CN201579792U - Ultrasonic motor directly-driven dextrous robot hand finger joint mechanism - Google Patents
Ultrasonic motor directly-driven dextrous robot hand finger joint mechanism Download PDFInfo
- Publication number
- CN201579792U CN201579792U CN2010200333632U CN201020033363U CN201579792U CN 201579792 U CN201579792 U CN 201579792U CN 2010200333632 U CN2010200333632 U CN 2010200333632U CN 201020033363 U CN201020033363 U CN 201020033363U CN 201579792 U CN201579792 U CN 201579792U
- Authority
- CN
- China
- Prior art keywords
- hand finger
- electric machine
- ultrasound electric
- rotating shaft
- finger joint
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an ultrasonic motor directly-driven robot dextrous robot hand finger joint mechanism comprising two dextrous hand finger joints which are articulated through a finger joint rotating shaft. The dextrous hand finger joints are provided with long rectangular cavities, and are slidingly configured with an ultrasonic motor through a clamping sliding block; the lower bottom of the clamping sliding block is fixedly provided with a first flake-shaped high magnet, the bottom of an internal cavity of the dextrous hand finger joint is fixedly provided with a second flake-shaped high magnet, and the identical magnetic poles of both magnets are opposite; the output end surface of the ultrasonic motor is abutted against the finger joint rotating shaft under the pre-stress applied by a magnetic force; and the finger joint rotating shaft is rotatably connected with one dextrous hand finger joint, and is fixedly connected with the other dextrous hand finger joint. The internal part of the dextrous hand fingers are integrated with the motor and direct drive output, thereby saving a middle conversion device; and the integration of the finger joint rotating shaft with the motor output shaft results in the simple structure, high sensitiveness, good follow-up property, rapid response of the dextrous robot hand fingers, thereby being beneficial to accurate control and integration.
Description
Technical field
The utility model relates to a kind of robot delicate finger-joint mechanism, the direct machine driven people's clever hand finger of particularly a kind of ultrasound electric machine articulation mechanism.
Background technology
Ultrasound electric machine is an inverse piezoelectric effect of utilizing piezoelectric, electric energy is converted to mechanical energy, and the sufficient specific mode of vibration of the driving that utilizes piezoelectric vibrator, produce elliptic motion in the end that drives foot, promote the drive unit of driven member generation macroscopic motion by rubbing action.By the effect of precompression device, the driving foot of motor oscillator is kept in touch with mover.With respect to conventional motors, ultrasound electric machine have the unit volume power output greatly, be not subjected to electromagnetic interference, displacement resolution height, response rapidly, characteristics such as the quiet noiseless of operation.
Robot delicate is a kind of intelligent type universal manipulator of researching and developing for multitask.Through the development of decades, the research of robot delicate has obtained many achievements that using value is arranged, and a collection of famous Dextrous Hand in succession has been born.The Dextrous Hand of having developed is many from 26S Proteasome Structure and Function patrix apery hand, and for referring to multi-joint manipulator, wherein more Dextrous Hand has adopted by electromagnetic driver and driven the structure that the tendon transmission system is carried out the remote driving of finger-joint more.Because electromagnetic machine will produce bigger torque and must adopt reducing gear, thereby the general complex structure of this type of Dextrous Hand, the control accuracy and the response speed of Dextrous Hand are restricted.In general, the free degree of Dextrous Hand is many more, design difficulty is big more, at present robot delicate all has a main difficulty: promptly when the effective free degree of manipulator outnumber certain value the time, if want to make its size near staff, it is very difficult so numerous drivers being placed in wrist or the palm.
Summary of the invention
The purpose of this utility model is the defective at prior art, and the direct machine driven people's clever hand finger of a kind of ultrasound electric machine articulation mechanism is provided.This mechanism structure is simple, the sensitivity height, and servo-actuated is good.For achieving the above object, design of the present utility model is: make full use of the ultrasound electric machine low-speed big, volume is little and in light weight, fast response characteristic and quiet running, especially the self-locking moment of ultrasound electric machine is big, still can catch advantages such as object after can realizing cutting off the power supply, abandon the tradition of " rotate in driver → decelerator → transmission mechanism → joint " of existing robot delicate and drive transmission scheme, drive system is integrated in the clever hand finger directly driven machine people delicate finger-joint motion.
The robot delicate finger-joint drive system is made up of ultrasound electric machine, clamping slide block, strong magnetic magnet, driving rotating shaft etc., and driving rotating shaft is the output shaft of ultrasound electric machine, also is the joint rotating shaft of clever hand finger, directly drives the delicate finger-joint motion by ultrasound electric machine.Whole drive system is included in clever hand finger dactylus inside.Used the short column rod type ultrasound electric machine of Shanghai University's development, the cross section of this motor main body is square, motor has two vibration nodal points, can use holding screw that ultrasound electric machine is fixed on the clamping slide block, ultrasound electric machine and clamping slide block are done as a whole can the slip on the clever hand finger internal guide rail.Precompression between the rotor of general ultrasound electric machine provides by the precompression spring, caused structure not compact thus, it is elongated to cause pointing dactylus, for having overcome precompression apparatus structure complexity, the big shortcoming that takes up room has proposed a kind of precompression device that utilizes the magnetic repulsion pressurization.The bottom of clamping slide block is the strong magnetic magnet of a slice thin slice fixedly, the strong magnetic magnet of a slice is installed in the clever hand finger dactylus, two magnet same pole are relative, repulsive force between two magnet promotes the clamping slide block and ultrasound electric machine slides along guide rail, make the output of ultrasound electric machine be adjacent to the joint rotating shaft, thereby drive joint motions.In order to alleviate the weight of clever hand finger, remove the material that guarantees outside the finger structure requirement of strength.
According to above-mentioned utility model design, the utility model adopts following technical proposals:
The direct machine driven people's clever hand finger of a kind of ultrasound electric machine articulation structure, comprise that two clever hand finger dactylus are hinged by a joint rotating shaft, it is characterized in that: the skillful finger dactylus has long rectangular enclosure, by ultrasound electric machine of a clamping slide block slide arrangement; The clamping slide block is gone to the bottom and is fixed the one first strong magnetic magnet of sheet type, clever hand finger dactylus intracavity bottom is fixed the one second strong magnetic magnet of thin slice shape, the same pole of two magnet is relative, and under the precompression that magnetic force applies, the output end face of ultrasound electric machine is pressed in the rotating shaft of described joint; A joint rotating shaft and a described clever hand finger dactylus are rotationally connected, and fixedly connected with another clever hand finger dactylus.
Above-mentioned clamping slide block is a square body, and outer wall and described clever hand finger dactylus inwall cunning are joined, and described ultrasound electric machine is settled for rectangular cavity in inside, and the output of ultrasound electric machine stretches out the clamping slide block.
Above-mentioned ultrasound electric machine is a short column rod type ultrasound electric machine; Its output is the elongated shape rectangular surfaces, and output end face and the rotating shaft of described joint are tangent, and the long limit of output rectangular surfaces is parallel with the joint shaft centerline; Described ultrasound electric machine has two vibration nodal points, is fixedly mounted in the described clamping slide block by two vibration nodal points of two holding screw clamping ultrasound electric machines.
The rotating shaft of above-mentioned joint is a hollow shaft, be supported on the central shaft by two little bearings, fixedly connected with a described clever hand finger dactylus in the two ends of described central shaft, the both ends of the surface of described joint rotating shaft are respectively fixedlyed connected with described another clever hand finger dactylus by two holding screws.
The utility model compared with prior art, have following conspicuous substantive distinguishing features and advantage: in inner integrate motor of clever hand finger and directly driving output, saved the intermediate conversion device, and joint rotating shaft and motor output shaft are integrated, make that robot clever hand finger is simple in structure, highly sensitive, servo-actuated is good, response is more conducive to accurate control rapidly, and is integrated.
Description of drawings
Fig. 1 is the exterior perspective view in a joint of Dextrous Hand.
Fig. 2 is a robot clever hand finger dactylus external structure schematic diagram.
Fig. 3 is an A-A place cutaway view among Fig. 2.
The specific embodiment
Preferential embodiment accompanying drawings of the present utility model is as follows:
Embodiment one: referring to Fig. 1, Fig. 2, Fig. 3, the direct machine driven people's clever hand finger of this ultrasound electric machine articulation structure comprises that two clever hand finger dactylus 1,2 are hinged by a joint rotating shaft 3, described skillful finger dactylus 1 has long rectangular enclosure, by ultrasound electric machine 6 of a clamping slide block 8 slide arrangement; Described clamping slide block 8 is gone to the bottom and is fixed the one first strong magnetic magnet 9 of sheet type, described clever hand finger dactylus 1 intracavity bottom is fixed the one second strong magnetic magnet 10 of thin slice shape, the same pole of described two magnet 9,10 is relative, under the precompression that magnetic force applies, the output end face of described ultrasound electric machine 6 is pressed in the described joint rotating shaft 3; Described joint rotating shaft 3 is rotationally connected with a described clever hand finger dactylus 1, and fixedlys connected with another clever hand finger dactylus 2.
Embodiment two: present embodiment and embodiment one are basic identical, special feature is as follows: described clamping slide block 8 is a square body, outer wall and described clever hand finger dactylus 1 inwall cunning are joined, and described ultrasound electric machine 6 is settled for rectangular cavity in inside, and the output of ultrasound electric machine 6 stretches out clamping slide block 8.Described ultrasound electric machine 6 is a short column rod type ultrasound electric machine; Its output is the elongated shape rectangular surfaces, and output end face and described joint rotating shaft 3 are tangent, and the long limit of output rectangular surfaces is parallel with joint rotating shaft 3 center lines; Described ultrasound electric machine 6 has two vibration nodal points, is fixedly mounted in the described clamping slide block 8 by two vibration nodal points of two holding screw 7 clamping ultrasound electric machines 6.Described joint rotating shaft 3 is a hollow shaft, be supported on the central shaft 5 by two little bearings 4, fixedly connected with a described clever hand finger dactylus 1 in the two ends of described central shaft 5, the both ends of the surface of described joint rotating shaft 3 are respectively fixedlyed connected with described another clever hand finger dactylus 2 by two holding screws 11.
Embodiment three: the utility model has been selected short column rod type ultrasound electric machine for use, and the characteristics of the type ultrasound electric machine are, the output of motor is an elongated shape rectangular surfaces, and ultrasound electric machine has two vibration nodal points.In Fig. 2, use two nodes of two holding screw 7 clamping ultrasound electric machines 6, ultrasound electric machine 6 is fixed on the hollow clamping slide block 8, and the output end face of ultrasound electric machine 6 and joint rotating shaft 3 are tangent, and the long limit of motor output end rectangular surfaces is parallel with joint rotating shaft 3 center lines.Clever hand finger dactylus 1 boring, the cross section is a square frame shape, clamping slide block 8 can slide in clever hand finger dactylus 1, and square frame shape guide rail has limited the rotation of clamping slide block 8, makes the output end face of ultrasound electric machine 6 and 3 of joint rotating shafts can keep bigger contact-making surface.Fix the strong magnetic magnet 9 of a plate sheet shape at the afterbody of clamping slide block 8, at the clever hand finger dactylus 1 inner strong magnetic magnet 10 of a plate sheet shape of installing, when strong magnetic magnet is installed, strong magnetic magnet 9 and magnetic magnet by force 10 identical magnetic poles are in opposite, repulsive force between strong magnetic magnet 10 and the strong magnetic magnet 9 promotes clamping slide block 8 makes the output of ultrasound electric machine 6 be adjacent to joint rotating shaft 3, the rubbing action that output by ultrasound electric machine 6 and joint rotating shaft are 3 promotes joint rotating shaft 3 and rotates, joint rotating shaft 3 is fixed on the clever hand finger dactylus 2 of front, thereby promote 2 motions of clever hand finger dactylus, realize the rotation in joint.Can make joint rotating shaft 3 forward or reverse for the different signal of ultrasound electric machine 6 inputs, realize the flexion and extension of finger-joint.Use the strong magnetic magnet of different size or adjust strong magnetic magnet 9 size that can regulate precompression with the distance between the magnetic magnet 10 by force.Ultrasound electric machine, skillful finger finger and clamping slide block etc. all use non-magnetic material.
Claims (4)
1. the direct machine driven people's clever hand finger of a ultrasound electric machine articulation structure comprises that two clever hand finger dactylus (1,2) pass through a joint rotating shaft (3) and are hinged, and it is characterized in that:
A. described skillful finger dactylus (1) has long rectangular enclosure, by a clamping slide block (a 8) ultrasound electric machine of slide arrangement (6);
B. described clamping slide block (8) is gone to the bottom and is fixed the one first strong magnetic magnet of sheet type (9), described clever hand finger dactylus (1) intracavity bottom is fixed the one second strong magnetic magnet of thin slice shape (10), the same pole of described two magnet (9,10) is relative, under the precompression that magnetic force applies, the output end face of described ultrasound electric machine (6) is pressed in the described joint rotating shaft (3);
C. described joint rotating shaft (3) is rotationally connected with a described clever hand finger dactylus (1), and fixedlys connected with another clever hand finger dactylus (2).
2. the direct machine driven people's clever hand finger of ultrasound electric machine according to claim 1 articulation structure, it is characterized in that described clamping slide block (8) is a square body, outer wall and described clever hand finger dactylus (1) inwall cunning are joined, described ultrasound electric machine (6) is settled for rectangular cavity in inside, and the output of ultrasound electric machine (6) stretches out clamping slide block (8).
3. the direct machine driven people's clever hand finger of ultrasound electric machine according to claim 2 articulation structure is characterized in that described ultrasound electric machine (6) is short column rod type ultrasound electric machine; Its output is the elongated shape rectangular surfaces, and output end face and described joint rotating shaft (3) are tangent, and the long limit of output rectangular surfaces is parallel with joint rotating shaft (3) center line; Described ultrasound electric machine (6) has two vibration nodal points, is fixedly mounted in the described clamping slide block (8) by two vibration nodal points of two holding screws (7) clamping ultrasound electric machines (6).
4. the direct machine driven people's clever hand finger of ultrasound electric machine according to claim 1 articulation structure, it is characterized in that described joint rotating shaft (3) is hollow shaft, be supported on the central shaft (5) by two little bearings (4), fixedly connected with a described clever hand finger dactylus (1) in the two ends of described central shaft (5), the both ends of the surface of described joint rotating shaft (3) are respectively fixedlyed connected with described another clever hand finger dactylus (2) by two holding screws (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200333632U CN201579792U (en) | 2010-01-21 | 2010-01-21 | Ultrasonic motor directly-driven dextrous robot hand finger joint mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200333632U CN201579792U (en) | 2010-01-21 | 2010-01-21 | Ultrasonic motor directly-driven dextrous robot hand finger joint mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201579792U true CN201579792U (en) | 2010-09-15 |
Family
ID=42721785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010200333632U Expired - Fee Related CN201579792U (en) | 2010-01-21 | 2010-01-21 | Ultrasonic motor directly-driven dextrous robot hand finger joint mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201579792U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297645A (en) * | 2017-06-09 | 2017-10-27 | 浙江安控科技有限公司 | A kind of lathe semi worked pieces transmit AGV grasping mechanism |
-
2010
- 2010-01-21 CN CN2010200333632U patent/CN201579792U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107297645A (en) * | 2017-06-09 | 2017-10-27 | 浙江安控科技有限公司 | A kind of lathe semi worked pieces transmit AGV grasping mechanism |
| CN107297645B (en) * | 2017-06-09 | 2019-05-17 | 浙江安控科技有限公司 | A kind of grasping mechanism of lathe semi-finished product transmission AGV |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101204815B (en) | Seven freedom-degree artificial man arm driven by air-powered artificial muscle | |
| CN106175957B (en) | Fixed structure for electric cleaning apparatus drive device | |
| CN200988225Y (en) | Robot flexible arm joint driving and it speed reducing device | |
| CN202665434U (en) | Glass-wiping robot | |
| CN101091683A (en) | Electromagnetic wobbler | |
| CN101181671B (en) | Magnetic shadowgraph people | |
| CN101209556A (en) | Robot smart arm joint drive and reduction device thereof | |
| CN205928714U (en) | Rotary joint drive module of robot | |
| WO2023201991A1 (en) | Bluff body non-rotating flow-induced vibrational energy harvesting apparatus | |
| CN101266178A (en) | Ultrasound electric motor universal test device | |
| CN201579792U (en) | Ultrasonic motor directly-driven dextrous robot hand finger joint mechanism | |
| CN201067489Y (en) | Electromagnetical type swinging machine | |
| CN202571046U (en) | Small precision squeeze riveter | |
| CN209022101U (en) | A kind of robot wrist structure of motor direct-drive end effector | |
| CN203379331U (en) | Control device for controlling massage assembly position of back pad massage movement | |
| CN114279668B (en) | Structural dynamics reliability test device | |
| CN1272900C (en) | Ultrasonic motor travelling wave driving vibrator capable of realizing straight line or rotate movement | |
| CN202459197U (en) | Massaging machine core | |
| CN201702096U (en) | Dual-drive four-link mechanism | |
| CN209793754U (en) | Direct-drive human-simulated finger convenient to control | |
| CN203491927U (en) | Inertia impact type low-frequency piezoelectric motor | |
| CN211981778U (en) | Multi-resonance piezoelectric energy collector with frequency-up conversion function | |
| CN105965529A (en) | Eccentric wheel, swing rod and sliding groove type coupling self-adaptation robot finger device | |
| CN210650738U (en) | Robot shoulder joint device | |
| CN203171640U (en) | Robot finger joint directly driven by linear ultrasonic motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100915 Termination date: 20110121 |