CN106272493A - A kind of mechanical hand rotational structure - Google Patents
A kind of mechanical hand rotational structure Download PDFInfo
- Publication number
- CN106272493A CN106272493A CN201610795461.1A CN201610795461A CN106272493A CN 106272493 A CN106272493 A CN 106272493A CN 201610795461 A CN201610795461 A CN 201610795461A CN 106272493 A CN106272493 A CN 106272493A
- Authority
- CN
- China
- Prior art keywords
- gear
- box
- mechanical hand
- rotational structure
- upper cover
- 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
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Classifications
-
- 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
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Present invention is disclosed a kind of mechanical hand rotational structure, belong to mechanical hand field.It solve the problem that existing manipulator control difficulty is high, it includes two rotary joints, two swing pinions, fixing joint, idler gear, drive gear, gear-box and driving means, gear-box includes upper cover and lower cover, upper cover and lower cover fasten and form a receiving chamber, two swing pinions, idler gear and driving pinion rotation are arranged on receiving intracavity, gear and idler gear is driven to engage each other, and drive gear and idler gear to be engaged with a swing pinion respectively, gear is driven to be in transmission connection with driving means, driving means is arranged on the downside of lower cover, swing pinion extends up through upper cover and connects rotary joint, on cover and be additionally provided with fixing joint.
Description
Technical field
The present invention relates to mechanical hand field, particularly to a mechanical hand rotational structure.
Background technology
Mechanical hand is some holding function that can imitate staff or arm, including by fixed routine capture, carrying object or
Operation instruments etc., therefore, the heavy labor of the alternative people of mechanical hand is to realize the mechanization and the automatization that produce, moreover it is possible to harmful
Operate to protect personal safety under environment, thus be widely used in the fields such as machine-building, electronics and chemical industry.
The most most of mechanical hands have multiple finger and joint at present, and each finger has the individually division of labor, therefore
Need to input one by one programme-control, add control difficulty.
Summary of the invention
Present invention is primarily targeted at and provide a kind of compact conformation, low cost, and reduce the machinery controlling difficulty
Hand-screw rotation structure.
For reaching object above, the invention provides a kind of mechanical hand rotational structure, including two rotary joints, two rotary teeths
Wheel, fixing joint, idler gear, driving gear, gear-box and driving means, described gear-box includes upper cover and lower cover, described
Upper cover and described lower cover fasten and form a receiving chamber, swing pinion, described idler gear and described driving pinion rotation described in two
Being arranged on described receiving intracavity, described driving gear and described idler gear engage each other, and described driving gear and described in
Between gear be engaged with swing pinion described in respectively, described swing pinion extend up through described upper cover connect described rotate close
Joint, described on cover and be additionally provided with described fixing joint, described driving gear is in transmission connection with driving means, described driving means
Being arranged on the downside of described lower cover, described driving means drives rotary joint synchronous axial system described in two, and this rotary joint described in two
Rotate the most in the opposite direction.
In one embodiment, also including two first straight pins and one second straight pin, described swing pinion is set in institute
State outside the first straight pin, and described first straight pin be fixed on described under cover；Described idler gear is set in described second circle
Outside pin, described second straight pin two ends connect described upper cover and described lower cover respectively.
In one embodiment, described swing pinion upwardly extends formation round platform, described on cover and be provided with and described circle
The circular hole that platform coordinates, described rotary joint is fixed on described round platform by securing member.
In one embodiment, the cross section of described gear-box is triangular in shape, and three angles are arc transition.
In one embodiment, described upper cover shape of cross section, described lower cover shape of cross section and described receiving chamber are transversal
Face shape is similar to described gear-box shape of cross section respectively.
In one embodiment, the cross section isosceles triangle of described gear-box shape.
In one embodiment, described driving gear and described idler gear lay respectively at the two of described gear-box axis of symmetry
On rear side of side, and described driving gear and it is engaged with a swing pinion respectively on rear side of described idler gear.
In one embodiment, described fixing joint is fixed on described gear-box by securing member, and described fixing pass
Joint is near the side of described gear-box drift angle, and swing pinion described in two is close to the side on described gear-box base, and described in two
Swing pinion is symmetricly set on the both sides of described gear-box axis of symmetry.
In one embodiment, described driving means is steering wheel.
In one embodiment, the output shaft of described steering wheel being provided with substrate, described driving gear is solid by securing member
Determine on the substrate.
According to preferred embodiment, the invention provides following advantage:
(1) present invention passes through two rotary joints and a fixing joint, can control according to the size and shape capturing thing
The anglec of rotation, in order to expand the scope captured and reduce the difficulty captured；
(2) steering wheel and the rotary joint of the present invention is connected by gear drive, simple in construction and compact, reduces and produces into
Originally with control difficulty.
The present invention is further illustrated below in conjunction with drawings and Examples.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of mechanical hand rotational structure of the present invention；
Fig. 2 is the top view of mechanical hand rotational structure of the present invention；
Fig. 3 be in Fig. 2 along A-A to sectional view；
Fig. 4 be in Fig. 3 along B-B to sectional view；
Fig. 5 be in Fig. 4 along C-C to sectional view；
Fig. 6 is the explosive view that upper cover of the present invention, the first swing pinion and the second swing pinion coordinate.
Detailed description of the invention
Hereinafter describe and be used for disclosing the present invention so that those skilled in the art are capable of the present invention.Below describe in excellent
Select embodiment to be only used as citing, it may occur to persons skilled in the art that other obviously deform.Define in the following description
The ultimate principle of the present invention can apply to other embodiments, deformation program, improvement project, equivalent and the not back of the body
Other technologies scheme from the spirit and scope of the present invention.
See Fig. 1 to Fig. 6, it is shown that according to the mechanical hand rotational structure described in the preferred embodiment of the present invention, including two rotations
Turn joint 5, two swing pinion 7, two first straight pin 11, fixing joint the 4, second straight pin 15, idler gear 9, drive gear
8, gear-box 1 and driving means 10, gear-box 1 includes that upper cover 2 and lower cover 3, upper cover 2 and lower cover 3 fasten and forms a receiving chamber 6,
As preferably, the cross section of gear-box 1 is isosceles triangle, and three angles are arc transition, but is not limited to this, wherein,
Accommodate chamber 6 shape of cross section, upper cover 2 shape of cross section and lower cover 3 shape of cross section respectively with gear-box 1 shape of cross section phase
Seemingly, two swing pinions 7, idler gear 9 and driving gear 8 rotate and are arranged in receiving chamber 6, wherein, and idler gear 9 and driving tooth
Wheel 8 engages each other, and lays respectively at the both sides accommodating chamber 6 axis of symmetry, also distinguishes on rear side of idler gear 9 and on rear side of driving gear 8
Being engaged with a swing pinion 7, two swing pinions 7 are symmetricly set on the both sides accommodating chamber 6 axis of symmetry, and two swing pinions 7 all lean on
The nearly side accommodating base, chamber 6.
In the present embodiment, swing pinion 7 is set in outside the first straight pin 11, and the first straight pin 11 is fixed on lower cover 3,
Make swing pinion 7 can rotate around the first straight pin 11.Idler gear 9 is set in outside the second straight pin 15, the second straight pin
15 two ends connect upper cover 2 and lower cover 3 respectively, make idler gear 9 can rotate around the second straight pin 15.Driving means 10 is rudder
Machine, steering wheel is arranged on the downside of lower cover 3, and is arranged with substrate 12 on the output shaft of steering wheel, drives gear 8 to be fixed by securing member
On the substrate 12, steering wheel driving gear 8 is driven to rotate.
In the present embodiment, swing pinion 7 upper end is provided with round platform 14, and upper cover 2 is provided with the circle coordinated with round platform 14
Hole 13, round platform 14 connects rotary joint 5 through circular hole 13, and rotary joint 5 is fixed on round platform 14 by securing member, therefore, two
Rotary joint 5 is close to the side on gear-box 1 base, and is symmetricly set on the both sides of gear-box 1 axis of symmetry, and fixing joint 4 leads to
Cross securing member to be fixed on upper cover 2, and fixing joint 4 is positioned at the side of gear-box 1 drift angle.Wherein, two rotary joints 5 can basis
The size and shape capturing object controls the anglec of rotation, in order to expands the scope captured and reduces the difficulty captured.
Operation principle: with reference to Fig. 4, steering wheel 11 drives and drives gear 8 to rotate forward, drives gear 8 to rotate forward and refer to
Just rotate counterclockwise in the case of steering wheel 11 output shaft end face, drive gear 8 to drive swing pinion 7 He engaged respectively
Idler gear 9 rotates backward, and idler gear 9 drives the swing pinion 7 engaged to rotate forward, therefore, and this two swing pinion 7
Synchronous axial system, and rotate the most in the opposite direction.Based on foregoing description, those skilled in the art should understand that steering wheel 11 drives and drive
After moving gear 8 rotates backward, make two swing pinions 7 rotate the most in the opposite direction, therefore be not described in detail in this.
Embodiment described above is merely to illustrate technological thought and the feature of the present invention, in its object is to make this area
Technical staff will appreciate that present disclosure and implement according to this, it is impossible to only limit the patent model of the present invention with the present embodiment
Enclose employing, the most all equal changes made according to disclosed spirit or modification, still fall in the scope of the claims of the present invention.
Claims (10)
1. a mechanical hand rotational structure, it is characterised in that include two rotary joints (5), two swing pinions (7), fixing joint
(4), idler gear (9), driving gear (8), gear-box (1) and driving means (10), described gear-box (1) includes upper cover (2)
With lower cover (3), described upper cover (2) and described lower cover (3) fasten and form receiving chamber (6), swing pinion described in two (7), described
Idler gear (9) and described driving gear (8) rotate and are arranged in described receiving chamber (6), described driving gear (8) and described in
Between gear (9) engage each other, and described driving gear (8) and described idler gear (9) are engaged with swing pinion described in respectively
(7), described swing pinion (7) extends up through described upper cover (2) and connects described rotary joint (5), and described upper cover (2) is upper also
Being provided with described fixing joint (4), described driving gear (8) is in transmission connection with driving means (10), described driving means (10)
Being arranged on described lower cover (3) downside, described driving means (10) drives rotary joint (5) synchronous axial system described in two, and this two institute
State rotary joint (5) to rotate the most in the opposite direction.
2. mechanical hand rotational structure as claimed in claim 1, it is characterised in that also include two first straight pins (11) and one the
Two straight pins (15), described swing pinion (7) is set in described first straight pin (11) outward, and described first straight pin (11) is solid
It is scheduled on described lower cover (3)；Described idler gear (9) is set in described second straight pin (15) outward, described second straight pin
(15) two ends connect described upper cover (2) and described lower cover (3) respectively.
3. mechanical hand rotational structure as claimed in claim 1, it is characterised in that described swing pinion (7) upwardly extends formation
Round platform (14), described upper cover (2) is provided with the circular hole (13) coordinated with described round platform (14), and described rotary joint (5) passes through
Securing member is fixed on described round platform (14).
4. mechanical hand rotational structure as claimed in claim 1, it is characterised in that the cross section of described gear-box (1) is triangle
Shape, and three angles are arc transition.
5. mechanical hand rotational structure as claimed in claim 4, it is characterised in that described upper cover (2) shape of cross section, described under
Lid (3) shape of cross section is similar to described gear-box (1) shape of cross section respectively with described receiving chamber (6) shape of cross section.
6. mechanical hand rotational structure as claimed in claim 5, it is characterised in that the cross section of described gear-box (1) is isosceles
Triangle.
7. mechanical hand rotational structure as claimed in claim 6, it is characterised in that described driving gear (8) and described center tooth
Wheel (9) lays respectively on rear side of the both sides of described gear-box (1) axis of symmetry, and described driving gear (8) and described idler gear (9)
Rear side is engaged with a swing pinion (7) respectively.
8. mechanical hand rotational structure as claimed in claim 7, it is characterised in that described fixing joint (4) is solid by securing member
It is scheduled on described gear-box (1), and described fixing joint (4) is near the side of described gear-box (1) drift angle, rotary teeth described in two
Wheel (7) is close to the side on described gear-box (1) base, and swing pinion described in two (7) is symmetricly set on described gear-box (1)
The both sides of axis of symmetry.
9. mechanical hand rotational structure as claimed in claim 8, it is characterised in that described driving means (10) is steering wheel.
10. mechanical hand rotational structure as claimed in claim 9, it is characterised in that be provided with base on the output shaft of described steering wheel
Plate (12), described driving gear (8) is fixed on described substrate (12) by securing member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795461.1A CN106272493A (en) | 2016-08-31 | 2016-08-31 | A kind of mechanical hand rotational structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610795461.1A CN106272493A (en) | 2016-08-31 | 2016-08-31 | A kind of mechanical hand rotational structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106272493A true CN106272493A (en) | 2017-01-04 |
Family
ID=57673905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610795461.1A Pending CN106272493A (en) | 2016-08-31 | 2016-08-31 | A kind of mechanical hand rotational structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106272493A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894832A (en) * | 2021-11-08 | 2022-01-07 | 北京理工大学 | Three-finger rope-driven dexterous hand |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003275984A (en) * | 2001-11-09 | 2003-09-30 | Korea Inst Of Science & Technology | Robot hand and robot hand finger |
| US20140132018A1 (en) * | 2012-11-09 | 2014-05-15 | Irobot Corporation | Compliant Underactuated Grasper |
| CN104053526A (en) * | 2012-01-17 | 2014-09-17 | 精工爱普生株式会社 | Robotic hand and robotic device |
| CN104999470A (en) * | 2015-03-13 | 2015-10-28 | 山东科技大学 | All-driving three-finger ingenious mechanical arm |
| CN205009250U (en) * | 2015-09-11 | 2016-02-03 | 山东科技大学 | Indicate dexterous hand more based on link mechanism |
| CN105364935A (en) * | 2015-12-08 | 2016-03-02 | 哈尔滨工业大学 | Three-finger three-degree-of-freedom configuration robot gripper |
| CN105522587A (en) * | 2016-02-03 | 2016-04-27 | 中国科学院自动化研究所 | Bionic three-finger manipulator |
| CN205238068U (en) * | 2015-11-10 | 2016-05-18 | 山东科技大学 | It indicates dexterous hand to drive three entirely based on gear drive |
| CN105710878A (en) * | 2016-04-29 | 2016-06-29 | 深圳博美德机器人股份有限公司 | Mechanical gripper |
-
2016
- 2016-08-31 CN CN201610795461.1A patent/CN106272493A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003275984A (en) * | 2001-11-09 | 2003-09-30 | Korea Inst Of Science & Technology | Robot hand and robot hand finger |
| CN104053526A (en) * | 2012-01-17 | 2014-09-17 | 精工爱普生株式会社 | Robotic hand and robotic device |
| US20140132018A1 (en) * | 2012-11-09 | 2014-05-15 | Irobot Corporation | Compliant Underactuated Grasper |
| CN104999470A (en) * | 2015-03-13 | 2015-10-28 | 山东科技大学 | All-driving three-finger ingenious mechanical arm |
| CN205009250U (en) * | 2015-09-11 | 2016-02-03 | 山东科技大学 | Indicate dexterous hand more based on link mechanism |
| CN205238068U (en) * | 2015-11-10 | 2016-05-18 | 山东科技大学 | It indicates dexterous hand to drive three entirely based on gear drive |
| CN105364935A (en) * | 2015-12-08 | 2016-03-02 | 哈尔滨工业大学 | Three-finger three-degree-of-freedom configuration robot gripper |
| CN105522587A (en) * | 2016-02-03 | 2016-04-27 | 中国科学院自动化研究所 | Bionic three-finger manipulator |
| CN105710878A (en) * | 2016-04-29 | 2016-06-29 | 深圳博美德机器人股份有限公司 | Mechanical gripper |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894832A (en) * | 2021-11-08 | 2022-01-07 | 北京理工大学 | Three-finger rope-driven dexterous hand |
| CN113894832B (en) * | 2021-11-08 | 2023-03-14 | 北京理工大学 | Three-finger rope-driven dexterous hand |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |