line of the 3rd connecting axle (64) and joint shaft (5) vertical and intersectant centerline; The center line of said second connecting axle (63) and the 3rd connecting axle (64) is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102635778A CN102357889A (en) | 2011-09-07 | 2011-09-07 | Spherical hinged connecting rod type double-degree-of-freedom finger root joint device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102635778A CN102357889A (en) | 2011-09-07 | 2011-09-07 | Spherical hinged connecting rod type double-degree-of-freedom finger root joint device |
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| Publication Number | Publication Date |
|---|---|
| CN102357889A true CN102357889A (en) | 2012-02-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102635778A Pending CN102357889A (en) | 2011-09-07 | 2011-09-07 | Spherical hinged connecting rod type double-degree-of-freedom finger root joint device |
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| CN (1) | CN102357889A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903710A (en) * | 2017-05-09 | 2017-06-30 | 北京理工大学 | A kind of humanoid dextrous hand base joint mechanism |
| JP2017164831A (en) * | 2016-03-14 | 2017-09-21 | Thk株式会社 | Hand mechanism |
| CN109481104A (en) * | 2018-12-11 | 2019-03-19 | 安阳工学院 | A kind of three sections gearing artificial limb finger |
| CN109620487A (en) * | 2019-02-19 | 2019-04-16 | 上海理工大学 | A kind of artificial limb thumb mechanism |
| CN111673779A (en) * | 2020-05-26 | 2020-09-18 | 深圳市优必选科技股份有限公司 | Thumb structure and robot |
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| CN101244563A (en) * | 2008-02-23 | 2008-08-20 | 中国科学院合肥物质科学研究院 | Manipulator for imitating human hand household service |
| CN101570024A (en) * | 2009-06-16 | 2009-11-04 | 清华大学 | Thumb two-freedom root joint device |
| US20110067518A1 (en) * | 2009-09-18 | 2011-03-24 | Samsung Electronics Co., Ltd. | Robot actuator and humanoid robot having the same |
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2011
- 2011-09-07 CN CN2011102635778A patent/CN102357889A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09225882A (en) * | 1996-02-19 | 1997-09-02 | Plus Eng:Kk | Turning device for chuck in robot arm |
| CN2297594Y (en) * | 1997-05-16 | 1998-11-18 | 乐树祥 | Head guide screw tilting mechanism |
| CN2566728Y (en) * | 2002-05-23 | 2003-08-20 | 袁树龙 | Mechanical model |
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| US20110067518A1 (en) * | 2009-09-18 | 2011-03-24 | Samsung Electronics Co., Ltd. | Robot actuator and humanoid robot having the same |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017164831A (en) * | 2016-03-14 | 2017-09-21 | Thk株式会社 | Hand mechanism |
| WO2017159504A1 (en) * | 2016-03-14 | 2017-09-21 | Thk株式会社 | Hand mechanism |
| CN106903710A (en) * | 2017-05-09 | 2017-06-30 | 北京理工大学 | A kind of humanoid dextrous hand base joint mechanism |
| CN109481104A (en) * | 2018-12-11 | 2019-03-19 | 安阳工学院 | A kind of three sections gearing artificial limb finger |
| CN109620487A (en) * | 2019-02-19 | 2019-04-16 | 上海理工大学 | A kind of artificial limb thumb mechanism |
| CN111673779A (en) * | 2020-05-26 | 2020-09-18 | 深圳市优必选科技股份有限公司 | Thumb structure and robot |
| CN111673779B (en) * | 2020-05-26 | 2021-12-17 | 深圳市优必选科技股份有限公司 | Thumb structure and robot |
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Application publication date: 20120222 |