CN117484483A - Linear driving mode of smart hand - Google Patents
Linear driving mode of smart hand Download PDFInfo
- Publication number
- CN117484483A CN117484483A CN202311577107.8A CN202311577107A CN117484483A CN 117484483 A CN117484483 A CN 117484483A CN 202311577107 A CN202311577107 A CN 202311577107A CN 117484483 A CN117484483 A CN 117484483A
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- screw rod
- driving
- joint
- transmission
- linear drive
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- 230000005540 biological transmission Effects 0.000 claims abstract description 75
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 210000001145 finger joint Anatomy 0.000 abstract description 8
- 230000006872 improvement Effects 0.000 description 9
- 238000009434 installation Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a smart hand linear driving mode, which comprises the following steps: the device comprises a first joint, a second joint and a rotary driving structure, wherein the first joint is provided with a rotary shaft, and the second joint is provided with a driving wheel which is coaxially arranged with the rotary shaft and enables the second joint to rotate around the rotary shaft; the rotary driving structure is provided with a first pulling driving end, a second pulling driving end and a flexible transmission part wound on the peripheral wall of the driving wheel, and the first pulling driving end and the second pulling driving end synchronously pull two ends of the flexible transmission part in opposite directions. The flexible transmission part is driven by the first pulling end and the second pulling end so as to drive the second joint to rotate around the rotating shaft of the first joint, the rotation angle of the finger joint and the driving angle of the rotary driving structure form a one-to-one correspondence, linear driving is realized, and the rotation angle of the second joint is controlled more flexibly.
Description
Technical Field
The invention relates to the field of robot finger-based joints, in particular to a linear driving mode of a smart hand.
Background
The transmission mode of the existing dexterous hand mainly comprises connecting rod transmission, line transmission and gear transmission. The motor of the power source drives the power of the motor to reach the finger joints through transmission. Each driving and transmitting mode has advantages and disadvantages. Wire drives reduce finger volume but increase the volume of the distal end effector, which tends to be self-locking. The connecting rod is simple in structure, but the rotation angle of the joint, the force-generating condition and the motor are in nonlinear relation, so that the finger cannot be well and flexibly controlled. The directly driven gears have backlash, and the motor is also larger.
Disclosure of Invention
The present invention aims to provide a linear driving mode of a smart hand, which solves one or more technical problems existing in the prior art, and at least provides a beneficial choice or creation condition.
The technical scheme adopted for solving the technical problems is as follows:
the invention provides a smart hand linear driving mode, which comprises the following steps: the device comprises a first joint, a second joint and a rotary driving structure, wherein the first joint is provided with a rotary shaft, and the second joint is provided with a driving wheel which is coaxially arranged with the rotary shaft and enables the second joint to rotate around the rotary shaft; the rotary driving structure is provided with a first pulling driving end, a second pulling driving end and a flexible transmission part wound on the peripheral wall of the driving wheel, and the first pulling driving end and the second pulling driving end synchronously pull two ends of the flexible transmission part in opposite directions.
The beneficial effects of the invention are as follows:
the flexible transmission part is driven by the first pulling end and the second pulling end so as to drive the second joint to rotate around the rotating shaft of the first joint, the rotation angle of the finger joint and the driving angle of the rotary driving structure form a one-to-one correspondence, linear driving is realized, and the rotation angle of the second joint is controlled more flexibly.
As a further improvement of the above technical solution, the rotation driving structure includes a screw transmission structure and a rotation driving unit, and the rotation driving unit pulls both ends of the flexible transmission part in opposite directions in synchronization through the screw transmission structure. During installation, the two ends of the flexible transmission part are fixedly connected with the output end of the screw rod transmission structure, the screw rod in the screw rod transmission structure rotates to tighten the flexible transmission part, and the input end of the screw rod is in transmission connection with the output end of the rotary driving unit, so that the tensioning effect of the flexible transmission part is adjusted.
As a further improvement of the technical scheme, the screw rod transmission structure comprises two first screw rods and two second screw rods which are arranged along the tangential direction of the transmission wheel in an extending mode, and first sliding blocks which are respectively arranged on the first screw rods and the second screw rods in a threaded mode, and the first sliding blocks are fixedly connected with two ends of the flexible transmission part. The two screw rods are arranged, so that the structure is more compact, the two screw rods can be driven by one rotary driving unit to drive, the synchronism of the first pulling driving end and the second pulling driving end is ensured, and meanwhile, the setting of the rotary driving structure can be reduced, so that the structure is more compact.
As a further improvement of the technical scheme, the first screw rod and the second screw rod are arranged side by side. The structure is more compact, the gear structure is convenient to be arranged and is in transmission connection with the output end of the rotary driving unit, and the gear structure is simpler at the moment.
As a further improvement of the technical scheme, the thread directions of the first screw rod and the second screw rod are the same. The gear structure is convenient to set, and the gear structure is simpler to set.
As a further improvement of the technical scheme, the first screw rod and the second screw rod are respectively provided with two adjusting gears which are of the same specification and meshed with each other, and the rotary driving unit is in transmission connection with the adjusting gears. The gear structure is simpler, and the whole linear driving mode is simpler, and has a bidirectional self-locking function.
As a further improvement of the technical scheme, the screw rod transmission structure further comprises a mounting frame for mounting the first screw rod and the second screw rod, and the first sliding block is slidably arranged on the mounting frame. The first sliding block cannot deviate and rotate in movement, so that the linear keeping function is facilitated, and the movement stability is improved.
As a further improvement of the technical scheme, the screw rod transmission structure comprises a third screw rod and two second sliding blocks, wherein the third screw rod and the two second sliding blocks are arranged along the tangential direction of the transmission wheel in an extending mode, the second sliding blocks are fixedly connected with two ends of the flexible transmission part, the third screw rod is provided with a positive thread section and a reverse thread section, and the two second sliding blocks are respectively connected with the positive thread section and the reverse thread section in a threaded mode.
As a further improvement of the above technical solution, the flexible transmission portion includes a transmission belt, and the first slider is clamped to the transmission belt. The installation is greatly simplified, and the driving belt only needs to be installed in the tooth slot.
As a further improvement of the technical scheme, a bearing is arranged between the rotating shaft and the driving wheel.
Drawings
The invention is further described below with reference to the drawings and examples;
FIG. 1 is a schematic side view of one embodiment of a linear driving method for a smart hand according to the present invention;
FIG. 2 is a schematic side view of another embodiment of a linear driving mode of a smart hand according to the present invention;
FIG. 3 is a schematic view of a linear driving manner of a smart hand according to an embodiment of the present invention;
FIG. 4 is a schematic view of another angular configuration of an embodiment of a linear driving method for a smart hand according to the present invention;
FIG. 5 is a schematic view of another angular configuration of an embodiment of a linear driving method for a smart hand according to the present invention;
FIG. 6 is a schematic view of a partially exploded view of one embodiment of a smart hand linear drive according to the present invention;
FIG. 7 is a schematic view of an exploded view of one embodiment of a smart hand linear drive according to the present invention;
FIG. 8 is a schematic view of another angular exploded view of one embodiment of a smart hand linear drive according to the present invention;
fig. 9 is a schematic view of a screw driving structure of an embodiment of a smart hand linear driving method according to the present invention.
Reference numerals:
the first joint 100, the rotating shaft 110, the first circular ring 120, the bearing 130, the motor 200, the second joint 300, the driving wheel 310, the driving belt 320, the second circular ring 330, the mounting frame 400, the first screw 410, the adjusting gear 411, the second screw 420, the first slider 430, the ball groove 432 and the driving gear 500.
Detailed Description
Reference will now be made in detail to the present embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the accompanying drawings are used to supplement the description of the written description so that one can intuitively and intuitively understand each technical feature and overall technical scheme of the present invention, but not to limit the scope of the present invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, if there is a word description such as "a plurality" or the like, the meaning of a plurality is one or more, and the meaning of a plurality is two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
The transmission mode of the existing dexterous hand mainly comprises connecting rod transmission, line transmission and gear transmission. The motor 200 of the power source transmits the power of the motor 200 to the finger joints. Each driving and transmitting mode has advantages and disadvantages. Wire drives reduce finger volume but increase the volume of the distal end effector, which tends to be self-locking. The connecting rod has a simple structure, but the rotation angle of the joint and the force-generating condition are in nonlinear relation with the motor 200, namely, the rotation angle of the joint and the angle of the output end of the motor 200 are not in one-to-one correspondence, and the finger cannot be controlled very flexibly. The directly driven gears have backlash and the motor 200 is also relatively large.
The invention solves the problems in the prior art, and provides a linear driving mode of a dexterous hand related to finger joints of a dexterous hand of a multi-degree-of-freedom robot, wherein the driving structure solves the problems of nonlinear change of angles and stress during the action of the dexterous hand driven by the existing connecting rod. In the process of converting the linear motion into the rotary motion by the motor 200, there are the following effects: the finger joint realizes bidirectional self-locking through the structure of the double first screw rod 410 and the double second screw rod 420; the rotation angles of the finger joints and the motor 200 form a one-to-one correspondence; the structure of the double first screw rod 410 and the double second screw rod 420 realizes the tensioning of the transmission belt 320, so that the joint outputs 0 back clearance; the dual first lead screw 410 and second lead screw 420 structure achieves the backlash effect of the isolating motor 200 reducer.
Referring to fig. 1 to 9, the present invention makes the following embodiments:
in some embodiments, the smart hand linear drive comprises a first joint 100, a second joint 300, a rotational drive structure, and a mounting 400.
The first joint 100 includes a joint base plate, one end of which is provided with a rotation shaft 110, and the other end of which is provided with a first joint hinge. The first joint hinge comprises two first rings 120 coaxially arranged, so that other joints can be conveniently connected, and the connection strength is improved. In other embodiments, a mounting shaft hole may be directly formed at one end of the joint substrate.
The second joint 300 is provided at both ends thereof with a second joint hinge and a third joint hinge, respectively. In this embodiment, the second joint hinge and the third joint hinge include two second rings 330 coaxially disposed, and the two second rings 330 are both sleeved at two ends of the rotating shaft 110. The connecting effect is better, and the connection is firmer.
In other embodiments, two ends of the base plate of the second joint 300 may be provided with a mounting shaft hole sleeved on the rotating shaft 110. Further, a bearing 130, specifically, a deep groove ball bearing 130 is disposed between the second ring 330 and the rotating shaft 110. The second joint 300 is provided with a driving wheel 310, the driving wheel 310 is coaxially arranged with the rotating shaft 110, and the rotation angle of the driving wheel 310 is consistent with that of the joint.
The rotary driving structure is provided with a first pulling driving end, a second pulling driving end and a flexible transmission part wound on the peripheral wall of the driving wheel 310, and the first pulling driving end and the second pulling driving end synchronously pull two ends of the flexible transmission part in opposite directions.
Specifically, the flexible transmission part is a transmission belt 320 with transverse teeth equally distributed on the inner surface in the present embodiment, and the rotation driving structure includes a screw transmission structure and a rotation driving unit, and the rotation driving unit is a motor 200. The driving belt 320 is wound around the driving wheel 310, and the flexible driving part can only drive the driving wheel 310 to rotate, and in other embodiments, the driving belt can also have a steel wire rope or other structures.
The motor 200 is disposed at the first joint 100, a transmission gear 500 is disposed at the output end of the motor 200, and includes a driving gear and a driven gear, where the arrangement of the driving gear and the transmission gear 500 plays a role in reducing speed.
The screw rod transmission structure comprises two first screw rods 410 and two second screw rods 420 which are arranged side by side, the first screw rods 410 and the second screw rods 420 are rotationally arranged on the installation frame 400, the two first screw rods 410 and the two second screw rods 420 are respectively arranged along the tangential direction of the driving wheel 310 in an extending mode, one ends, close to the motor 200, of the two first screw rods 410 and the two second screw rods 420 are provided with adjusting gears 411, the two adjusting gears 411 are meshed with each other, and the thread directions of the first screw rods 410 and the second screw rods 420 are in the same direction.
In other embodiments, the two first screws 410 and the second screws 420 may extend along the tangential direction of the driving wheel 310, and are not necessarily arranged side by side, and a person skilled in the art may change the arrangement according to the specific situation.
In other embodiments, the thread direction of the first screw 410 and the second screw 420 may be reversed, and a more complex gear structure may be required to pull both ends of the belt 320 in opposite directions.
The output end of the motor 200 is in transmission connection with a first screw rod 410 or a second screw rod 420, the first screw rod 410 and the second screw rod 420 are respectively connected with a first sliding block 430 in a threaded mode, the first sliding block 430 is provided with a clamping groove for the transmission belt 320 to pass through, and the clamping groove is provided with a tooth groove meshed with the transmission belt 320. The installation is greatly simplified, and the driving belt 320 only needs to be installed in the tooth slot. In other embodiments, the first slider 430 may be fixedly connected to the belt 320 by other means, such as the belt 320 being clamped to the first slider 430.
In other embodiments, the screw driving structure includes a third screw and two second sliders, which are all arranged along the tangential direction of the driving wheel 310, the second sliders are fixedly connected with two ends of the driving belt 320, the third screw is provided with a positive thread section and a negative thread section, and the two second sliders are respectively in threaded connection with the positive thread section and the negative thread section. The motor 200 can be in transmission connection with the third screw rod through the transmission gear 500, so that linear driving can be realized, and a self-locking function can be realized.
The first slider 430 is slidably disposed on the mounting frame 400. Specifically, the first slider 430 is provided with a ball groove 432, the ball groove 432 is provided with balls in a rolling manner, the sliding rail is disposed on the mounting frame 400, the sliding rail is disposed along the extending direction of the first screw 410 and the second screw 420, and the balls are slidably disposed on the sliding rail. The first slider 430 is slidably disposed on the mounting frame 400. The first slider 430 does not shift and rotate during movement, which is advantageous in that the function of linear retention improves movement stability. The balls are spheroids, can adopt the alloy steel ball that is commonly used, have wear-resisting advantage, can improve the gliding smoothness of first slider 430. In other embodiments, the first slider 430 may also be directly slidably disposed on the sliding rail, or directly slidably disposed on the first joint 100.
Similarly, the second slider is slidably disposed on the mounting frame 400 or the first joint 100, and the second slider does not deviate or rotate during movement, which is advantageous for improving movement stability by the function of linear retention.
In other embodiments, two rotary driving units may be provided to drive the first screw 410 and the second screw 420 to rotate respectively, where the synchronization requirements of the rotary driving units are high, and the driving source is increased, so that the structure is more complex.
In other embodiments, the rotary driving structure may also include two linear driving units, such as an electric push rod structure, that pull two ends of the flexible transmission part in opposite directions in synchronization.
The motor 200 provides power for the whole system, reaches the driving end of the first screw rod 410 or the second screw rod 420 through the transmission gear 500, distributes power to the two first screw rods 410 and the second screw rod 420 through the adjusting gears 411 at the end parts of the first screw rod 410 and the second screw rod 420 at the same time, and rotates the first screw rod 410 and the second screw rod 420 to drive the first sliding block 430 to move. Finally, the driving wheel 310 is driven by the driving belt 320 to transmit force to the output end. The rotation direction of the motor 200 is in a linear relationship with the rotation direction of the final end, and the axis of the motor 200 is generally in a spatial perpendicular relationship with the axis of the output shaft of the end, i.e. the rotation angle of the finger joint and the rotation angle of the motor 200 form a one-to-one correspondence.
In addition, the motor 200 can directly drive the belt, at this time, the output shaft of the motor 200 needs to be perpendicular to the joint substrate, and also occupies a large space, and the reduction ratio of the speed reducer is relatively large. The invention realizes self-locking by the first screw rod 410 and the second screw rod 420, which is equivalent to primary speed reduction, the speed reduction ratio of the motor 200 can be smaller, and the efficiency is improved.
The transmission relationship between the rotational speed of the second joint 300 and the rotational speed of the motor 200 is v= (l×v/n)/(pi×dp), where the rotational speed of the second joint 300 is V', the pitch diameter of the driving wheel 310 is Dp, the leads of the first screw 410 and the second screw 420 are L, the reduction ratio of the driving gear 500 is n, and the rotational speed of the motor 200 is V.
When the first screw 410 and the second screw 420 are installed, the driving belt 320 is clamped into the clamping groove, then the first screw 410 and the second screw 420 are rotated, and after the belt driving belt 320 is tensioned, the gears of the two first screws 410 and the second screw 420 are meshed, so that the driving belt 320 can provide a pulling force to enable no gap to exist between the gears meshed with the first screw 410 and the second screw 420. Therefore, the dual first lead screw 410 and second lead screw 420 structure achieves tension of the drive belt 320, enabling the joint to output 0 backlash. The belt 320 drive may be considered to be backlash free. Because the gear is rigid, the precision cannot be hundred percent accurate, so that the gear has backlash. The joint output 0 back clearance is understood in a broad sense, the transmission belt 320 is flexible, is not tensioned, has back clearance under loose conditions, and is fully filled with the transmission wheel 310 without back clearance under tensioned conditions, so the joint output 0 back clearance is called as the joint output 0 back clearance in the invention, namely the influence of the back clearance is reduced as much as possible. In addition, the installation mode also simplifies the installation, and when in installation, the driving belt 320 only needs to be installed in the clamping groove in the first sliding block 430, and then the driving belt 320 is adjusted through the gears connected with the first screw rod 410 and the second screw rod 420, so that the effect of tensioning the driving belt 320 is achieved.
The power source provides main power for the first screw 410 and the second screw 420 through the modes of gear transmission, direct connection and the like. The first screw 410 and the second screw 420 provide power for the driving belt 320 when moving, and drive the driving wheel 310 to rotate.
The double-screw synchronous belt transmission method redefines the using methods of the screw rod and the synchronous belt, and changes the traditional single using mode of the screw rod and the synchronous belt. By converting the first and second lead screws 410 and 420 and the driving belt 320, the power of the motor 200 is mapped to the finally output driving wheel 310 in a linear relationship, and precise control of the smart finger is realized.
The invention is driven by the first screw rod 410 and the second screw rod 420, so that the invention has good self-locking performance, and compared with a wire pulling or single-side push rod structure using a spring structure, the double-side self-locking function is realized by the double-first screw rod 410 and the double-side self-locking function of the second screw rod 420. The characteristics of traditional single transmission structure, creatively compound first lead screw 410 and second lead screw 420 and drive belt 320 have been broken through in this patent, utilize the cooperation of first lead screw 410 and second lead screw 420 and drive belt 320, realized the tight that rises of drive belt 320 promptly, realized the function in transmission elimination clearance again. The compact design greatly reduces the space occupation condition of the whole mechanism. Therefore, the invention can be directly embedded into the space with the equivalent size to the fingers of a human hand and provide objective power.
While the preferred embodiments of the present invention have been illustrated and described, the present invention is not limited to the examples, and various equivalent modifications and substitutions can be made by one skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (10)
1. A smart hand linear drive, comprising:
a first joint provided with a rotation shaft;
the second joint is provided with a driving wheel which is coaxially arranged with the rotating shaft and enables the second joint to rotate around the rotating shaft;
the rotary driving structure is provided with a first pulling driving end, a second pulling driving end and a flexible transmission part wound on the peripheral wall of the driving wheel, and the first pulling driving end and the second pulling driving end synchronously pull the two ends of the flexible transmission part in opposite directions.
2. A smart hand linear drive as claimed in claim 1, wherein:
the rotary driving structure comprises a screw rod transmission structure and a rotary driving unit, and the rotary driving unit synchronously pulls the two ends of the flexible transmission part in opposite directions through the screw rod transmission structure.
3. A smart hand linear drive as claimed in claim 2, wherein:
the screw rod transmission structure comprises a first screw rod, a second screw rod and a first sliding block, wherein the first screw rod and the second screw rod are arranged along the tangential extension of the transmission wheel, the first sliding block is respectively arranged on the first screw rod and the second screw rod in a threaded mode, and the first sliding block is fixedly connected with two ends of the flexible transmission part.
4. A smart hand linear drive as claimed in claim 3, wherein:
the first screw rod and the second screw rod are arranged side by side.
5. A smart hand linear drive as claimed in claim 4, wherein:
the thread directions of the first screw rod and the second screw rod are the same.
6. A smart hand linear drive as claimed in claim 5, wherein:
the first screw rod and the second screw rod are respectively provided with two adjusting gears which are of the same specification and meshed with each other, and the rotary driving unit is in transmission connection with the adjusting gears.
7. A smart hand linear drive as claimed in claim 3, wherein:
the screw rod transmission structure further comprises a mounting frame for mounting the first screw rod and the second screw rod, and the first sliding block is slidably arranged on the mounting frame.
8. A smart hand linear drive as claimed in claim 2, wherein:
the screw rod transmission structure comprises a third screw rod and two second sliding blocks, wherein the third screw rod and the two second sliding blocks are arranged along the tangential extension of the transmission wheel, the second sliding blocks are fixedly connected with the two ends of the flexible transmission part, the third screw rod is provided with a positive thread section and a reverse thread section, and the two second sliding blocks are respectively connected with the positive thread section and the reverse thread section in a threaded mode.
9. A smart hand linear drive as claimed in claim 3, wherein:
the flexible transmission part comprises a transmission belt, and the first sliding block is clamped to the transmission belt.
10. A smart hand linear drive as claimed in claim 1, wherein: a bearing is arranged between the rotating shaft and the driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311577107.8A CN117484483A (en) | 2023-11-23 | 2023-11-23 | Linear driving mode of smart hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311577107.8A CN117484483A (en) | 2023-11-23 | 2023-11-23 | Linear driving mode of smart hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117484483A true CN117484483A (en) | 2024-02-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311577107.8A Pending CN117484483A (en) | 2023-11-23 | 2023-11-23 | Linear driving mode of smart hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117484483A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203599262U (en) * | 2013-12-03 | 2014-05-21 | 浙江精功科技股份有限公司 | Chain centering guide mechanism of steel plate forming machine |
| US20170211668A1 (en) * | 2016-01-27 | 2017-07-27 | Tsung-Chang Hsieh | Armlike driving mechanism |
| CN109278033A (en) * | 2018-10-22 | 2019-01-29 | 亿嘉和科技股份有限公司 | A kind of forward backward rotation force-increasing mechanism of anti-reverse impact |
| CN211220698U (en) * | 2019-11-05 | 2020-08-11 | 库卡机器人(广东)有限公司 | Mechanical arm and robot |
| CN112025744A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical finger and mechanical arm |
| CN114102599A (en) * | 2021-12-02 | 2022-03-01 | 中国科学技术大学 | Flexible mechanical arm-based human-computer interaction adaptive control method and system |
-
2023
- 2023-11-23 CN CN202311577107.8A patent/CN117484483A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203599262U (en) * | 2013-12-03 | 2014-05-21 | 浙江精功科技股份有限公司 | Chain centering guide mechanism of steel plate forming machine |
| US20170211668A1 (en) * | 2016-01-27 | 2017-07-27 | Tsung-Chang Hsieh | Armlike driving mechanism |
| CN109278033A (en) * | 2018-10-22 | 2019-01-29 | 亿嘉和科技股份有限公司 | A kind of forward backward rotation force-increasing mechanism of anti-reverse impact |
| CN211220698U (en) * | 2019-11-05 | 2020-08-11 | 库卡机器人(广东)有限公司 | Mechanical arm and robot |
| CN112025744A (en) * | 2020-08-20 | 2020-12-04 | 广西大学 | Mechanical finger and mechanical arm |
| CN114102599A (en) * | 2021-12-02 | 2022-03-01 | 中国科学技术大学 | Flexible mechanical arm-based human-computer interaction adaptive control method and system |
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