Harmonic reducer robot finger joint structure

Abstract

The utility model provides a harmonic reducer robot finger joint structure which comprises a plurality of finger joint assemblies and a tail end finger joint which are connected in series, each finger joint assembly comprises an installation shell, a driving assembly, a linkage assembly and a connecting kit, the driving assembly is installed in the installation shell, and the linkage assembly is connected with the tail end finger joint. A connecting sleeve is fixedly mounted at the tail of the mounting shell, a linkage assembly is mounted at the upper end of the mounting shell, and the output end of the driving assembly is in driving connection with the connecting sleeve of the other adjacent finger joint assembly through the linkage assembly. The driving assembly comprises a driving motor and a harmonic reducer, the output end of the harmonic reducer is connected with the linkage assembly, and the linkage assembly comprises a bevel gear assembly. Accurate control is carried out through the harmonic reducer and the bevel gear assembly, the hand action is more flexible, the structure is more compact, the corresponding speed is high, and the service life is longer.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot finger joint technical field especially relates to a harmonic reducer robot finger joint structure. BACKGROUND

[0002] A humanoid robot hand (a humanoid robot hand) is a kind of robot end effector that imitates the structure and function of human hand, and its core goal is to realize the dexterity, adaptability and operation ability similar to human hand.

[0003] Traditional robot finger joint is mostly driven by screw rod or motor, and linear motion of screw thread pair is converted into rotary motion, transmission chain is long and is easily affected by mechanical clearance, resulting in limited action precision, difficult to realize fine grabbing, and screw rod system needs to be matched with reduction gear set and support structure, resulting in bulky joint module, large weight, inertia, resulting in slow dynamic response.

[0004] The hand of humanoid robot needs to be highly flexible, accurate in action, compact in structure, light in weight, low in noise and long in service life, and after comprehensive comparison, harmonic reducer is the most suitable reducer device.

[0005] Now a new robot finger joint structure using harmonic reducer structure is needed, which can solve the above problems. INVENTION CONTENTS

[0006] The utility model provides a kind of harmonic reducer robot finger joint structure, by the technical reformation of existing robot finger, solve the problem of not enough high control rotation precision of existing robot finger, it occupies large volume.

[0007] To achieve the above object, the technical scheme adopted by the utility model is as follows:

[0008] A kind of harmonic reducer robot finger joint structure, including a plurality of mutually connected finger joint components and terminal finger joints, the finger joint component includes installation shell, drive assembly, linkage assembly and connecting sleeve, drive assembly is installed in installation shell, connecting sleeve is fixedly installed in the tail of installation shell, linkage assembly is installed on the upper end of installation shell, the output end of drive assembly is drivenly connected with the connecting sleeve of another adjacent finger joint component through linkage assembly.

[0009] Preferably, the finger joint component includes a first finger joint and a second finger joint, the first finger joint is drivingly connected with the second finger joint at the upper end, and the second finger joint is drivingly connected with the terminal finger joint at the upper end.

[0010] Preferably, the driving assembly comprises a driving motor and a harmonic reducer, the driving motor and the harmonic reducer are installed in the mounting shell, the output end of the driving motor is connected with the harmonic reducer, and the output end of the harmonic reducer is connected with the linkage assembly.

[0011] Preferably, the linkage assembly comprises a bevel gear assembly, a flat shaft and a supporting bearing, a bearing seat is arranged at the upper end of the mounting shell, the supporting bearing is arranged in the bearing seat, the flat shaft is rotatably arranged in the bearing seat through the supporting bearing, the output end of the harmonic reducer is drivingly connected with the flat shaft through the bevel gear assembly, and the bottom of the connecting sleeve is provided with a first flat hole, and the flat shaft is arranged in the first flat hole of the connecting sleeve.

[0012] Preferably, the bevel gear assembly comprises a first bevel gear and a second bevel gear, the first bevel gear is arranged on the output shaft of the harmonic reducer, the second bevel gear is provided with a second flat hole, the flat shaft is arranged through the second flat hole, the first bevel gear and the second bevel gear are arranged in meshing mode, and the driving motor drives the flat shaft to rotate through the first bevel gear and the second bevel gear.

[0013] Preferably, an encoder is further arranged outside the mounting shell of the finger joint assembly and is electrically connected with the driving assembly.

[0014] The application has the advantages that:

[0015] The driving motor and the harmonic reducer are arranged in the finger joint of the humanoid robot, a plurality of finger joints are connected in series, the power unit is arranged in each joint, independent control is realized, the harmonic reducer and the bevel gear assembly are used for accurate control, the hand movement is more flexible, the structure is more compact, the speed is relatively fast, and the service life is longer.

[0016] 1) The driving structure of the application is more compact and is more suitable for being arranged in limited space.

[0017] 2) The application adopts the harmonic reducer structure for control, and the control precision is higher, and the application is suitable for fine grasping of the dexterous hand.

[0018] 3) The application has high torque density, and is suitable for increasing the torque of the finger joint.

[0019] 4) The structure of the application has fast response speed, and is suitable for fast response of the finger movement.

[0020] 5) The linkage assembly of the application has small wear and long service life, and is suitable for stability and long-time use of the dexterous hand. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a three-dimensional structure schematic view of the application;

[0022] Figure 2 Fig. 1 is a schematic diagram of a finger joint assembly structure of the present application;

[0023] Figure 3 Fig. 2 is an exploded schematic diagram of the finger joint assembly of the present application;

[0024] Figure 4 Fig. 3 is a schematic diagram of a linkage assembly structure of the present application;

[0025] Figure 5 Fig. 4 is a schematic diagram of a cross-sectional structure of a connection of the finger joint assembly of the present application;

[0026] Fig. 1 is a schematic diagram of a finger joint assembly structure of the present application; DETAILED DESCRIPTION

[0027] The specific content of the present application will be described in detail below in combination with the drawings and examples.

[0028] Fig. 1 is a schematic diagram of a finger joint assembly structure of the present application; Figures 1-5 The present application provides a harmonic reducer robot finger joint structure, which comprises a plurality of mutually connected finger joint assemblies 1 and a terminal finger joint 2, the finger joint assembly 1 comprises a mounting shell 3, a driving assembly 4, a linkage assembly 5 and a connecting sleeve 6, the driving assembly 4 is arranged in the mounting shell 3, the connecting sleeve 6 is fixedly installed at the tail of the mounting shell 3, and the linkage assembly 5 is arranged at the upper end of the mounting shell 3.

[0029] Further, the finger joint assembly 1 comprises a first finger joint 11 and a second finger joint 12, the first finger joint 11 is drivingly connected to the upper end of the second finger joint 12, and the upper end of the second finger joint 12 is drivingly connected to the terminal finger joint 2.

[0030] Further, the driving assembly 4 comprises a driving motor 41 and a harmonic reducer 42, the driving motor 41 and the harmonic reducer 42 are installed in the mounting shell 3, the output end of the driving motor 41 is connected to the harmonic reducer 42, and the output end of the harmonic reducer 42 is connected to the linkage assembly 5.

[0031] The harmonic reducer 42 comprises a steel wheel, a flexible wheel and a wave generator, when the wave generator rotates, the flexible wheel is in complete engagement with the rigid wheel at the long axis during the elliptical deformation, is completely separated at the short axis, and is in a transition state at the remaining positions. The periodic deformation causes the flexible wheel to slowly rotate in the opposite direction relative to the rigid wheel, achieving speed reduction. The compact structure can achieve high speed reduction ratio, and has high carrying capacity.

[0032] Further, the linkage assembly 5 comprises a bevel gear assembly 51, a flat shaft 52 and a supporting bearing 53, the bearing seat 31 is installed on the upper end of the mounting shell 3, the supporting bearing 53 is installed in the bearing seat 31, the flat shaft 52 is rotatably installed in the bearing seat 31 through the supporting bearing 53, the output end of the harmonic reducer 42 is drivingly connected with the flat shaft 52 through the bevel gear assembly 51, and the first flat hole position 61 is formed in the bottom of the connecting sleeve 6.

[0033] Further, the bevel gear assembly 51 comprises a first bevel gear 511 and a second bevel gear 512, the first bevel gear 511 is installed on the output shaft of the harmonic reducer 42, the second flat hole position 5121 is formed in the second bevel gear 512, the flat shaft 52 is arranged through the second flat hole position 5121, the first bevel gear 511 and the second bevel gear 512 are in meshing arrangement, and the driving motor 41 drives the flat shaft 52 to rotate through the first bevel gear 511 and the second bevel gear 512.

[0034] The bevel gear assembly 51 is a helical bevel gear, the meshing efficiency is higher, and the second flat hole position 5121 is in interference fit with the flat shaft 52, so that the transmission gap is eliminated, and the repeated positioning precision is higher.

[0035] Further, the mounting shell 3 of the finger joint assembly 1 is externally provided with an encoder 7, and the encoder 7 is electrically connected with the driving assembly 4.

[0036] The utility model discloses a driving motor 41 and harmonic reducer 42 are installed in the finger joint of humanoid robot, and are provided with a plurality of finger joints and are connected in series, and the power unit is built-in in each joint, realizes independent control, and the application is accurately controlled through harmonic reducer 42 and bevel gear assembly 51, and the hand movement is more flexible, the structure is more compact, the corresponding speed is fast, and the service life is longer.

[0037] 1) the driving structure of the application is more compact, and the application of super-micro harmonic reducer is more suitable for installation in limited space;

[0038] 2) the application adopts the structure of harmonic reducer 42 to control, and the control precision is higher, and is suitable for fine grasping of dexterous hand;

[0039] 3) the application has high torque density, and is suitable for increasing the torque of finger joint.

[0040] 4) The structure of the application has fast response speed, and is suitable for fast response of finger action;

[0041] 5) The linkage assembly 5 of the application has small wear and long service life, and is suitable for stability and long time use of dexterous hands.

[0042] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the application and are not limiting. Although the application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the application can be modified or replaced equivalently without departing from the purpose and scope of the technical solutions of the application, and all should be included in the scope of the claims of the application.

[0043] The standard parts used in the application can be purchased from the market, and the special-shaped parts can be ordered according to the description and the drawings, the specific connection mode of each part adopts the conventional means such as bolts, rivets and welding in the prior art, the mechanical parts and equipment adopt conventional types in the prior art, and the circuit connection adopts conventional connection mode in the prior art, which will not be described in detail here.

[0044] In the description of the application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be connected through an intermediate medium; can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

Claims

1. A harmonic reducer robot finger joint structure, characterized by, The application relates to a finger joint assembly, which comprises a plurality of mutually connected finger joint assemblies and a terminal finger joint, the finger joint assembly comprising a mounting shell, a driving assembly, a linkage assembly and a connecting sleeve, the driving assembly being arranged in the mounting shell, the connecting sleeve being fixedly arranged at the tail of the mounting shell, the linkage assembly being arranged at the upper end of the mounting shell, and the output end of the driving assembly being drivingly connected to the connecting sleeve of the adjacent finger joint assembly through the linkage assembly.

2. The harmonic reducer robotic finger joint structure according to claim 1, wherein, The finger joint assembly comprises a first finger joint and a second finger joint, the upper end of the first finger joint being drivingly connected to the second finger joint, and the upper end of the second finger joint being drivingly connected to the terminal finger joint.

3. The harmonic reducer robot finger joint structure according to claim 1, wherein, The driving assembly comprises a driving motor and a harmonic reducer, the driving motor and the harmonic reducer being arranged in the mounting shell, the output end of the driving motor being connected to the harmonic reducer, and the output end of the harmonic reducer being connected to the linkage assembly.

4. The harmonic reducer robot finger joint structure according to claim 3, characterized in that, The linkage assembly comprises a bevel gear assembly, a flat shaft and a supporting bearing, a bearing seat is arranged at the upper end of the mounting shell, the supporting bearing is arranged in the bearing seat, the flat shaft is rotatably arranged in the bearing seat through the supporting bearing, the output end of the harmonic reducer is drivingly connected to the flat shaft through the bevel gear assembly, and the bottom of the connecting sleeve is provided with a first flat hole, the flat shaft is arranged in the first flat hole of the connecting sleeve.

5. The harmonic reducer robotic finger joint structure of claim 4, wherein, The bevel gear assembly comprises a first bevel gear and a second bevel gear, the first bevel gear is arranged on the output shaft of the harmonic reducer, the second bevel gear is provided with a second flat hole, the flat shaft is arranged through the second flat hole, the first bevel gear and the second bevel gear are in gear engagement, and the driving motor drives the flat shaft to rotate through the first bevel gear and the second bevel gear.

6. The harmonic reducer robot finger joint structure according to claim 1, wherein, An encoder is further arranged outside the mounting shell of the finger joint assembly, and the encoder is electrically connected to the driving assembly.

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