Double bevel wheel under-driven robot finger

A double bevel gear and robot finger technology, applied in the field of anthropomorphic robots, can solve the problems of complicated linkage mechanism devices, differences in the appearance of fingers, and high manufacturing costs, and achieve the effects of simple structure, easy installation and maintenance, and low cost

Inactive Publication Date: 2008-10-22
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The disadvantages of this device are: multiple link mechanism devices are complex, bulky, h

Method used

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  • Double bevel wheel under-driven robot finger
  • Double bevel wheel under-driven robot finger
  • Double bevel wheel under-driven robot finger

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Embodiment Construction

[0027] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0028] The embodiment of a kind of duplex bevel gear underactuated robot finger device designed by the present invention, as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 As shown, it includes base 1, motor 2, reducer 3, first gear 4, proximal joint shaft 5, middle finger section 7, distal joint shaft 10 and end finger section 12; said motor 2 and reducer 3 are all It is fixedly connected with the base 1, the output shaft of the motor 2 is connected with the input shaft of the reducer 3, the output shaft of the reducer 3 is fixedly connected with the first gear 4, the first gear 4 meshes with the driving bevel gear 6, and the driving bevel gear Fixed on the proximal joint shaft 5, said proximal joint shaft 5 is sleeved in the base 1; said distal joint shaft 10 is sleeved on the midd...

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Abstract

A duplex bevel gear under-actuated robot finger device pertains to the technical field of personification robot, which comprises a base, a motor, a reducer, a first gear, a drive bevel gear, a near articular shaft, a middle finger section, a far articular shaft and an end finger section. The device also comprises a duplex bevel gear, a driven bevel gear and a spring part; the middle finger section is sheathed on the near articular shaft; the two ends of the spring part are respectively connected with the middle finger section and the end finger section. The device utilizes a group of duplex bevel gear mechanisms, the middle finger section in the sleeve joint activity and the decoupling effect of the spring part to comprehensively achieve the special effect that the biarticular bone under-actuated finger can bend to grasp objects. The robot finger device of the invention has the advantages of simple and reliable structure, low cost, convenient installation and maintenance, being similar to human fingers and small volume, which is especially and suitably taken as the thumb or a part of other fingers of the personification robot hands, has fewer drivers to drive more rotating joints and can grasp the objects with different shapes and sizes by autoadaptation.

Description

technical field [0001] The invention belongs to the technical field of anthropomorphic robots, and in particular relates to the structural design of a dual bevel gear underactuated robot finger device. Background technique [0002] Similar to humans, most functions of anthropomorphic robots are realized through hand manipulation, so the hand structure is an important part of anthropomorphic robots, and its design is one of the key technologies of anthropomorphic robots. In order to increase the anthropomorphism of the hand, more joint degrees of freedom should be designed for the hand. However, in order to reduce the control difficulty of the anthropomorphic robot hand, as well as reduce the volume and weight of the hand, it is necessary to reduce the number of drivers. Certain contradictions, in addition, in order to better grasp the object, it is also necessary for the finger to have a certain degree of adaptability when grasping the object. The robot anthropomorphic fing...

Claims

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Application Information

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IPC IPC(8): B25J15/08B25J19/00F16H35/00F16H1/20
Inventor 张文增姚远陈强都东
Owner TSINGHUA UNIV
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