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Coupling transmission mechanism of dexterous hand finger joint gear of robot

A transmission mechanism and dexterous hand technology, applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve problems such as poor motion coordination, coupling gap, complex structure, etc., to achieve stable motion, improve motion accuracy, and good motion coordination.

Inactive Publication Date: 2017-11-17
CHANGSHA ZHANSHUO XUANXING INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of complex structure, poor reliability, poor motion coordination when fingers are bent, and easy coupling gaps in the existing coupling transmission mechanism, the present invention further provides a robot dexterous hand-finger joint gear coupling transmission mechanism

Method used

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  • Coupling transmission mechanism of dexterous hand finger joint gear of robot
  • Coupling transmission mechanism of dexterous hand finger joint gear of robot
  • Coupling transmission mechanism of dexterous hand finger joint gear of robot

Examples

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specific Embodiment approach 1

[0008] Specific implementation mode one: as Figure 1~4 As shown, the robot dexterous finger joint gear coupling transmission mechanism described in this embodiment is composed of a fixed spur gear 10, an intermediate gear 11, a driven spur gear 12, and an intermediate gear support shaft 15. The fixed spur gear 10, the intermediate gear 11 has the same modulus as the driven spur gear 12, the fixed spur gear 10 has the same number of teeth as the driven spur gear 12, and the intermediate gear 11 meshes with the fixed spur gear 10 and the driven spur gear 12 respectively; the fixed spur gear 10 is set on On the flexible wheel 3-1 of the harmonic reducer 3, the fixed spur gear 10 is fixed together with the rigid wheel 3-3 of the harmonic reducer 3 and the right side wall 5-2 of the first knuckle, and the fixed spur gear 10 is coaxial with the middle joint 8 (the shaft refers to the middle joint rotation shaft 13), the middle gear support shaft 15 is located in the middle knuckle ...

specific Embodiment approach 2

[0010] Specific implementation mode two: as Figure 1~4 As shown, the axial distance between the fixed spur gear 10 and the intermediate gear 11 in this embodiment is the same as the axial distance between the driven spur gear 12 and the intermediate gear 11 , which is equal to 1 / 2 of the length of the middle knuckle 6 . Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0011] Specific implementation mode three: as Figure 1~4 As shown, this embodiment is an embodiment in which the finger joint gear coupling transmission mechanism of the present invention is installed in the finger of a robot dexterous hand:

[0012] The robot dexterous hand finger after installing the present invention mainly comprises gear coupling transmission mechanism (the present invention), first knuckle 5, middle knuckle 6, terminal knuckle 7, middle joint 8, terminal joint 9, driving motor 1, transmission umbrella Gear pair 2, harmonic reducer 3, middle knuckle transmission part 4, fingertip one-dimensional torque sensor 21, described transmission bevel gear pair 2 is made up of small transmission bevel gear 2-1 and large transmission bevel gear 2-2, Described gear coupling transmission mechanism is made up of fixed spur gear 10, intermediate gear 11, driven spur gear 12, intermediate gear support shaft 15, and the module of described fixed spur gear 10, intermediate...

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Abstract

The invention provides a coupling transmission mechanism of a dexterous hand finger joint gear of a robot, and relates to a transmission mechanism of a robot finger. The coupling transmission mechanism solves the problems that an existing coupling transmission mechanism has a complex structure, poor reliability and poor motion coordination when a finger is bent, and easily appears coupling gaps. A fixed spur gear, a middle gear and a driven spur gear have the same modulus, and the fixed spur gear and the driven spur gear have the same number of teeth; the middle gear is meshed with the fixed spur gear and the driven spur gear simultaneously, and the fixed spur gear is sleeved with the flexible wheel of a harmonic reducer; the middle gear is mounted on a middle gear support shaft, and the driven spur gear is mounted on the one-dimension torque sensor of a fingertip. The coupling transmission mechanism achieves coupled motions, with the accurate syntropy 1:1 angle, of a middle joint and a tail end joint, and has the advantages of a simple structure, good reliability, good motion coordination when a finger is bent, an ability of high torque transmission and small coupling motion gaps.

Description

technical field [0001] The invention relates to a transmission mechanism of a robot finger. Background technique [0002] As an important branch of robot technology, robot dexterous hand technology has achieved good results after decades of development, and some representative dexterous hands have been born one after another. The progress of these dexterous hands is mainly reflected in the mechanical structure, drive , sensing, integration, and control. Most of the dexterous hands that have been successfully developed at present adopt the arrangement of degrees of freedom of fingers similar to human hands: four joints and three degrees of freedom. There are two joints (collectively called base joints) and two degrees of freedom at the root of the finger to realize the bending and sideways movement of the finger; there are two joints and one degree of freedom at the finger part, and the two joints of the finger part move through the coupling movement of the mechanism. Howev...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 郭鑫
Owner CHANGSHA ZHANSHUO XUANXING INFORMATION TECH CO LTD
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