CN104626198B - Transmission assembly and humanoid manipulator provided with same - Google Patents
Transmission assembly and humanoid manipulator provided with same Download PDFInfo
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- CN104626198B CN104626198B CN201410809967.4A CN201410809967A CN104626198B CN 104626198 B CN104626198 B CN 104626198B CN 201410809967 A CN201410809967 A CN 201410809967A CN 104626198 B CN104626198 B CN 104626198B
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Abstract
The invention discloses a transmission assembly and a humanoid manipulator provided with the same, wherein the transmission assembly comprises a hollow first transmission flexible shaft and a plurality of hollow second transmission flexible shafts, the inner diameter of the first transmission flexible shaft is larger than the outer diameter of the second transmission flexible shafts, and the plurality of second transmission flexible shafts are simultaneously penetrated in the first transmission flexible shafts; and a third transmission flexible shaft or a pull cable is arranged in the second transmission flexible shaft. The invention adopts a mode of nesting the hollow transmission flexible shafts in multiple layers, and solves the problems of complex structure and large occupied space of a control system caused by independent use of a plurality of guys in the prior art. According to the humanoid manipulator, the joints are controlled by the multi-layer nested transmission flexible shafts and the inhaul cables, so that the control efficiency is improved, and the space is saved. In addition, the hollow flexible shaft is adopted to control the movement of the joint, and the rotation or swing of the joint can be controlled while the joint is pulled to be bent and stretched axially.
Description
Technical Field
The invention relates to the technical field of intelligent robot machinery, in particular to a transmission assembly and a humanoid manipulator provided with the transmission assembly.
Background
In the prior art, fingers of a hand of a robot are controlled to bend and extend by advancing a motor or a pull cable, and the motor drive and a gear mechanism occupy a large space, so that the robot hand driven by the motor is extremely heavy, the degree of freedom of the fingers is low, and the flexibility is poor. In addition, the robot hand controlled by the guy cables has more finger joints, generally, one guy cable can only control the degree of freedom of one joint independently, and if one guy cable controls the bending and stretching of the finger joint, the left and right swinging of the finger joint can not be controlled any more, so that a great number of guy cables need to be configured to manufacture a multi-degree-of-freedom humanoid robot hand through the prior art, and due to the friction effect among the guy cables, certain energy needs to be additionally consumed to pull each guy cable to compensate the friction loss among the guy cables.
Disclosure of Invention
In view of the above, one of the objectives of the present invention is to provide a transmission assembly, which has features of greatly saving transmission space, and at the same time, can transmit not only the pulling force in the axial direction, but also the torque force, and is suitable for being used on a humanoid robot. One of the objects of the present invention is to provide a humanoid robot hand which has a very high degree of freedom and can perform functions similar to those of a human hand, although the robot hand has a simple structure.
One of the objects of the present invention is solved by the following technical means:
the transmission assembly comprises a hollow first transmission flexible shaft and a plurality of hollow second transmission flexible shafts, wherein the inner diameter of the first transmission flexible shaft is larger than the outer diameter of the second transmission flexible shafts, and the second transmission flexible shafts are simultaneously arranged in the first transmission flexible shaft in a penetrating manner; the second transmission flexible shaft is internally provided with a pull rope, and the lengths of the pull rope, the second transmission flexible shaft and the first transmission flexible shaft are sequentially reduced. Of course, a third transmission flexible shaft can also be arranged in the second transmission flexible shaft in a penetrating way, and the inhaul cable is arranged in the third transmission flexible shaft.
The motor is characterized by further comprising two motors which respectively drive the first transmission flexible shaft and the second transmission flexible shaft to rotate, wherein two ends of the second transmission flexible shaft extend out of two ends of the first transmission flexible shaft, the respective ends of the first transmission flexible shaft and the second transmission flexible shaft are respectively and coaxially provided with a gear, and the motor is meshed with the gear on the first transmission flexible shaft or the second transmission flexible shaft by arranging another gear on the output shaft.
The device further comprises a control part which stirs the first transmission flexible shaft or the second transmission flexible shaft to move upwards in the axial direction; when the first transmission flexible shaft and the second transmission flexible shaft move axially, the gears on the first transmission flexible shaft and the second transmission flexible shaft are in sliding fit with the gear on the motor output shaft and are always kept in a meshed state.
Further, gears on the first transmission flexible shaft and the second transmission flexible shaft are respectively and coaxially provided with a shaft rod, and the respective ends of the first transmission flexible shaft and the second transmission flexible shaft are fixedly connected with the shaft rods; the shaft lever is characterized by further comprising a fixing sleeve sleeved on the shaft lever, and the fixing sleeve is in sliding fit with the shaft lever in the axial direction.
The second purpose of the present invention is solved by the following technical means:
the human-simulated manipulator comprises a wrist, a palm and a plurality of fingers with a plurality of joints, wherein two sets of transmission assemblies are arranged, the end parts of first transmission flexible shafts of the two sets of transmission assemblies respectively pass through the wrist from the lower part and the upper part of the wrist and are correspondingly and fixedly connected with the lower part and the upper part of the palm, a plurality of second transmission flexible shafts respectively extend into the first transmission flexible shafts from the second transmission flexible shafts and are fixedly connected with the roots of the fingers on the corresponding side, and pull cables extend into the second transmission flexible shafts and are fixedly connected with the roots of the next joints of the fingers.
The invention has the beneficial effects that:
1. the transmission assembly comprises a hollow first transmission flexible shaft and a plurality of hollow second transmission flexible shafts, wherein the inner diameter of the first transmission flexible shaft is larger than the outer diameter of the second transmission flexible shafts, and the second transmission flexible shafts are simultaneously arranged in the first transmission flexible shaft in a penetrating manner; and a third transmission flexible shaft or a pull cable is arranged in the second transmission flexible shaft. The invention adopts a mode of nesting the hollow transmission flexible shafts in multiple layers, and solves the problems of complex structure and large occupied space of a control system caused by independent use of a plurality of guys in the prior art.
2. According to the humanoid manipulator, each joint is jointly controlled by the multi-layer nested transmission flexible shaft and the inhaul cable, so that the control efficiency is improved. In addition, the hollow flexible shaft is adopted to control the movement of the joint, and the rotation or swing of the joint can be controlled while the joint is pulled to be bent and stretched axially.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a perspective view of a transmission assembly according to the present invention;
FIG. 2 is a schematic view of the end of the transmission assembly of the present invention having a control member;
figure 3 is a side cross-sectional view of a humanoid manipulator of the invention.
Detailed Description
The invention will be described in detail below with reference to the following drawings:
EXAMPLE 1 Transmission Assembly
As shown in fig. 1 and 2: the transmission assembly in the embodiment comprises a hollow first transmission flexible shaft 1, a plurality of hollow second transmission flexible shafts 2 and a plurality of motors 9 which respectively drive the first transmission flexible shaft 1 and the second transmission flexible shafts 2 to rotate, wherein the inner diameter of the first transmission flexible shaft 1 is larger than the outer diameter of the second transmission flexible shafts 2, and the plurality of second transmission flexible shafts 2 are simultaneously penetrated in the first transmission flexible shaft 1; the inside of second transmission flexible axle 2 is provided with cable 3, the length of cable 3, second transmission flexible axle 2, first transmission flexible axle 1 reduces in proper order, the both ends of second transmission flexible axle 2 are stretched out from the both ends of first transmission flexible axle 1, first transmission flexible axle 1 and the respective tip of second transmission flexible axle 2 are coaxial respectively and are provided with a gear 8, motor 9 is through setting up the gear 8 meshing on another gear and first transmission flexible axle 1 or second transmission flexible axle 2 on the output shaft. The invention adopts a mode of nesting the hollow transmission flexible shafts in multiple layers, and solves the problems of complex structure and large occupied space of a control system caused by independent use of a plurality of guys in the prior art.
As a further improvement of the above technical solution, the device further comprises a control component for shifting the first transmission flexible shaft 1 or the second transmission flexible shaft 2 to move upward in the axial direction, wherein the control component can be a shifting fork 12 as shown in fig. 2, and certainly can also be a connecting rod or a control cable hinged with the first transmission flexible shaft 1 or the second transmission flexible shaft 2; when the first transmission flexible shaft 1 and the second transmission flexible shaft 2 move upwards in the axial direction under the control of the control part, the gears 8 on the first transmission flexible shaft 1 and the second transmission flexible shaft 2 are in sliding fit with the gears on the output shafts of the motors 9 and are always kept in a meshed state. Specifically, the thickness difference between the gear 8 on the first transmission flexible shaft 1 and the second transmission flexible shaft 2 and the gear on the output shaft of the motor 9 can be increased, so that the two gears can always keep a meshed state when sliding relatively in the axial direction.
As a further improvement of the above technical solution, the gears 8 on the first transmission flexible shaft 1 and the second transmission flexible shaft 2 are respectively and coaxially provided with a shaft rod 10, and the respective ends of the first transmission flexible shaft 1 and the second transmission flexible shaft 2 are fixedly connected with the shaft rods 10; the shaft lever structure further comprises a fixing sleeve 11 sleeved on the shaft lever 10, and the fixing sleeve 11 is in sliding fit with the shaft lever 10 in the axial direction. The relative movement of the gears is made smoother by the provision of the shaft 10 and the fixed sleeve 11, so that accurate meshing can be maintained during the relative movement of the gears.
Example 2 humanoid manipulator
As shown in fig. 3: the human-simulated manipulator in the embodiment comprises a wrist 4, a palm 5 and a plurality of fingers 6 with a plurality of joints, wherein the transmission assemblies are provided with two sets, the end parts of first transmission flexible shafts 1 of the two sets of transmission assemblies are respectively fixedly connected with the lower part and the upper part of the palm 5 after passing through the wrist 4 from the lower part and the upper part of the wrist 4, and a plurality of second transmission flexible shafts 2 respectively extend into the first transmission flexible shafts 1 from the second transmission flexible shafts and are fixedly connected with the roots of the fingers on the corresponding side; the pull rope 3 extends out of the third transmission flexible shaft 7 and is fixedly connected with the root of the next joint of the finger. When the arm of the manipulator is made by imitating the skeleton of the forearm, the internal and external rotation functions of the wrist can be realized by rotating the two first transmission flexible shafts at the upper part and the lower part of the wrist, the buckling function of the palm can be realized by respectively stretching the two first transmission flexible shafts at the upper part and the lower part of the wrist, the buckling function of the finger joint can be realized by respectively pulling the second transmission flexible shaft and the third transmission flexible shaft, and the left-right swinging of the finger can also be realized by rotating the second transmission flexible shaft.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (4)
1. A drive assembly, characterized by: the transmission device comprises a hollow first transmission flexible shaft (1) and a plurality of hollow second transmission flexible shafts (2), wherein the inner diameter of the first transmission flexible shaft (1) is larger than the outer diameter of the second transmission flexible shafts (2), and the plurality of second transmission flexible shafts (2) are simultaneously arranged in the first transmission flexible shaft (1) in a penetrating manner; a guy cable (3) is arranged inside the second transmission flexible shaft (2), and the lengths of the guy cable (3), the second transmission flexible shaft (2) and the first transmission flexible shaft (1) are sequentially reduced; still include two motors (9) that drive first transmission flexible axle (1) and second transmission flexible axle (2) respectively and rotate, the both ends of second transmission flexible axle (2) are stretched out from the both ends of first transmission flexible axle (1), first transmission flexible axle (1) and second transmission flexible axle (2) respective tip is coaxial respectively is provided with a gear (8), motor (9) are through setting up another gear and gear (8) meshing on first transmission flexible axle (1) or second transmission flexible axle (2) on the output shaft.
2. The drive assembly of claim 1, wherein: the device also comprises a control part for shifting the first transmission flexible shaft (1) or the second transmission flexible shaft (2) to move upwards in the axial direction; when the first transmission flexible shaft (1) and the second transmission flexible shaft (2) move upwards axially, the gears (8) on the first transmission flexible shaft (1) and the second transmission flexible shaft (2) are in sliding fit with the gears on the output shaft of the motor (9) and always keep a meshed state.
3. The drive assembly of claim 2, wherein: gears (8) on the first transmission flexible shaft (1) and the second transmission flexible shaft (2) are respectively and coaxially provided with a shaft lever (10), and the respective ends of the first transmission flexible shaft (1) and the second transmission flexible shaft (2) are fixedly connected with the shaft lever (10); the shaft lever fixing device is characterized by further comprising a fixing sleeve (11) sleeved on the shaft lever (10), wherein the fixing sleeve (11) is in sliding fit with the shaft lever (10) in the axial direction.
4. A humanoid robot equipped with a transmission assembly as claimed in any one of claims 1 to 3, characterized in that: including wrist (4), palm (5) and a plurality of finger (6) that have a plurality of joints, drive assembly is provided with two sets, the tip of two sets of drive assembly's first drive flexible axle (1) is respectively by the lower part and the upper portion of wrist (4) behind wrist (4), correspondingly with the lower part and the upper portion fixed connection of palm (5), many second drive flexible axles (2) stretch into respectively from respective first drive flexible axle (1) with the finger root fixed connection who corresponds the side, cable (3) stretch into from many second drive flexible axles (2) with the root fixed connection of finger next joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410809967.4A CN104626198B (en) | 2014-12-24 | 2014-12-24 | Transmission assembly and humanoid manipulator provided with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410809967.4A CN104626198B (en) | 2014-12-24 | 2014-12-24 | Transmission assembly and humanoid manipulator provided with same |
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| Publication Number | Publication Date |
|---|---|
| CN104626198A CN104626198A (en) | 2015-05-20 |
| CN104626198B true CN104626198B (en) | 2020-01-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410809967.4A Active CN104626198B (en) | 2014-12-24 | 2014-12-24 | Transmission assembly and humanoid manipulator provided with same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113731868B (en) * | 2021-08-26 | 2023-10-24 | 天地（常州）自动化股份有限公司 | Pusher dog for sorting coal gangue and gangue sorting method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2696783Y (en) * | 2004-01-30 | 2005-05-04 | 江南大学 | Pneumatic flexible freedom restricted mechanical finger |
| CN201029316Y (en) * | 2007-06-01 | 2008-03-05 | 杨建国 | Fruit picking device |
| CN101204815A (en) * | 2007-04-27 | 2008-06-25 | 北京理工大学 | Seven degrees of freedom copy man arm of air-powered artificial muscle drive |
| CN101332603A (en) * | 2008-07-24 | 2008-12-31 | 东南大学 | Lasso transmission mechanical arm |
| CN203092542U (en) * | 2013-01-23 | 2013-07-31 | 孙哲 | Simple mechanical arm |
| JP2013181271A (en) * | 2012-02-29 | 2013-09-12 | GM Global Technology Operations LLC | Human grasp assist device with exoskeleton |
-
2014
- 2014-12-24 CN CN201410809967.4A patent/CN104626198B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2696783Y (en) * | 2004-01-30 | 2005-05-04 | 江南大学 | Pneumatic flexible freedom restricted mechanical finger |
| CN101204815A (en) * | 2007-04-27 | 2008-06-25 | 北京理工大学 | Seven degrees of freedom copy man arm of air-powered artificial muscle drive |
| CN201029316Y (en) * | 2007-06-01 | 2008-03-05 | 杨建国 | Fruit picking device |
| CN101332603A (en) * | 2008-07-24 | 2008-12-31 | 东南大学 | Lasso transmission mechanical arm |
| JP2013181271A (en) * | 2012-02-29 | 2013-09-12 | GM Global Technology Operations LLC | Human grasp assist device with exoskeleton |
| CN203092542U (en) * | 2013-01-23 | 2013-07-31 | 孙哲 | Simple mechanical arm |
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| Publication number | Publication date |
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| CN104626198A (en) | 2015-05-20 |
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Effective date of registration: 20191223 Address after: 400061 Chongqing Nanan District Jiangnan Avenue No. 12 Yixiangcheng Digital Commercial Street UG floor Creative Space W4 Applicant after: Chongqing Hua Jinwang Science and Technology Development Co., Ltd. Address before: Chongqing city Bishan County Road 402700 comb No. 22 unit 2 5-2 Applicant before: BISHAN BRANCH, CHONGQING HUAJINWANG TECHNOLOGY DEVELOPMENT CO., LTD. |
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Effective date of registration: 20200609 Address after: 314500 Room 401, unit 1, building 2, zitanyuan, 338 Yuanming Road, Wutong street, Tongxiang City, Jiaxing City, Zhejiang Province Patentee after: Jiaxing jinlvyan Technology Co.,Ltd. Address before: 400061 Chongqing Nanan District Jiangnan Avenue No. 12 Yixiangcheng Digital Commercial Street UG floor Creative Space W4 Patentee before: CHONGQING HUAJINWANG TECHNOLOGY DEVELOPMENT Co.,Ltd. |
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