CN2492352Y - Two-freedom knuckle mechanism - Google Patents
Two-freedom knuckle mechanism Download PDFInfo
- Publication number
- CN2492352Y CN2492352Y CN 01259842 CN01259842U CN2492352Y CN 2492352 Y CN2492352 Y CN 2492352Y CN 01259842 CN01259842 CN 01259842 CN 01259842 U CN01259842 U CN 01259842U CN 2492352 Y CN2492352 Y CN 2492352Y
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- gear
- sway
- joint
- shaft
- axle
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- Expired - Fee Related
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Abstract
The utility model relates to a joint device applicable for a robot dexterous hand near knuckle, which comprises a motor, a gear and a cross-pin, the near knuckle and a metacarpus joint are connected through a cross axle, two crossing shafts of the cross axle comprises a side-sway shaft and a buckling shaft respectively, wherein the both ends of the side-sway shaft are respectively connected with the metacarpus joint through two bearings, the both ends of the buckling shaft are respectively connected with the near knuckle through two bearings, gears are arranged on two ends of the side-sway shaft, one gear is fixedly connected with the side-sway shaft and the other gear is connected with the side-sway shaft through the bearing, the gear fixedly connected with the buckling shaft meshes with the gear on the side-sway shaft to generate a gear pair. The utility model can realize two freedom degrees of buckling and side-sway simultaneously on the near knuckle joint, the cross axle structure is used for realizing side-sway movements and the utility model has high connecting intensity and long maintenance period, two driving motors are straightly arranged in the metacarpus joint to drive the gear directly, the utility model has the advantages of more compact structure, better motion performances, low development expenses and convenient fabrication and assembly and is applicable for the waist joint, shoulder joint and wrist joint of industrial robots.
Description
The utility model relates to a kind of articulation mechanism that is applied to the nearly dactylus of robot delicate.
Background technology: the robot delicate kind of drive has multiple, and common has: connecting rod class, steel wire rope class, form of gear tooth band class, gear class etc.Adopt the Dextrous Hand of gear class transmission to be on the increase, the structure of dlr ' the s hand II of German Aerospace Center type Dextrous Hand is: four gears constitute two pairs of gear pairs, and wherein, a pair of is spiral bevel gear, and another is to being bevel gear.Two self-control direct current generators crouch and put (axis is in horizontal plane) in basic dactylus (metacarpal bone joint), are transferred to basic dactylus (metacarpal bone joint) joint gear by cog belt.Two motors backwards rotation are simultaneously realized the curvature movement in joint, and two motors rotate the side-sway motion that realization refers to simultaneously in the same way, and nearly dactylus is the single shaft embedded structure in basic dactylus (metacarpal bone joint) connected mode.Though this kind structure can realize flexing and two frees degree of side-sway simultaneously at nearly articulations digitorum manus,, make nearly articulations digitorum manus bonding strength a little less than, appearance and size is bigger, the kind of drive and manufacturing, assembling and control are comparatively complicated, manufacturing cost is also higher.
Summary of the invention: realize flexing and two frees degree of side-sway simultaneously in nearly dactylus joint in order to make Dextrous Hand, reduce the appearance and size of nearly articulations digitorum manus, and reduction manufacturing cost, the utility model structure is: nearly dactylus is connected with cross axle with the metacarpal bone joint, two intersecting axles of cross axle are made up of side-sway axle and flexion axis respectively, be connected with two bearings respectively between the two ends of side-sway axle and the metacarpal bone joint, be connected with two bearings respectively between the two ends of flexion axis and the nearly dactylus, the two ends of side-sway axle respectively are provided with a gear, gear and side-sway axle are connected, and another gear is connected with the side-sway axle through bearing; Gears engaged on gear that flexion axis is connected and the side-sway axle is formed gear pair.The utility model can be realized flexing and two frees degree of side-sway simultaneously in nearly dactylus joint, wherein, realizes the side-sway motion with the cross axle structure, can make the bonding strength height of finger, and maintenance period is long; Two drive motors stand up in the metacarpal bone joint, direct driven wheel, and more compact structure, exercise performance is more superior; Motor can directly be buied, and saves development cost; Train all is made up of master bevel gear, convenient processing and installation.Above-mentioned cross axle compound gear train mechanism also is applicable to waist joint, shoulder joint, wrist joint of industrial robot etc.
Fig. 1 is the palm schematic layout pattern;
Fig. 2 is a nearly dactylus joint schematic diagram;
Fig. 3 is a nearly dactylus joint schematic top plan view.
In order to realize flexing and two frees degree of side-sway simultaneously at the nearly dactylus of Dextrous Hand place, can adopt the mode of cross axle connection, Bevel Gear Transmission.
Shown in accompanying drawing 2,3, is connected with side-sway joint 7 by flexing joint 6 between nearly dactylus 5 and the metacarpal bone joint 8, nearly dactylus 5 and metacarpal bone save 8 and are connected the two intersecting axles difference called after side-sway axle 21 and the flexion axis 20 of cross axle with cross axle.Side-sway axle 21 and metacarpal bone joint 8 is connected with bearing 10,16, and flexion axis 20 is connected with bearing 19,23 with near dactylus 5.A gear 9,14 is respectively put at side-sway axle 21 two ends, and wherein side-sway axle 21 connects with woodruff key 26 with gear 9, and is contained on the metacarpal bone joint (8), and gear 9 is connected with side-sway axle 21, and another gear 14 is connected with side-sway axle 21 with bearing 15.Flexion axis 20 gear 13 that only at one end is connected with moving gear 14 engagements on the side-sway axle 21, is formed gear pair.Movable auricle 22 is contained in an end of side-sway axle 21, and movable auricle 25 is contained in an end of flexion axis 20, and each end face is fixing respectively by four end caps 24.
During motor 2 (18) work, by idle pulley-gear 14 driven wheels 13, gear 13 is connected with nearly dactylus 5, together rotates around flexion axis 20, realizes the curvature movement that refers to by motor gear 17.During motor 12 work, three gear-gears 9 on the cross axle, gear 14, gear 13 constitute the relation of similar cyclic train, and motor gear 11 driven wheels 9 drive nearly dactylus 5 and carry out the side-sway motion around side-sway axle 21.
By structure as can be known, nearly dactylus swing can cause the curvature movement that refers to, motor 12, motor 18 collaborative works can be controlled finger swing or flexing only take place.In the practical operation, motor 12, motor 18 are worked simultaneously, can make finger tip arrive any position of working space.
Among Fig. 1 1-dactylus far away; 2-dactylus joint far away; 3-middle finger joint; 4-middle finger joint joint.
Claims (1)
1. nearly dactylus articulation mechanism of forming by gear and cross axle of Dextrous Hand, it is characterized in that, nearly dactylus is connected with cross axle with the metacarpal bone joint, two intersecting axles of cross axle are made up of side-sway axle and flexion axis respectively, is connected with two bearings respectively between the two ends of side-sway axle and the metacarpal bone joint, the two ends of flexion axis with closely be connected with two bearings respectively between the dactylus, the two ends of side-sway axle respectively are provided with a gear, gear and side-sway axle are connected, and another gear is connected with the side-sway axle through bearing; Gears engaged on gear that flexion axis is connected and the side-sway axle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01259842 CN2492352Y (en) | 2001-08-22 | 2001-08-22 | Two-freedom knuckle mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01259842 CN2492352Y (en) | 2001-08-22 | 2001-08-22 | Two-freedom knuckle mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2492352Y true CN2492352Y (en) | 2002-05-22 |
Family
ID=33668130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 01259842 Expired - Fee Related CN2492352Y (en) | 2001-08-22 | 2001-08-22 | Two-freedom knuckle mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2492352Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128744A (en) * | 2012-12-21 | 2013-06-05 | 中国矿业大学 | Humanoid flexible mechanical arm device |
| CN106142128A (en) * | 2016-07-28 | 2016-11-23 | 上海交通大学 | Revolution rocking type mechanical arm joint module |
| CN108260350A (en) * | 2015-07-22 | 2018-07-06 | Cmr外科有限公司 | It is encapsulated for the gear of robot arm |
| CN110422307A (en) * | 2019-07-12 | 2019-11-08 | 天津大学 | A kind of control method of the latent device of deep-sea multi-joint |
| CN112890509A (en) * | 2021-03-05 | 2021-06-04 | 江苏华阳智能科技有限公司 | Use method of bone joint type transmission mechanism |
| US11154371B2 (en) | 2015-07-22 | 2021-10-26 | Cmr Surgical Limited | Drive mechanisms for robot arms |
-
2001
- 2001-08-22 CN CN 01259842 patent/CN2492352Y/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103128744A (en) * | 2012-12-21 | 2013-06-05 | 中国矿业大学 | Humanoid flexible mechanical arm device |
| CN108260350A (en) * | 2015-07-22 | 2018-07-06 | Cmr外科有限公司 | It is encapsulated for the gear of robot arm |
| US11154371B2 (en) | 2015-07-22 | 2021-10-26 | Cmr Surgical Limited | Drive mechanisms for robot arms |
| US11559882B2 (en) | 2015-07-22 | 2023-01-24 | Cmr Surgical Limited | Torque sensor |
| CN106142128A (en) * | 2016-07-28 | 2016-11-23 | 上海交通大学 | Revolution rocking type mechanical arm joint module |
| CN106142128B (en) * | 2016-07-28 | 2019-09-03 | 上海交通大学 | Turn round rocking type mechanical arm joint module |
| CN110422307A (en) * | 2019-07-12 | 2019-11-08 | 天津大学 | A kind of control method of the latent device of deep-sea multi-joint |
| CN112890509A (en) * | 2021-03-05 | 2021-06-04 | 江苏华阳智能科技有限公司 | Use method of bone joint type transmission mechanism |
| CN112890509B (en) * | 2021-03-05 | 2022-07-12 | 江苏华阳智能科技有限公司 | Use method of bone joint type transmission mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |