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The base joints of the fingers of a robotic humanoid dexterous hand

A dexterous hand and robot technology, applied in the field of robotics, can solve problems such as the structure of the motion mechanism is not simple enough, the structure of the base joint is not compact enough, etc., and achieve the effect of stable and accurate joint movement and a compact structure of the base joint

Active Publication Date: 2021-05-18
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the structure of the motion mechanism of the device is not simple enough, the driving structure and the motion mechanism are completely separated, the structure of the base joint is not compact enough, and the motion realized by the base joint is the bending and rotation of the fingers, not the human-like pitch and swing

Method used

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  • The base joints of the fingers of a robotic humanoid dexterous hand
  • The base joints of the fingers of a robotic humanoid dexterous hand
  • The base joints of the fingers of a robotic humanoid dexterous hand

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] Such as figure 1 , figure 2 with image 3As shown, a base joint of a robot imitating a human dexterous hand finger includes a joint seat 1, a cross shaft 2, a near finger segment 3, a first driving bevel gear 4, a second driving bevel gear 5, a driven bevel gear 6, a second bevel gear A drive assembly 7 and a second drive assembly 8, the cross shaft 2 includes a first shaft 2.1 and a second shaft 2.2, the first shaft 2.1 is rotationally connected with the joint seat 1, the first driving bevel gear 4 and the second driving bevel gear 5 can be The rotating one is sleeved on the first shaft 2.1, and the first driving bevel gear 4 and the second driving bevel gear 5 are arranged on opposite sides of the second shaft 2.2, and the driven bevel gear 6 is sleeved on the second shaft 2.2 and Fixed with the proximal finger section 3, the proximal finger section 3 is rotationally connected with the second shaft 2.2, and the length direction of the proximal finger section 3 is p...

Embodiment 2

[0032] On the basis of Embodiment 1, the first driving member 7.1 includes two separate driving elements, and the first driving tendon rope 7.3 and the first restoring tendon rope 7.4 are respectively connected to the output ends of the two driving elements. The driving element can be a driving member such as a cylinder, a pneumatic muscle, a motor, etc. By separately controlling the first driving tendon rope 7.3 and the first restoring tendon rope 7.4, the first tension difference can be controlled.

Embodiment 3

[0034] On the basis of Embodiment 1, the first driving member 7.1 includes a driving motor and a winding drum, the winding drum is connected to the output shaft of the driving motor, and the first driving tendon rope 7.3 and the first restoring tendon rope 7.4 are wound on On the reel, the first driving tendon rope 7.3 and the first recovery tendon rope 7.4 have opposite winding directions. The structure can reduce the number of drives, and the rolling state of the first driving tendon rope 7.3 and the first restoring tendon rope 7.4 is always opposite, which can increase the controllability, and the first tension difference can be changed by controlling the torque of the motor.

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Abstract

The invention discloses a base joint of a humanoid dexterous hand finger of a robot, comprising a joint base, a cross shaft, a near-finger section, a first driving bevel gear, a second driving bevel gear, a driven bevel gear, a first driving assembly and a second driving assembly. Two driving components, the cross shaft includes a first shaft and a second shaft, the first shaft is rotatably connected to the joint seat, the first driving bevel gear and the second driving bevel gear are rotatably sleeved on the first shaft, and the driven bevel gear Sleeved on the second shaft and fixed with the proximal finger section, the proximal finger section is rotatably connected with the second shaft, the output end of the first drive assembly is connected with the first driving bevel gear, the output end of the second drive assembly is connected with the second driving Bevel gear connection. The invention provides a base joint of a robot imitating human dexterous hands and fingers. The actuator structure is simple, and the two-degree-of-freedom movement of the near-phalangeal joint is realized through a differential structure driven by a tendon rope and a pulley.

Description

technical field [0001] The invention relates to the field of robots, in particular to a base joint of a humanoid dexterous hand finger of a robot. Background technique [0002] Compared with industrial grippers, robotic humanoid dexterous hands have outstanding advantages in the interaction between robots and external objects due to their multi-degree-of-freedom and dexterity. There are two degrees of freedom at the base joint, which can realize the pitching and swinging motion of the finger, and is the key structure to realize the dexterity of the dexterous hand. At present, the base joints of the dexterous hand mainly adopt a structure in which pitch joints and swing joints are separated. Although the base joint design of double joints can simplify the structure of fingers, there are many deficiencies. Firstly, the double-joint design will increase the overall size of the finger, increase the weight of the finger and is not conducive to the humanoid design of the finger;...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J15/00B25J9/10
CPCB25J9/10B25J9/102B25J9/104B25J15/0009B25J17/00
Inventor 鲍官军杨邦出朱李垚葛涵陈志培陶志成
Owner ZHEJIANG UNIV OF TECH
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