Double-layer retracing driven two-stage rotation finger mechanism

A finger, double-layer technology, applied in the field of two-stage rotary finger mechanism, can solve the problems of large space occupation and large joint influence, and achieve the effect of saving space and simplifying the structure of the manipulator.

Inactive Publication Date: 2017-08-22
ZORPIA ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The design of the transmission mechanism in the prior art...

Method used

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  • Double-layer retracing driven two-stage rotation finger mechanism
  • Double-layer retracing driven two-stage rotation finger mechanism
  • Double-layer retracing driven two-stage rotation finger mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] Such as Figure 1 to Figure 5 As shown, it is a schematic diagram of the principle of the double-layer turn-back driven finger mechanism of the embodiment of the present invention. The double-layer turn-back driven finger mechanism of the embodiment of the present invention includes a finger frame, a gear transmission group, a motor, a screw, and a screw that cooperates with the screw. Nut and finger body. Wherein, the gear transmission set includes a first gear and a second gear that mesh with each other, and the finger body and the finger frame are rotatably connected through a first rotating shaft.

[0039]The motor 311 is fixed in the finger frame 31 and is connected with the first gear 321 of the gear train 32 through an output shaft. In practical applications, since the output speed of the motor 311 may be different from the actual required speed, a deceleration assembly may also be included to adjust the output speed of the motor. The motor 311 and the decelerat...

Embodiment 2

[0049] Compared with Embodiment 1, this embodiment provides an alternative solution in Embodiment 1 regarding the way in which the nut 35 is fixed relative to the finger frame 31 in the radial direction. The fixing of the nut 35 relative to the finger frame 31 in the radial direction means that the nut 35 is constrained in the radial direction and released in the axial direction. When the screw rod 34 rotates, the nut 35 can move in the radial direction. The bottom of the finger frame 31 is provided with a sliding guide rail, and the nut 35 is connected with the finger frame 31 through the sliding guide rail, so that the nut 35 is fixedly connected with the finger frame 31 in the radial direction, and can slide in the axial direction. The sliding guide rail can also not have a load-bearing effect, but only provide a binding effect in the radial direction. More preferably, the nut 35 is clamped on the sliding guide rail, so that the sliding guide rail can play a certain load-bea...

Embodiment 3

[0051] Such as Figure 6 to Figure 11 As shown, it is a schematic diagram of the principle of the double-layer turning back driven finger mechanism of the third embodiment. The difference between this embodiment and the second embodiment is that the finger body of this embodiment includes a base phalanx and a proximal phalanx, and correspondingly, the way the nut drives it is also different.

[0052] The above-mentioned base knuckle 42 is rotatably connected with the finger frame 31 through the first rotating shaft 40, and the base knuckle 42 and the proximal knuckle 43 are rotatably connected through the second rotating shaft 44, and are arranged between the proximal knuckle 43 and the finger frame 31. There is a first pull rod 45, one end of the first pull rod 45 is rotatably connected with the finger frame 31 through the third rotating shaft 46, and the other end of the first pull rod 45 is rotatably connected with the proximal knuckle 43 through the fourth rotating shaft 4...

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Abstract

The embodiment of the invention provides a double-layer retracing driven two-stage rotation finger mechanism. Base knuckles are connected with finger racks and connected with close knuckles, first pull rods are connected with the finger racks and connected with the close knuckles, and motors are connected with first gears of gear transmission sets; and screws and nuts are arranged below the finger racks, one ends of the screws are connected with second gears of the gear transmission sets, the first gears are in transmission connection with the second gears, the nuts are connected with the base knuckles, and reset mechanisms are arranged on the connecting positions of the base knuckles and the finger racks. According to the double-layer retracing driven two-stage rotation finger mechanism, a double-layer retracing transmission structure is adopted, and the special design of the screws and the nuts is matched, so that original output of a power source and driving output of finger bodies are located on two layers correspondingly, and the space occupied by axial transmission output is saved.

Description

technical field [0001] The embodiment of the present invention relates to a finger mechanism, in particular to a two-stage rotary finger mechanism driven by double-layer folding. Background technique [0002] The manipulator can imitate certain motion functions of the human hand and arm, and is used to grab, carry objects or operate automatic operating devices according to a fixed program. Manipulators can replace human heavy labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety, so they are widely used in various sectors of industrial production. In addition, many manipulators are also designed for the disabled to act as prosthetics for the disabled, so that the disabled have a certain ability to grasp objects. In the mechanism of the manipulator, it is necessary to drive the arm or finger through a driving mechanism, so that the arm or finger can rotate along the joint, so as to realize the grasping...

Claims

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Application Information

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IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 白劲实
Owner ZORPIA ROBOT CO LTD
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