CN208005713U - Joint transmission mechanism, mechanical hand and robot - Google Patents
Joint transmission mechanism, mechanical hand and robot Download PDFInfo
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- CN208005713U CN208005713U CN201820384934.3U CN201820384934U CN208005713U CN 208005713 U CN208005713 U CN 208005713U CN 201820384934 U CN201820384934 U CN 201820384934U CN 208005713 U CN208005713 U CN 208005713U
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Abstract
The utility model provides a kind of joint transmission mechanism, mechanical hand and robot, joint transmission mechanism：At least two finger joints, at least two finger joints are sequentially connected, and are arranged at least two adjacent finger joint opposed rotatables；Torsionspring, torsionspring are arranged between two adjacent finger joints, and the both ends of torsionspring are in contact with two finger joints respectively；Drawing article, drawing article sequentially pass through at least two finger joints, and drawing article can be arranged to folding and unfolding, so that at least two adjacent finger joints relatively rotate；Guide part, guide part are arranged at least one finger joint, and drawing article is supported on guide part.The joint transmission mechanism of the utility model solves the problems, such as that joint transmission mechanism structure in the prior art is complex.
Description
Technical field
The utility model is related to robot fields, in particular to a kind of joint transmission mechanism, mechanical hand and machine
People.
Background technology
Traditional end effector mechanism degree of freedom is few, poor universality, flexibility bottom, can not be to the object of Multiple Shape, more sizes
Body carries out flexibility crawl.
The multi-joint finger of existing biomimetic type mostly uses traditional kind of drive such as gear, synchronous belt so that finger closes
Section ruler cun is bigger than normal, and structure is more complicated, is difficult to control.
Utility model content
The main purpose of the utility model is to provide a kind of joint transmission mechanism, mechanical hand and robots, existing to solve
The problem for having the joint transmission mechanism structure in technology complex.
To achieve the goals above, the first aspect according to the present utility model provides a kind of joint transmission mechanism, packet
It includes：At least two finger joints, at least two finger joints are sequentially connected, and are arranged at least two adjacent finger joint opposed rotatables；Torsion
Spring, torsionspring are arranged between two adjacent finger joints, and the both ends of torsionspring are in contact with two finger joints respectively；It pulls
Part, drawing article sequentially pass through at least two finger joints, and drawing article can be arranged to folding and unfolding, and turn so that at least two adjacent finger joints are opposite
It is dynamic；Guide part, guide part are arranged at least one finger joint, and drawing article is supported on guide part.
Further, at least two finger joints include first knuckle and second knuckle, the first end and first knuckle of drawing article
It is drivingly connected, joint transmission mechanism further includes：First rotating shaft, first knuckle are rotatably arranged in first rotating shaft, and second refers to
Section is connected with first rotating shaft.
Further, torsionspring includes：First torsionspring, the first torsionspring are arranged in first rotating shaft, and first
The first end of torsionspring is in contact with first knuckle, and the second end of the first torsionspring is in contact with second knuckle.
Further, guide part includes the first guide part, and the first guide part is arranged on second knuckle, and the first guide part is used
In support drawing article.
Further, joint transmission mechanism further includes：First idler wheel, the first idler wheel are arranged in first rotating shaft, the first rolling
Wheel is arranged with the first guide part interval；Wherein, drawing article passes through from the lower part of the first idler wheel and rides upon the upper of the first guide part
Portion.
Further, joint transmission mechanism further includes：First axle sleeve, the first axle sleeve are set in first rotating shaft, and first turns round
Turn spring and the first idler wheel is arranged at first axle and puts on；First bearing, first bearing setting is on first axle set, first knuckle
It is connected with first bearing, so that first knuckle is rotated by first bearing relative to first rotating shaft.
Further, at least two finger joints further include third knuckle, and second knuckle is arranged in first knuckle and third knuckle
Between, joint transmission mechanism further includes：Second shaft, third knuckle are rotatably arranged in the second shaft, second knuckle with
Second shaft is connected；Wherein, torsionspring includes the second torsionspring, and the second torsionspring is arranged in the second shaft, the
The first end of two torsionsprings is in contact with third knuckle, and the second end of the second torsionspring is in contact with second knuckle.
Further, guide part further includes the second guide part, and the second guide part is arranged on third knuckle, and drawing article is set up
On the second guide part.
Further, joint transmission mechanism further includes：Second idler wheel, the second idler wheel are arranged in the second shaft, the second rolling
Wheel is arranged with the second guide part interval, and drawing article passes through from the lower part of the second idler wheel and rides upon the top of the second guide part；The
Two axle sleeves, the second axle sleeve are set in the second shaft, and the second torsionspring and the second idler wheel are arranged on the second axle sleeve；Second
Bearing, second bearing are arranged on the second axle sleeve, and third knuckle is connected with second bearing, so that third knuckle passes through the second axis
It holds and is rotated relative to the second shaft.
Further, at least two finger joints further include the 4th finger joint, and third knuckle is arranged in second knuckle and the 4th finger joint
Between, joint transmission mechanism further includes：Third shaft, third knuckle are rotatably arranged in third shaft, the 4th finger joint with
Third shaft is connected；Wherein, torsionspring includes third torsionspring, and third torsionspring is arranged in third shaft, the
The first end of three torsionsprings is in contact with the 4th finger joint, and the second end of third torsionspring is in contact with third knuckle.
Further, joint transmission mechanism further includes：Third idler wheel, third idler wheel are arranged in third shaft, drawing article
It is passed through from the lower part of third idler wheel；Third axle sleeve, third axle sleeve are set in third shaft, third torsionspring and third idler wheel
It is arranged on third axle sleeve；3rd bearing, 3rd bearing are arranged on third axle sleeve, and third knuckle is connected with 3rd bearing
It connects, so that third knuckle is rotated by 3rd bearing relative to third shaft.
Further, the torque of at least one of the first torsionspring, the second torsionspring and third torsionspring with
Other two torques are unequal.
Further, drawing article is bracing wire.
The second aspect according to the present utility model provides a kind of mechanical hand, including joint transmission mechanism, joint transmission
Mechanism is above-mentioned joint transmission mechanism.
In terms of third according to the present utility model, a kind of robot, including mechanical hand are provided, mechanical hand is above-mentioned
Mechanical hand.
The joint transmission mechanism of the utility model by torsionspring, drawing article and guide part can realize it is adjacent extremely
Mutual rotation between few two finger joints.Wherein, torsionspring is arranged between two adjacent finger joints, the both ends of torsionspring
It is in contact respectively with two finger joints, drawing article sequentially passes through multiple finger joints, and drawing article can folding and unfolding along the extending direction of multiple finger joints
Ground is arranged, and guide part is arranged at least one finger joint, and drawing article is supported on guide part.When specific operation, passing through pulling
Drawing article so that drawing article drives each finger joint mutually to rotate.The joint transmission mechanism of the utility model passes through torsionspring, drawing
Moving part and guide part can realize the mutual rotation between multiple finger joints, and overall drive mechanism is relatively simple, solve existing
The complex problem of joint transmission mechanism structure in technology.
Description of the drawings
The accompanying drawings which form a part of this application are used to provide a further understanding of the present invention, this practicality
Novel illustrative embodiments and their description are not constituted improper limits to the present invention for explaining the utility model.
In the accompanying drawings：
Fig. 1 shows the internal structure schematic diagram of the embodiment of joint transmission mechanism according to the present utility model；
Fig. 2 shows the structural schematic diagrams of the embodiment of joint transmission mechanism according to the present utility model；
Fig. 3 shows that the first rotating shaft of joint transmission mechanism according to the present utility model and the mounting structure of the first idler wheel are shown
It is intended to.
Wherein, above-mentioned attached drawing includes the following drawings label：
10, torsionspring；11, the first torsionspring；12, the second torsionspring；13, third torsionspring；20, it is oriented to
Portion；21, the first guide part；22, the second guide part；30, first knuckle；40, second knuckle；50, first rotating shaft；60, the first rolling
Wheel；70, the first axle sleeve；80, first bearing；90, third knuckle；100, the second idler wheel；110, second bearing；120, the 4th refers to
Section；130, third idler wheel；140,3rd bearing；150, drawing article.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
The utility model provides a kind of joint transmission mechanism, please refers to Fig.1 to Fig. 3, joint transmission mechanism includes：At least
Two finger joints, at least two finger joints are sequentially connected, and are arranged at least two adjacent finger joint opposed rotatables；Torsionspring 10,
Torsionspring 10 is arranged between two adjacent finger joints, and the both ends of torsionspring 10 are in contact with two finger joints respectively；It pulls
Part 150, drawing article 150 sequentially pass through at least two finger joints, and drawing article 150 can be arranged to folding and unfolding, so that adjacent at least two
Finger joint relatively rotates；Guide part 20, guide part 20 are arranged at least one finger joint, and drawing article 150 is supported on guide part 20.
The joint transmission mechanism of the utility model can be realized by torsionspring 10, drawing article 150 and guide part 20
Mutual rotation between at least two adjacent finger joints.Wherein, torsionspring 10 is arranged between two adjacent finger joints, torsion
The both ends of spring 10 are in contact with two finger joints respectively, and drawing article 150 sequentially passes through multiple finger joints, and drawing article 150 is along multiple fingers
The extending direction of section can be arranged to folding and unfolding, and guide part 20 is arranged at least one finger joint, and drawing article 150 is supported on guide part 20
On.When specific operation, pass through pulling drawing article 150 so that drawing article 150 drives each finger joint mutually to rotate.This practicality is new
The joint transmission mechanism of type can realize the phase between multiple finger joints by torsionspring 10, drawing article 150 and guide part 20
Mutually rotation, overall drive mechanism is relatively simple, solves the problems, such as that joint transmission mechanism structure in the prior art is complex.
In the present embodiment, as depicted in figs. 1 and 2, the first end of drawing article 150 is drivingly connected with first knuckle 30, is closed
Saving transmission mechanism further includes：First rotating shaft 50, first knuckle 30 are rotatably arranged in first rotating shaft 50, second knuckle 40 with
First rotating shaft 50 is connected.
For the specific setting of torsionspring 10, as shown in figure 3, torsionspring 10 includes：First torsionspring 11, first
Torsionspring 11 is arranged in first rotating shaft 50, and the first end of the first torsionspring 11 is in contact with first knuckle 30, and first turns round
The second end for turning spring 11 is in contact with second knuckle 40.
In the present embodiment, at least two finger joints include first knuckle 30 and second knuckle 40, the first 11 sets of torsionspring
It is located in first rotating shaft 50.By making the first end of the first torsionspring 11 be in contact with first knuckle 30, the first torsion bullet
The second end of spring 11 is in contact with second knuckle 40, so that the first torsionspring 11 refers to first knuckle 30 and second
Section 40 applies certain resistance, and can provide reset restoring force.
In order to play stable supporting role to drawing article 150, as shown in Figure 1, guide part 20 includes the first guiding
Portion 21, the first guide part 21 are arranged on second knuckle 40, and the first guide part 21 is used to support drawing article 150.
In the present embodiment, guide part 20 includes the first guide part 21, wherein the first guide part 21 is arranged in second knuckle
On 40, the first guide part 21 is used to support drawing article 150, and drawing article 150 during exercise, can be realized in the first guide part 21 and be slided
It is dynamic.
In order to make the resistance that drawing article 150 is subject in moving process smaller, as shown in figures 1 and 3, joint passes
Motivation structure further includes：First idler wheel 60, the first idler wheel 60 are arranged in first rotating shaft 50, the first idler wheel 60 and the first guide part 21
Interval setting；Wherein, drawing article 150 passes through from the lower part of the first idler wheel 60 and rides upon the top of the first guide part 21.
In the present embodiment, by being provided with the first idler wheel 60 on joint transmission mechanism, wherein the first idler wheel 60 is arranged
In first rotating shaft 50, the first idler wheel 60 and the first guide part 21 interval are arranged.
In the present embodiment, for the specific trend of drawing article 150, drawing article 150 is passed through from the lower part of the first idler wheel 60
And the top of the first guide part 21 is ridden upon, it thereby may be ensured that 150 proper motion of drawing article.
In order to be protected to first rotating shaft 50, as shown in figures 1 and 3, joint transmission mechanism further includes：First axle
Set 70, the first axle sleeve 70 is set in first rotating shaft 50, and the first torsionspring 11 and the first idler wheel 60 are arranged at the first axle sleeve
On 70；First bearing 80, first bearing 80 are arranged on the first axle sleeve 70, and first knuckle 30 is connected with first bearing 80, with
First knuckle 30 is set to be rotated relative to first rotating shaft 50 by first bearing 80.
In the present embodiment, by being provided with the first axle sleeve 70 and first bearing 80 on joint transmission mechanism, wherein the
One axle sleeve 70 is set in first rotating shaft 50, and the first torsionspring 11 and the first idler wheel 60 are arranged on the first axle sleeve 70, the
One bearing 80 is arranged on the first axle sleeve 70.
In the present embodiment, by the way that first knuckle 30 is connected with first bearing 80, so as to so that first knuckle 30
It is rotated relative to first rotating shaft 50 by first bearing 80.
In the present embodiment, the first axle sleeve 70 is made of idler wheel axle sleeve and spring fixed hub, wherein the first idler wheel 60 is set
It sets on roller shaft set, the first torsionspring 11 is arranged on spring fixed hub.
Preferably, at least two finger joints further include third knuckle 90, and second knuckle 40 is arranged in first knuckle 30 and third
Between finger joint 90, joint transmission mechanism further includes：Second shaft, third knuckle 90 are rotatably arranged in the second shaft, the
Two finger joints 40 are connected with the second shaft；Wherein, torsionspring 10 includes the second torsionspring 12, the setting of the second torsionspring 12
In the second shaft, the first end of the second torsionspring 12 is in contact with third knuckle 90, the second end of the second torsionspring 12
It is in contact with second knuckle 40.
Preferably, guide part 20 further includes the second guide part 22, and the second guide part 22 is arranged on third knuckle 90, pulls
Part 150 rides upon on the second guide part 22.
Preferably, joint transmission mechanism further includes：Second idler wheel 100, the second idler wheel 100 are arranged in the second shaft, the
Second wheel 100 and the second guide part 22 interval are arranged, and drawing article 150 passes through from the lower part of the second idler wheel 100 and rides upon second
The top of guide part 22；Second axle sleeve, the second axle sleeve are set in the second shaft, the second torsionspring 12 and the second idler wheel 100
It is arranged on the second axle sleeve；Second bearing 110, second bearing 110 are arranged on the second axle sleeve, third knuckle 90 and the second axis
It holds 110 to be connected, so that third knuckle 90 is rotated by second bearing 110 relative to the second shaft.
Preferably, at least two finger joints further include the 4th finger joint 120, and third knuckle 90 is arranged in second knuckle 40 and the 4th
Between finger joint 120, joint transmission mechanism further includes：Third shaft, third knuckle 90 are rotatably arranged in third shaft, the
Four finger joints 120 are connected with third shaft；Wherein, torsionspring 10 includes third torsionspring 13, and third torsionspring 13 is set
It sets in third shaft, the first end of third torsionspring 13 is in contact with the 4th finger joint 120, and the second of third torsionspring 13
End is in contact with third knuckle 90.
Preferably, joint transmission mechanism further includes：Third idler wheel 130, third idler wheel 130 are arranged in third shaft, draw
Moving part 150 is passed through from the lower part of third idler wheel 130；Third axle sleeve, third axle sleeve are set in third shaft, third torsionspring
13 and third idler wheel 130 be arranged on third axle sleeve；3rd bearing 140,3rd bearing 140 are arranged on third axle sleeve, the
Three finger joints 90 are connected with 3rd bearing 140, so that third knuckle 90 is rotated by 3rd bearing 140 relative to third shaft.
In view of each finger joint stress difference, the first torsionspring 11, the second torsionspring 12 and third torsionspring 13
At least one of torque and other two torques it is unequal.
Preferably, drawing article 150 is bracing wire.
Preferably, bracing wire is steel cable.
Preferably, guide part 20 is guide wheel.
The joint transmission mechanism of the utility model is a kind of dragline type drive lacking multi-joint finger, by finger tip (first knuckle
30), middle finger joint (second knuckle 40), lower finger joint (third knuckle 90), four part finger joint composition of metacarpal bone section (the 4th finger joint 120),
Centre is linked together by three rotary joints, the kinetic characteristic of height apery hand.
Rotary joint is made of rotary shaft, axle sleeve, idler wheel, spring and fixed hub, and idler wheel is fixed on axle sleeve, with
Pass through rotary joint convenient for steel wire rope.Torsionspring is fixed on spring fixed hub, when rotary joint bending motion is provided
Restoring force, according to the stressing conditions of each rotary joint provide different mechanical properties torsion bullet, it is each to ensure that steel wire rope passes through
Rotary joint effectively drives finger, meanwhile, restore original position and posture after ensureing clinodactyly.
In the present embodiment, steel cord ends are fixed in finger tip threaded post, and idler wheel is installed at each rotary joint, in
Guide wheel is installed, steel wire rope passes sequentially through the guide wheel at each joint idler wheel and finger joint at finger joint and lower finger joint.
In order to effectively protect the stress point for having disperseed each rotary joint in steel wire rope drawing process, pass through Steel rope drive finger
The bending motion in three joints, while ensure that the appearance design of multi-joint finger and the body construction design of finger are melted is one
Body.
The utility model additionally provides a kind of mechanical hand, including joint transmission mechanism, and joint transmission mechanism is above-mentioned pass
Save transmission mechanism.
The utility model additionally provides a kind of robot, including mechanical hand, and mechanical hand is above-mentioned mechanical hand.
It can be seen from the above description that the above embodiments of the present invention achieve the following technical effects：
The joint transmission mechanism of the utility model can be realized by torsionspring 10, drawing article 150 and guide part 20
Mutual rotation between at least two adjacent finger joints.Wherein, torsionspring 10 is arranged between two adjacent finger joints, torsion
The both ends of spring 10 are in contact with two finger joints respectively, and drawing article 150 sequentially passes through multiple finger joints, and drawing article 150 is along multiple fingers
The extending direction of section can be arranged to folding and unfolding, and guide part 20 is arranged at least one finger joint, and drawing article 150 is supported on guide part 20
On.When specific operation, pass through pulling drawing article 150 so that drawing article 150 drives each finger joint mutually to rotate.This practicality is new
The joint transmission mechanism of type can realize the phase between multiple finger joints by torsionspring 10, drawing article 150 and guide part 20
Mutually rotation, overall drive mechanism is relatively simple, solves the problems, such as that joint transmission mechanism structure in the prior art is complex.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so that presently filed embodiment described herein for example can be in addition to herein
Sequence other than those of diagram or description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment not
Those of be necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes, side
The intrinsic other steps of method, product or equipment or unit.
For ease of description, herein can with use space relative terms, as " ... on ", " in ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, if the device in attached drawing is squeezed, it is described as " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also other different modes positioning (be rotated by 90 ° or be in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (15)
1. a kind of joint transmission mechanism, which is characterized in that including：
At least two finger joints, at least two finger joints are sequentially connected, the adjacent at least two finger joint opposed rotatables
Setting；
Torsionspring (10), the torsionspring (10) are arranged between two adjacent finger joints, the torsionspring
(10) both ends are in contact with two finger joints respectively；
Drawing article (150), the drawing article (150) sequentially pass through at least two finger joints, and the drawing article (150) can folding and unfolding
Ground is arranged, so that at least two adjacent finger joints relatively rotate；
Guide part (20), the guide part (20) are arranged at least one finger joint, and the drawing article (150) is supported on institute
It states on guide part (20).
2. joint transmission mechanism according to claim 1, which is characterized in that at least two finger joints include first knuckle
(30) it is drivingly connected with second knuckle (40), first end and the first knuckle (30) of the drawing article (150), the joint
Transmission mechanism further includes：
First rotating shaft (50), the first knuckle (30) are rotatably arranged in the first rotating shaft (50), and described second refers to
Section (40) is connected with the first rotating shaft (50).
3. joint transmission mechanism according to claim 2, which is characterized in that the torsionspring (10) includes：
First torsionspring (11), first torsionspring (11) are arranged in the first rotating shaft (50), and described first turns round
The first end for turning spring (11) is in contact with the first knuckle (30), the second end of first torsionspring (11) with it is described
Second knuckle (40) is in contact.
4. joint transmission mechanism according to claim 3, which is characterized in that the guide part (20) includes the first guide part
(21), first guide part (21) is arranged on the second knuckle (40), and first guide part (21) is used to support institute
State drawing article (150).
5. joint transmission mechanism according to claim 4, which is characterized in that the joint transmission mechanism further includes：
First idler wheel (60), first idler wheel (60) are arranged in the first rotating shaft (50), first idler wheel (60) with
First guide part (21) interval setting；
Wherein, the drawing article (150) passes through from the lower part of first idler wheel (60) and rides upon first guide part
(21) top.
6. joint transmission mechanism according to claim 5, which is characterized in that the joint transmission mechanism further includes：
First axle sleeve (70), first axle sleeve (70) are set in the first rotating shaft (50), first torsionspring
(11) it is arranged on first axle sleeve (70) with first idler wheel (60)；
First bearing (80), the first bearing (80) are arranged on first axle sleeve (70), the first knuckle (30) with
The first bearing (80) is connected so that the first knuckle (30) by the first bearing (80) relative to described first
Shaft (50) rotates.
7. joint transmission mechanism according to claim 5, which is characterized in that at least two finger joints further include that third refers to
It saves (90), the second knuckle (40) is arranged between the first knuckle (30) and the third knuckle (90), the joint
Transmission mechanism further includes：
Second shaft, the third knuckle (90) are rotatably arranged in second shaft, the second knuckle (40) with
Second shaft is connected；
Wherein, the torsionspring (10) includes the second torsionspring (12), and second torsionspring (12) is arranged described
In second shaft, the first end of second torsionspring (12) is in contact with the third knuckle (90), second torsion
The second end of spring (12) is in contact with the second knuckle (40).
8. joint transmission mechanism according to claim 7, which is characterized in that the guide part (20) further includes the second guiding
Portion (22), second guide part (22) are arranged on the third knuckle (90), and the drawing article (150) rides upon described the
On two guide parts (22).
9. joint transmission mechanism according to claim 8, which is characterized in that the joint transmission mechanism further includes：
Second idler wheel (100), second idler wheel (100) are arranged in second shaft, second idler wheel (100) and institute
The setting of the second guide part (22) interval is stated, the drawing article (150) passes through and rides upon from the lower part of second idler wheel (100)
The top of second guide part (22)；
Second axle sleeve, second axle sleeve are set in second shaft, second torsionspring (12) and described second
Idler wheel (100) is arranged on second axle sleeve；
Second bearing (110), the second bearing (110) are arranged on second axle sleeve, the third knuckle (90) and institute
Second bearing (110) is stated to be connected so that the third knuckle (90) by the second bearing (110) relative to described second
Shaft rotates.
10. joint transmission mechanism according to claim 8, which is characterized in that at least two finger joints further include the 4th
Finger joint (120), the third knuckle (90) is arranged between the second knuckle (40) and the 4th finger joint (120), described
Joint transmission mechanism further includes：
Third shaft, the third knuckle (90) are rotatably arranged in the third shaft, the 4th finger joint (120) with
The third shaft is connected；
Wherein, the torsionspring (10) includes third torsionspring (13), and the third torsionspring (13) is arranged described
In third shaft, the first end of the third torsionspring (13) is in contact with the 4th finger joint (120), the third torsion
The second end of spring (13) is in contact with the third knuckle (90).
11. joint transmission mechanism according to claim 10, which is characterized in that the joint transmission mechanism further includes：
Third idler wheel (130), the third idler wheel (130) are arranged in the third shaft, and the drawing article (150) is from described
The lower part of third idler wheel (130) passes through；
Third axle sleeve, the third axle sleeve are set in the third shaft, the third torsionspring (13) and the third
Idler wheel (130) is arranged on the third axle sleeve；
3rd bearing (140), the 3rd bearing (140) are arranged on the third axle sleeve, the third knuckle (90) and institute
3rd bearing (140) is stated to be connected so that the third knuckle (90) by the 3rd bearing (140) relative to the third
Shaft rotates.
12. joint transmission mechanism according to claim 10, which is characterized in that first torsionspring (11), described
The torque of at least one of second torsionspring (12) and the third torsionspring (13) and other two torques not phase
Deng.
13. joint transmission mechanism according to any one of claim 1 to 12, which is characterized in that the drawing article (150)
For bracing wire.
14. a kind of mechanical hand, including joint transmission mechanism, which is characterized in that the joint transmission mechanism is claim 1 to 13
Any one of described in joint transmission mechanism.
15. a kind of robot, including mechanical hand, which is characterized in that the mechanical hand is the mechanical hand described in claim 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820384934.3U CN208005713U (en) | 2018-03-20 | 2018-03-20 | Joint transmission mechanism, mechanical hand and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820384934.3U CN208005713U (en) | 2018-03-20 | 2018-03-20 | Joint transmission mechanism, mechanical hand and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208005713U true CN208005713U (en) | 2018-10-26 |
Family
ID=63889915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820384934.3U Active CN208005713U (en) | 2018-03-20 | 2018-03-20 | Joint transmission mechanism, mechanical hand and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208005713U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020235706A1 (en) * | 2019-05-21 | 2020-11-26 | 엘지전자 주식회사 | Action robot |
| WO2020235707A1 (en) * | 2019-05-21 | 2020-11-26 | 엘지전자 주식회사 | Action robot |
| CN112809719A (en) * | 2021-02-02 | 2021-05-18 | 珞石（北京）科技有限公司 | Flexible underactuated dexterous manipulator based on linear transmission and modular fingers |
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2018
- 2018-03-20 CN CN201820384934.3U patent/CN208005713U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020235706A1 (en) * | 2019-05-21 | 2020-11-26 | 엘지전자 주식회사 | Action robot |
| WO2020235707A1 (en) * | 2019-05-21 | 2020-11-26 | 엘지전자 주식회사 | Action robot |
| CN112809719A (en) * | 2021-02-02 | 2021-05-18 | 珞石（北京）科技有限公司 | Flexible underactuated dexterous manipulator based on linear transmission and modular fingers |
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