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Manipulator and its transmission structure

A manipulator and flexible structure technology, applied in the field of robotics, can solve the problems of too many motors, large manipulator, and complex power transmission structure.

Active Publication Date: 2016-08-24
NANKAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, the object of the present invention is to propose a manipulator and its transmission structure to solve the problems of existing manipulators such as large volume, passive motion of the thumb, excessive number of motors required for independent driving of fingers, and complex power transmission structure.

Method used

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  • Manipulator and its transmission structure
  • Manipulator and its transmission structure
  • Manipulator and its transmission structure

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Embodiment Construction

[0025] In order to make the purpose, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0026] Such as figure 1 As shown, the manipulator includes thumb 5 , index finger 1 , middle finger 2 , ring finger 3 , little finger 4 and palm 6 .

[0027] Such as figure 2 As shown, the palm 6 includes a palm frame 61 , a first motor 62 , a driving wheel 64 , a driven wheel 65 , a transmission member 66 , a first gear 67 and a first special-shaped rack 68 . Wherein, the structure of the first special-shaped rack 68 is as follows: image 3 As shown, it includes a rack and two driven bars parallel to the rack, and one end of the rack and the two parallel driven bars are vertically fixedly connected to a bar-shaped / rod-shaped connecting piece. When the first gear 67 rotates under the drive of the driven wheel 65, the rack meshed wit...

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Abstract

A mechanical arm comprises a palm part which is provided with a motor. An output shaft of the motor is fixedly connected with a first gear which is meshed with a first gear portion of a second gear, and a second gear portion of the second gear is meshed with a rack. Rotation power of the output shaft of the motor is transmitted to the first gear, the first gear transmits the rotation power to the second gear to drive the second gear to rotate, and the second gear rotates to drive the rack to move. The invention further discloses transmission structures. Each transmission structure can drive only one mechanical finger and also can drive multiple mechanical fingers, so that the number of motors of the mechanical arm is effectively reduced, and the structure is simple and compact.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a manipulator and its transmission structure. Background technique [0002] At present, the thumb in the manipulator generally moves passively. This structure requires the user to manually move the thumb to select the movement mode. Most of the existing manipulators with independent movement of five fingers require a large number of motors, which makes the manipulator too large in size and thus limits the range of users. Although the five-finger linkage or thumb, index finger and middle finger linkage structure in existing manipulators solves the problem of too many motors, the structure is relatively simple, but the hand movements realized by this five-finger linkage or thumb, index finger and middle finger linkage control method Fewer means that there are fewer functions, which cannot be completed when a hand-disabled patient needs a single finger to make a call or type a keybo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/10B25J17/02F16H19/04
Inventor 段峰代莉莉李文宇
Owner NANKAI UNIV