CN102806564B - Arc-shaped basal articulation for humanized flexible hand - Google Patents

Abstract

The invention discloses an arc-shaped base joint of an anthropomorphic dexterous hand. Including first DC motor, second DC motor, first bevel gear, second bevel gear, third bevel gear, fourth bevel gear, fifth bevel gear, first shaft, second shaft, U-shaped bracket, ellipse Shaped frame, sliders and lower metacarpophanal knuckles. The invention is driven by a built-in DC motor, and realizes the side swing and bending motion of the base joint through the bevel gear, with stable motion and high transmission precision; it can perform side swing and bend motion around a point, and realizes the separation of two degrees of freedom. The joint improves the dexterity and control of the manipulator, and increases the grasping space and stability of the manipulator. Therefore, the present invention can satisfy the performance of the base joint of the dexterous manipulator of the robot.

Description

Anthropomorphic dexterous hand arc base joint

technical field

The invention relates to a finger base joint of a robot, in particular to an arc-shaped base joint of an anthropomorphic dexterous hand capable of performing bending and side swinging motions around the same rotation center, and the two motions are independently separated.

Background technique

With the expansion of the application field of robots, the complexity of the working environment and tasks, the most important part of ordinary robots, that is, the end clamping device, is far from meeting the requirements of various dexterous and fine operation tasks. Since most end grippers are designed for specific tasks and specific clamped parts, there are limitations such as lack of flexibility and limited clamping methods, and a general-purpose end gripper has been developed to replace various Specific end grippers are used to complete dexterous operation tasks in various environments, such as detection, sampling, assembly, and repair operations in dangerous and harsh working environments such as space vehicles outside the cabin, nuclear power plants, and chemical plants, and mine detection on the battlefield Dangerous work such as mining and mine clearance has become a need in the field of robotics research. Therefore, people began to study the multi-fingered dexterous hand (Multi-Fingered Dexterous Hand) based on the integration of mechanism, drive, control technology and key technologies such as robot force sense and vision, hoping to replace the traditional gripper at the end of the robot.

The multi-fingered dexterous hand is a robot hand that imitates a human hand, has multiple degrees of freedom and multiple perception functions, and can complete complex grasping actions. It can grasp objects of different shapes, sizes, and materials, and can perform a variety of fine operations on the grasped objects to a certain extent. Using it instead of a dedicated robot end effector can improve the working range and working ability of the robot.

Therefore, the research on multi-fingered dexterous hands has become a hot spot in the current robotics research. At present, the most important problem in the structure of the dexterous hand is the two-degree-of-freedom realization of the base joint. Although many solutions have been proposed, none of them can achieve real dexterity.

Contents of the invention

The object of the present invention is to provide an arc-shaped base joint of an anthropomorphic dexterous hand, which can perform bending and sideways movement around a point in space, and the two movements are independent and separated finger base joints of the dexterous hand. It can make the mechanical dexterous hand easier to control, more flexible in activities, and work in environments where humans cannot be present or in harsh environments.

The technical solution adopted by the present invention to solve its technical problems is:

The present invention comprises a first DC motor, a second DC motor, a first bevel gear, a second bevel gear, a third bevel gear, a fourth bevel gear, a fifth bevel gear, a first shaft, a second shaft, and a U-shaped bracket , an elliptical frame, a slider, and the lower palm knuckle; the first DC motor is fixedly connected to the first bevel gear, the first bevel gear meshes with the second bevel gear, and the second bevel gear is affixed to the outer bottom surface of the U-shaped bracket. The hole of the second conical gear is in clearance fit with the first shaft, and the rotation of the first DC motor causes the U-shaped bracket to swing sideways around the first shaft; the second DC motor is fixedly connected to the third conical gear, and the elliptical frame is installed on the U In the bracket, the second shaft is installed in the elliptical frame, the second shaft and the axis of the first shaft are perpendicular to each other and located on the same horizontal plane, the third bevel gear meshes with the fourth bevel gear installed in the frame, and the fourth bevel gear The gear meshes with the fifth bevel gear installed on the second shaft. Both ends of the second shaft extend out of the oval frame. The fifth bevel gear drives the sliders installed at both ends of the second shaft to rotate. The two sliders are respectively installed on the bottom In the arc-shaped guide rail in the metacarpophalangine, the projections at both ends of the lower metacarpophalangine are rotatably matched with the U-shaped bracket, and the rotation of the second DC motor makes the lower metacarpophalangine perform bending motion around the second axis.

Compared with background technology, the beneficial effect that the present invention has is:

1. The present invention is driven by a built-in DC motor, and the side swing and bending motion of the base joint are realized through the bevel gear, with stable motion and high transmission precision.

2. The present invention can perform lateral swing and bending motions around one point, realizes a separate base joint with two degrees of freedom, improves the dexterity and control of the manipulator, and increases the grasping space and stability of the manipulator.

Therefore, the present invention can satisfy the performance of the base joint of the dexterous manipulator of the robot.

Description of the drawings:

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a structural schematic view of the present invention with the lower metacarpophalangine removed.

Fig. 3 is a structural schematic diagram of the side swing motion of the present invention.

Fig. 4 is a structural schematic diagram of the bending motion of the present invention.

Fig. 5 is a schematic diagram of the structure of the lower metacarpophalangine of the present invention.

In the figure: 1, the first DC motor, 2, the second DC motor, 3, the first bevel gear, 4, the second bevel gear, 5, the third bevel gear, 6, the fourth bevel gear, 7, the fifth bevel gear Gear, 8, first shaft, 9, second shaft, 10, U-shaped bracket, 11, oval frame, 12, slide block, 13, lower palm knuckle, 14, arc guide rail.

Detailed ways

The present invention will be further described below in conjunction with drawings and embodiments.

As shown in Fig. 1 and Fig. 2, the present invention includes a first DC motor 1, a second DC motor 2, a first bevel gear 3, a second bevel gear 4, a third bevel gear 5, a fourth bevel gear 6, and a fifth bevel gear. Conical gear 7, first shaft 8, second shaft 9, U-shaped bracket 10, oval frame 11, slider 12 and lower metacarpophalangeal joint 13; the first DC motor 1 is fixedly connected with the first conical gear 3, and the second A bevel gear 3 meshes with the second bevel gear 4, the second bevel gear 4 is fixedly connected to the outer bottom surface of the U-shaped bracket 10, the hole of the second bevel gear 4 is in clearance fit with the first shaft 8, and the first DC motor 1 rotates to make The U-shaped bracket 10 performs side swing motion around the first axis 8; the second DC motor 2 is fixedly connected with the third conical gear 5, and the elliptical frame 11 is installed in the U-shaped bracket 10, and the elliptical frame 11 is equipped with the first Two shafts 9, the second shaft 9 and the axis of the first shaft 8 are perpendicular to each other and are located on the same horizontal plane, the third bevel gear 5 meshes with the fourth bevel gear 6 installed in the frame 11, the fourth bevel gear 6 is installed in the second The fifth conical gear 7 on the second shaft 9 meshes, and the two ends of the second shaft 9 extend out of the oval frame 11. The fifth conical gear 7 drives the slider 12 installed at the two ends of the second shaft 9 to rotate. The two sliders 12 They are respectively installed in the arc-shaped guide rails 14 in the lower metacarpophalangeal 13, the projections at the two ends of the lower metacarpophalangeal 13 are rotatably matched with the U-shaped bracket 10, and the second DC motor 2 rotates so that the lower metacarpophalangeal 13 circles the second axis 9 Do a bending exercise.

As shown in Figure 3, the side swing motion of the base joint: the first DC motor 1 is fixedly connected to the first bevel gear 3, the first bevel gear 3 is meshed with the second bevel gear 4, and the second bevel gear 4 is connected to the U-shaped bracket 10. The outer bottom surface is fixedly connected, and the holes of the second bevel gear 4 are in clearance fit with the first shaft 8. The rotation of the first DC motor 1 causes the U-shaped bracket 10 to perform side swing motion around the first shaft 8. When the first DC motor 1 rotates, the U-shaped bracket 10 is driven to rotate around the first axis 8 through the meshing of the first bevel gear 3 and the second bevel gear 4 , thereby driving the side swing motion of the lower metacarpophalangeal joint 13 . When the lower metacarpal knuckle 13 moves laterally, the arc-shaped guide rail 14 and the slider 12 on the inner side of the lower metacarpal knuckle 13 can slide against each other without driving the second shaft 9 to rotate, so that the lateral swing motion of the base joint is completely independent.

As shown in Figure 4, the bending motion of the base joint: the second DC motor 2 is fixedly connected with the third bevel gear 5, the elliptical frame 11 is installed in the U-shaped bracket 10, and the second shaft 9 is installed in the frame 11. The axes of the two shafts 9 and the first shaft 8 are perpendicular to each other and on the same level, the third bevel gear 5 meshes with the fourth bevel gear 6 installed in the frame 11, and the fourth bevel gear 6 and the second bevel gear installed on the second shaft 9 The five bevel gears 7 mesh, and drive the sliders 12 installed at the two ends of the second shaft 9 to rotate. The two sliders 12 are all located outside the oval frame 11, and the two sliders 12 are respectively installed on the arc in the lower metacarpophalangeal joint 13. In the guide rail 14, the protrusions at the two ends of the lower metacarpophalangeal 13 are rotatably matched with the U-shaped bracket 10, and the rotation of the second DC motor 2 makes the lower metacarpophalangeal 13 bend and move around the second axis 9, thereby realizing the lower metacarpophalangeal 13. bending movement.

Claims (1)

1. An arc-shaped base joint of an anthropomorphic dexterous hand, characterized in that it includes a first DC motor (1), a second DC motor (2), a first bevel gear (3), a second bevel gear (4), The third bevel gear (5), the fourth bevel gear (6), the fifth bevel gear (7), the first shaft (8), the second shaft (9), the U-shaped bracket (10), the oval frame ( 11), the slider (12) and the lower palmar knuckle (13); the first DC motor (1) is fixedly connected to the first bevel gear (3), and the first bevel gear (3) is connected to the second bevel gear (4) Mesh, the second bevel gear (4) is fixedly connected to the outer bottom surface of the U-shaped bracket (10), the hole of the second bevel gear (4) is in clearance fit with the first shaft (8), and the first DC motor (1) rotates to make The U-shaped bracket (10) performs side swing motion around the first axis (8); the second DC motor (2) is fixedly connected with the third conical gear (5), and the elliptical frame (11) is installed on the U-shaped bracket ( 10), the second shaft (9) is installed in the elliptical frame (11), the second shaft (9) and the first shaft (8) are perpendicular to each other and located on the same horizontal plane, the third bevel gear (5) and The fourth bevel gear (6) installed in the elliptical frame (11) meshes, the fourth bevel gear (6) meshes with the fifth bevel gear (7) installed on the second shaft (9), the second shaft ( 9) Both ends extend out of the oval frame (11), the fifth bevel gear (7) drives the sliders (12) installed at both ends of the second shaft (9) to rotate, and the two sliders (12) are respectively installed on the lower palm In the arc-shaped guide rail (14) in the phalanx (13), the projections at both ends of the lower palm phalanx (13) rotate with the U-shaped bracket (10), and the second DC motor (2) rotates to make the lower palm phalanx (13) Bending motion around the second axis (9).