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Finger-base joint mechanism for smart robot hand

A technology of dexterous hands and base joints, applied in the direction of manipulators, joints, chucks, etc., can solve the problems of difficult joint rotation and poor flexibility of base joints, and achieve the effects of compact structure, weight reduction and volume reduction

Inactive Publication Date: 2009-06-10
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a robot dexterous hand finger base joint mechanism, which can solve the problem that the existing robot dexterous hand finger base joints adopt two vertical but non-intersecting axes and are independently driven by two drivers. , the flexibility of the base joint is poor and the use of a ball / hole structure similar to the base joint of the human hand has the problem of difficulty in realizing joint rotation

Method used

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  • Finger-base joint mechanism for smart robot hand
  • Finger-base joint mechanism for smart robot hand
  • Finger-base joint mechanism for smart robot hand

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Experimental program
Comparison scheme
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specific Embodiment approach 1

[0008] Specific implementation mode 1: Combining Figures 1 to 10 and Figure 14 Describe this embodiment. This embodiment consists of a frame 1, a differential mechanism 2, a two-dimensional torque sensor 3, two sets of drive systems, a joint shaft 4, a joint bearing 5, an electrical control board 6, a connecting circuit board 7, and an absolute position sensor 8 composition; the two sets of drive systems are symmetrically arranged in the frame 1 with respect to the longitudinal center line of the frame 1, the differential mechanism 2 is arranged in the frame 1 and placed in the middle of the two sets of drive systems, and the two sets of drive systems are driven by the first The system 9 and the second driving system 10 are composed, and the differential mechanism 2 is composed of two driving bevel gears and two driven bevel gears, and the two driving bevel gears are composed of a first driving bevel gear 11 and a second driving bevel gear 12 The two driven bevel gears are co...

specific Embodiment approach 2

[0009] Specific implementation mode two: combination Figure 5 , Figure 17 ~ Figure 19 Describe this embodiment, the frame 1 of this embodiment is made up of left side board 17, right side board 18 and middle frame 19; Said middle frame 19 is arranged in the middle of left side board 17 and right side board 18, and passes four M2 .5 screw and three 2. The positioning pins are fastened together, which effectively simplifies the structure and reduces the weight; the upper end surface of the middle frame 19 is provided with a limiting plane 56 and a limiting slope 57. When the base joint of the finger rotates 90° forward, the two-dimensional torque sensor 3 will contact the limit plane 56 of the middle frame 19, limiting the base joint of the finger to continue to rotate forward; when the base joint of the finger rotates 20° backward, the two-dimensional The torque sensor 3 will be in contact with the limiting inclined surface 57 of the intermediate frame 19 to limit the furt...

specific Embodiment approach 3

[0010] Specific implementation mode three: combination Figure 8 , Figure 9 , Figure 11~ Figure 15 Describe this embodiment, the first driving system 9 of this embodiment is by the first motor 20, the first pulley 21, the first high-speed toothed belt 22, the second pulley 23, the first harmonic reducer shaft 25, the first One harmonic reducer 26, the third pulley 24, the first bearing 27, the first low-speed toothed belt 28, the fourth pulley 29, the first tension pulley 30, the first tension pulley shaft 31, the second bearing 32 Composition; the first motor 20 is arranged at the bottom of the frame 1 and fixedly connected to the frame 1, the output shaft of the first motor 20 is equipped with a first pulley 21, and the first pulley 21 passes through the first high-speed gear The belt 22 is in drive connection with the second pulley 23, and the second pulley 23 and the third pulley 24 are respectively fixed on the shaft 25 of the first harmonic reducer 26 as the input en...

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Abstract

The finger-base joint mechanical for smart robot hand has two driving systems set inside a frame, and one differential mechanism set between these two driving systems. The differential mechanism consists of two driving bevel gears and two driven bevel gears meshed mutually and mounted on one joint shaft. Each of the first driving system and the second driving system transmits power through a driving bevel gear to corresponding driven bevel gear. One of the driven bevel gears is connected to one 2D torque sensor for transmission, and all the electric control board, the absolute position sensor and the connecting circuit board are fixed inside the frame. The finger-base joint of the present invention has two freedoms realized with the four meshed bevel gears, compact integral structure, and easy machining and assembling.

Description

technical field [0001] The invention relates to a robot dexterous hand finger. Background technique [0002] As an important branch of robotics, robot dexterous hand technology has achieved good results after decades of development, and some representative dexterous hands have been born one after another, such as Stanford / JPL (the dexterous hand developed by Stanford), Utan / M.I.T (dexterous hand developed by MIT), DLR (dexterous hand developed by German Aerospace Center), NASA (dexterous hand developed by NASA), etc. The progress of the above-mentioned dexterous hands is mainly reflected in the aspects of mechanical structure, drive, sensing, integration and control. However, due to the limitations of motor technology and electronic product manufacturing technology, the integration of previous dexterous hands has not reached a satisfactory level, such as Stanford / JPL hands, Utan / M.I.T hands, and commercialized Shadow hands. The driver is placed outside the dexterous hand...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J17/00B25J19/00
Inventor 金明河刘宏樊绍巍刘伊威兰天赵京东
Owner HARBIN INST OF TECH