CN107351105A - Robot delicate finger-joint gear coupling drive mechanism - Google Patents
Robot delicate finger-joint gear coupling drive mechanism Download PDFInfo
- Publication number
- CN107351105A CN107351105A CN201710819677.1A CN201710819677A CN107351105A CN 107351105 A CN107351105 A CN 107351105A CN 201710819677 A CN201710819677 A CN 201710819677A CN 107351105 A CN107351105 A CN 107351105A
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- China
- Prior art keywords
- gear
- spur gear
- joint
- finger
- idler
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Classifications
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robot delicate finger-joint gear coupling drive mechanism, and it is related to a kind of transmission mechanism of robot finger.The present invention solves the problems, such as that sports coordination when existing coupled transmission mechanism has complicated, poor reliability, digital flexion is poor, is easy to coupling gap occur.The fixed spur gear, idler gear are identical with the modulus of driven spur gear, and fixed spur gear is identical with the number of teeth of driven spur gear, and idler gear engages simultaneously with fixed spur gear, driven spur gear；Fixed spur gear is sleeved on the flexbile gear of harmonic speed reducer, and idler gear is arranged in idler gear support shaft, and driven spur gear is arranged on the one-dimensional torque sensor of finger tip.The present invention realizes in the same direction accurate the 1 of middle joint and end joint：The coupled motions of 1 angle, have that sports coordination when simple in construction, good reliability, digital flexion is good, can transmit high-torque, the advantages of coupled motions gap is small.
Description
Technical field
The present invention relates to a kind of transmission mechanism of robot finger.
Background technology
An important branch of the robot delicate technology as robot technology, by the development of decades, is achieved
Good achievement, be also born some representational Dextrous Hands in succession, and the progress of these Dextrous Hands is mainly reflected in mechanical knot
Structure, driving, sensing, integrated level and control etc..The Dextrous Hand succeeded in developing at present is mostly using the hand of similar human hand
Refer to free degree arrangement：Four joints, three degree of freedoms.Finger root has two joints (being collectively referred to as base joint), two frees degree,
Realize the bending and side-sway motion of finger；Finger part has two joints, ones degree of freedom, and two joints of finger part pass through machine
Structure coupled motions.But the coupled transmission mechanism of existing robot delicate finger-joint, such as connecting rod, steel wire realization coupling fortune
Dynamic structure, there is sports coordination when complicated, poor reliability, digital flexion it is poor, be easy to occur between coupled drive
The problems such as gap.
The content of the invention
The present invention is in order to solve fortune when existing coupled transmission mechanism has complicated, poor reliability, digital flexion
Dynamic inaccurate coordination, it is easy to the problem of coupling gap occur, and then provides a kind of robot delicate finger-joint gear coupling
Transmission mechanism.
The present invention solves the technical scheme that above-mentioned technical problem uses：Gear coupling drive mechanism of the present invention is by solid
Determine spur gear, idler gear, driven spur gear, idler gear support shaft composition, the fixed spur gear, idler gear with it is driven
The modulus of spur gear is identical, and fixed spur gear is identical with the number of teeth of driven spur gear, idler gear respectively with fixation spur gear and
Driven spur gear engages simultaneously；Fixed spur gear is sleeved on the flexbile gear of harmonic speed reducer, and the flexbile gear of harmonic speed reducer is with being located at
Driving member in middle finger joint is affixed, and fixed spur gear and the firm gear of harmonic speed reducer and first knuckle right side wall three are fixed in
Together, fixed spur gear and middle joint are coaxial, and idler gear support shaft is located in middle finger joint and its both ends is separately mounted to
On middle finger joint left side wall and middle finger joint right side wall, idler gear is arranged in idler gear support shaft, idler gear support
Axle passes through middle finger joint driving member, and driven spur gear is arranged on the one-dimensional torque sensor of finger tip, and driven spur gear closes with end
Section is coaxial.
The invention has the advantages that：The present invention realizes accurate 1: 1 jiao in the same direction of middle joint and end joint
The coupled motions of degree, have simple in construction, good reliability, digital flexion when sports coordination it is good, high-torque, coupling can be transmitted
The advantages of resultant motion gap is small, dexterous robot hands movement essence will be greatly improved using the present invention in robot clever hand finger
Degree, grasp accuracy.The diarticular coupled motions of finger are completed due to the engagement using gear so that the present invention has structure
The advantages of compact, stable movement, small noise, and cost is relatively low, it is easy to accomplish.
Brief description of the drawings
Fig. 1 is that the present invention is applied into the stereogram on finger-joint, and Fig. 2 is to apply the present invention on finger-joint
Main sectional view, Fig. 3 are the structural representations (reset condition) of gear coupling transmission principle, and Fig. 4 is gear coupling transmission principle
Structural representation (after the coupled motions of 1: 1 angle in the same direction in middle joint and end joint).
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Embodiment one：As shown in figures 1-4, the robot delicate finger-joint gear described in present embodiment
Coupled transmission mechanism is formed by fixing spur gear 10, idler gear 11, driven spur gear 12, idler gear support shaft 15, described
Fixed spur gear 10, idler gear 11 are identical with the modulus of driven spur gear 12, fixed spur gear 10 and driven spur gear 12
The number of teeth is identical, and idler gear 11 engages simultaneously with fixed spur gear 10 and driven spur gear 12 respectively；Fixed spur gear 10 is set with
On the flexbile gear 3-1 of harmonic speed reducer 3, the firm gear 3-3 and first knuckle right side wall 5- of fixed spur gear 10 and harmonic speed reducer 3
2 threes are fixed together, and fixed spur gear 10 is coaxial with middle joint 8 (axle refers to middle joint rotary shaft 13), middle
Gear support shaft 15 is located in middle finger joint 6 and its both ends is separately mounted on the right side of middle finger joint left side wall 6-1 and middle finger joint
On wall 6-2, idler gear 11 is arranged in idler gear support shaft 15, and idler gear support shaft 15 passes through middle finger joint driving member
4, driven spur gear 12 is arranged on the one-dimensional torque sensor 21 of finger tip, driven spur gear 12 and the coaxial (axle in end joint 9
Refer to end joint shaft 14).
The middle finger joint 6 is driving lever, is driven by motor 1 by drive bevel gear 2, harmonic speed reducer 3 etc., in
Between finger joint 6 drive idler gear 11, idler gear support shaft 15 and end joint 9 (the end joint of driven spur gear 12 to be housed
Axle 14) together rotated around middle joint 8 and fixed spur gear 10.
Embodiment two：As shown in figures 1-4, spur gear 10 and idler gear 11 are fixed described in present embodiment
Axial line distance is identical with the axial line distance of driven spur gear 12 and idler gear 11, is equal to the 1/2 of the middle length of finger joint 6.Its
It is formed and annexation is identical with embodiment one.
Embodiment three：As shown in figures 1-4, present embodiment is by finger-joint gear coupling of the present invention
Close one embodiment that transmission mechanism is arranged in robot clever hand finger：
Robot clever hand finger after the installation present invention mainly includes gear coupling drive mechanism (present invention), the first finger
Section 5, middle finger joint 6, end finger joint 7, middle joint 8, end joint 9, motor 1, drive bevel gear pair 2, harmonic reduction
Device 3, middle finger joint driving member 4, the one-dimensional torque sensor 21 of finger tip, the drive bevel gear pair 2 by small drive bevel gear 2-1 and
Big drive bevel gear 2-2 compositions, the gear coupling drive mechanism is by fixing spur gear 10, idler gear 11, driven spur gear
12nd, idler gear support shaft 15 forms, and the fixed spur gear 10, idler gear 11 are identical with the modulus of driven spur gear 12,
Fixed spur gear 10 is identical with the number of teeth of driven spur gear 12；The first knuckle 5 passes through in middle joint 8 with middle finger joint 6
Middle joint rotary shaft 13 be rotatablely connected, middle finger joint 6 and end finger joint 7 pass through the end joint shaft 14 in end joint 9
Rotation connection, described motor 1 is placed in first knuckle 5 and, small drive bevel gear affixed with first knuckle left side wall 5-1
2-1 is arranged on the output shaft of motor 1, and small drive bevel gear 2-1 engages with big drive bevel gear 2-2, is driven umbrella tooth greatly
Take turns in the middle joint rotary shaft 13 that 2-2 is arranged in middle joint 8, harmonic speed reducer 3 is arranged on middle joint rotary shaft 13
On, the firm gear 3-3 and first knuckle right side wall 5-2 affixed (flexbile gear 3-1 outputs) of harmonic speed reducer 3, middle finger joint driving member 4 is pacified
On harmonic speed reducer 3, the flexbile gear 3-1 of harmonic speed reducer 3 and the driving member 4 in middle finger joint 6 are affixed；Fixed straight-tooth
Wheel 10 is sleeved on the flexbile gear 3-1 of harmonic speed reducer 3, and fixed spur gear 10 passes through pin 20 and the firm gear 3-3 of harmonic speed reducer 3
Right side wall 5-2 three is fixed together with first knuckle, and idler gear support shaft 15 is located in middle finger joint 6 and its both ends is distinguished
On middle finger joint left side wall 6-1 and middle finger joint right side wall 6-2, idler gear 11 passes through the axle of clutch shaft bearing 18 and second
Hold 19 to be arranged in idler gear support shaft 15, idler gear support shaft 15 passes through middle finger joint driving member 4, end joint shaft 14
On middle finger joint left side wall 6-1 and middle finger joint right side wall 6-2, end joint shaft 14 passes through middle finger joint driving member 4,
The one-dimensional torque sensor 21 of finger tip is arranged on end joint shaft by 3rd bearing 16 and fourth bearing 17 in end joint 9
On 14, driven spur gear 12 is arranged on the one-dimensional torque sensor 21 of finger tip；Idler gear 11 respectively with fixed spur gear 10 and
Driven spur gear 12 engages simultaneously.
Operation principle：
Finger-joint gear coupling drive mechanism of the present invention, which is applied to finger part, two joint (middle joints
8 and end joint 9) and the clever hand finger of one degree of freedom on, can be achieved two joints (middle joint 8 and end joint 9)
Rotate in same direction angle be 1: 1 coupled motions, i.e., centre finger joint 6 it is identical with the rotational angle of end finger joint 7.Motor 1
Drive bevel gear pair 2 is driven to rotate, drive bevel gear pair 2 imparts power to middle joint rotary shaft 13, and middle joint rotates
Axle 13 drives the wave producer 3-2 of harmonic speed reducer 3 to rotate and then the flexbile gear 3-1 of harmonic speed reducer is driven by middle finger joint
Part 4 drives middle finger joint 6 to be rotated around middle joint rotary shaft 13, and (middle joint rotary shaft 13 and idler gear support shaft 15 are simultaneously
Rotated around middle joint rotary shaft 13), at the same time, idler gear 11 rotates forward along fixed spur gear 10, driven spur gear
12 rotate forward along idler gear 11, and idler gear 11 drives the one-dimensional torque sensor 21 of finger tip to rotate forward and then drive end
Finger joint 7 rotates forward around end joint shaft 14, realizes the bending of finger, due to the fixed spur gear 10, idler gear 11 with
The modulus of driven spur gear 12 is identical, and fixed spur gear 10 is identical with the number of teeth of driven spur gear 12；According to nibbling for three gears
Principle is closed, it is driven due to the engagement of idler gear 11 as middle joint 8 (middle joint rotary shaft 13) rotational angle A
Spur gear 12 rotates identical angle A around end joint 9 (end joint shaft 14), so as to realize two joints of finger in the same direction 1: 1
Coupled motions (referring to Fig. 1~4).
Claims (2)
- A kind of 1. robot delicate finger-joint gear coupling drive mechanism, it is characterised in that：The gear coupling driver Structure is formed by fixing spur gear (10), idler gear (11), driven spur gear (12), idler gear support shaft (15), described solid It is identical with the modulus of driven spur gear (12) to determine spur gear (10), idler gear (11), fixed spur gear (10) and driven straight-tooth It is identical to take turns the number of teeth of (12), idler gear (11) engages simultaneously with fixed spur gear (10) and driven spur gear (12) respectively；Gu Determine spur gear (10) to be sleeved on the flexbile gear (3-1) of harmonic speed reducer (3), the flexbile gear (3-1) of harmonic speed reducer (3) and be located at Between driving member (4) in finger joint (6) it is affixed, fixed spur gear (10) and the firm gear (3-3) and first knuckle of harmonic speed reducer (3) Right side wall (5-2) three is fixed together, and fixes spur gear (10) and middle joint (8) coaxially, idler gear support shaft (15) In middle finger joint (6) and its both ends is separately mounted to middle finger joint left side wall (6-1) and middle finger joint right side wall (6-2) On, idler gear (11) is arranged in idler gear support shaft (15), and idler gear support shaft (15) is driven through middle finger joint Part (4), driven spur gear (12) are arranged on the one-dimensional torque sensor of finger tip (21), driven spur gear (12) and end joint (9) it is coaxial.
- 2. robot delicate finger-joint gear coupling drive mechanism according to claim 1, it is characterised in that：It is fixed The axial line distance of spur gear (10) and idler gear (11) and the axial line distance phase of driven spur gear (12) and idler gear (11) Together, it is equal to the 1/2 of middle finger joint (6) length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819677.1A CN107351105A (en) | 2017-09-13 | 2017-09-13 | Robot delicate finger-joint gear coupling drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819677.1A CN107351105A (en) | 2017-09-13 | 2017-09-13 | Robot delicate finger-joint gear coupling drive mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107351105A true CN107351105A (en) | 2017-11-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710819677.1A Pending CN107351105A (en) | 2017-09-13 | 2017-09-13 | Robot delicate finger-joint gear coupling drive mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN107351105A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450180A (en) * | 2019-08-16 | 2019-11-15 | 哈尔滨工业大学 | Flexible drive variable rigidity differential couple robot finger apparatus |
| CN114833860A (en) * | 2022-06-13 | 2022-08-02 | 上海非夕机器人科技有限公司 | Gripper and robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101337354A (en) * | 2008-08-29 | 2009-01-07 | 哈尔滨工业大学 | Robot delicate finger-joint gear coupling drive mechanism |
| CN204566150U (en) * | 2014-12-20 | 2015-08-19 | 重庆联合机器制造有限公司 | Workpiece loading and unloading clamping device |
-
2017
- 2017-09-13 CN CN201710819677.1A patent/CN107351105A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101337354A (en) * | 2008-08-29 | 2009-01-07 | 哈尔滨工业大学 | Robot delicate finger-joint gear coupling drive mechanism |
| CN204566150U (en) * | 2014-12-20 | 2015-08-19 | 重庆联合机器制造有限公司 | Workpiece loading and unloading clamping device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450180A (en) * | 2019-08-16 | 2019-11-15 | 哈尔滨工业大学 | Flexible drive variable rigidity differential couple robot finger apparatus |
| CN110450180B (en) * | 2019-08-16 | 2022-09-30 | 哈尔滨工业大学 | Flexible driving rigidity variable differential coupling robot finger device |
| CN114833860A (en) * | 2022-06-13 | 2022-08-02 | 上海非夕机器人科技有限公司 | Gripper and robot |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171117 |
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| WD01 | Invention patent application deemed withdrawn after publication |