CN101337354B - Robot dexterous hand and finger joint gear coupling transmission mechanism - Google Patents

Abstract

A robot dexterous finger joints gear coupling transmission mechanism relates to a transmission mechanism for the fingers of a robot. The transmission mechanism solves the problems of complex structure, poor reliability, poor sports coordination when fingers are bent, and easy occurrence of coupling clearance in the prior coupling transmission mechanism. The modules of a fixed straight gear, an intermediate gear and a driven straight gear are identical; the tooth numbers of the fixed straight gear and the driven straight gear are identical; the intermediate gear engages with the fixed straightgear and the driven straight gear simultaneously; the fixed straight gear is sleeved on a flexible wheel of a harmonic wave speed reducer; the intermediate gear is installed on a support shaft of theintermediate gear; and the driven straight gear is installed on a one-dimension torque sensor on a finger tip. The transmission mechanism realizes the equidirectional coupling movement of an intermediate joint and an end joint at the accurate angle of 1:1. The transmission mechanism has the advantages of simple structure, good reliability, good sports coordination when the fingers are bent, largetorque transmission and small coupling movement clearance.

Description

Robot dexterous hand and finger joint gear coupling transmission mechanism

technical field

The invention relates to a transmission mechanism of a robot finger.

Background technique

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. However, the existing coupled transmission mechanism of the robot's dexterous hand and finger joints, such as connecting rods and steel wires, has problems such as complex structure, poor reliability, poor motion coordination when fingers are bent, and prone to coupling transmission gaps.

Contents of the invention

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

The technical scheme adopted by the present invention to solve the above-mentioned technical problems is: the gear coupling transmission mechanism of the present invention is composed of a fixed spur gear, an intermediate gear, a driven spur gear, and an intermediate gear support shaft, and the fixed spur gear, the intermediate gear and the driven The modulus of the spur gear is the same, the number of teeth of the fixed spur gear and the driven spur gear are the same, and the intermediate gear meshes with the fixed spur gear and the driven spur gear respectively; the fixed spur gear is set on the flexible gear of the harmonic reducer, and the harmonic The flexible spline of the reducer is fixedly connected with the transmission element located in the middle knuckle, the fixed spur gear is fixedly connected with the rigid wheel of the harmonic reducer and the right side wall of the first knuckle, and the fixed spur gear is connected with the middle joint Shaft, the intermediate gear support shaft is located in the middle knuckle and its two ends are respectively installed on the left side wall of the middle knuckle and the right side wall of the middle knuckle, the middle gear is installed on the middle gear support shaft, and the middle gear support shaft passes through the middle The knuckle transmission part, the driven spur gear is installed on the fingertip one-dimensional torque sensor, and the driven spur gear is coaxial with the end joint.

The present invention has the following beneficial effects: the present invention realizes the coupling movement of the middle joint and the terminal joint in the same direction with an accurate 1:1 angle, has the advantages of simple structure, good reliability, good motion coordination when fingers are bent, and can transmit large torque, Due to the advantage of small coupling movement gap, applying the present invention to the fingers of the robot dexterous hand will greatly improve the movement precision and grasping accuracy of the robot dexterous hand. Since the coupled movement of the two joints of the fingers is accomplished by the meshing of the gears, the present invention has the advantages of compact structure, stable movement, low noise, low cost and easy realization.

Description of drawings

Fig. 1 is a perspective view of applying the present invention to finger joints, Fig. 2 is a main sectional view of applying the present invention to finger joints, Fig. 3 is a structural schematic diagram (original state) of the gear coupling transmission principle, and Fig. 4 is a gear coupling transmission Schematic diagram of the structure of the principle (after the coupling movement of the middle joint and the end joint at an angle of 1:1 in the same direction).

Detailed ways

Embodiment 1: As shown in Figures 1 to 4, 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 modules of the fixed spur gear 10, the intermediate gear 11 and the driven spur gear 12 are the same, the fixed spur gear 10 has the same number of teeth as the driven spur gear 12, and the intermediate gear 11 is respectively connected with the fixed spur gear 10 and the driven spur gear 12 are meshed at the same time; the fixed spur gear 10 is set on the flexible wheel 3-1 of the harmonic reducer 3, and the fixed spur gear 10 is connected with the rigid wheel 3-3 of the harmonic reducer 3 and the right side wall of the first knuckle 5-2 The three are fixed together, 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 6 and its two ends are installed on the middle knuckle respectively. On the joint left side wall 6-1 and the middle knuckle right side wall 6-2, the intermediate gear 11 is installed on the intermediate gear support shaft 15, and the intermediate gear support shaft 15 passes through the middle knuckle transmission member 4, and the driven spur gear 12 Installed on the fingertip one-dimensional torque sensor 21, the driven spur gear 12 is coaxial with the end joint 9 (the axis refers to the end joint shaft 14).

The middle knuckle 6 is an active rod, driven by the driving motor 1 through the transmission bevel gear 2, the harmonic reducer 3, etc., the middle knuckle 6 drives the middle gear 11, the middle gear support shaft 15 and the end joint 9 (equipped with The terminal joint shaft 14) of the movable spur gear 12 rotates around the intermediate joint 8 and the fixed spur gear 10 together.

Embodiment 2: As shown in Figures 1 to 4, 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 the middle knuckle 6 1/2 of the length. Other components and connections are the same as those in the first embodiment.

Specific implementation mode three: as shown in Figures 1 to 4, this implementation mode is an embodiment of installing the finger joint gear coupling transmission mechanism of the present invention in the robot dexterous hand finger:

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 gear 11 and driven spur gear 12 is identical, The number of teeth of the fixed spur gear 10 and the driven spur gear 12 is the same; the first phalanx 5 and the middle phalanx 6 are rotationally connected through the middle joint rotation shaft 13 in the middle joint 8, and the middle phalanx 6 and the terminal phalanx 7 pass through The terminal joint shaft 14 in the terminal joint 9 is rotationally connected, the drive motor 1 is placed in the first knuckle 5 and fixedly connected to the left side wall 5-1 of the first knuckle, and the small transmission bevel gear 2-1 is installed on the On the output shaft of the driving motor 1, the small transmission bevel gear 2-1 meshes with the large transmission bevel gear 2-2, and the large transmission bevel gear 2-2 is installed on the middle joint rotation shaft 13 in the middle joint 8, and the harmonic reducer 3 is installed on the rotating shaft 13 of the middle joint, the rigid wheel 3-3 of the harmonic reducer 3 is fixedly connected to the right side wall 5-2 of the first knuckle (the output of the flexible wheel 3-1), and the transmission part 4 of the middle knuckle is installed On the harmonic reducer 3, the flexible spline 3-1 of the harmonic reducer 3 is fixedly connected to the transmission member 4 located in the middle knuckle 6; the fixed spur gear 10 is set on the flexible spline 3-1 of the harmonic reducer 3 Above, the fixed spur gear 10 is fixedly connected with the rigid wheel 3-3 of the harmonic reducer 3 and the right side wall 5-2 of the first knuckle through the pin 20, and the intermediate gear support shaft 15 is located in the middle knuckle 6 And its two ends are respectively installed on the left side wall 6-1 of the middle phalanx and the right side wall 6-2 of the middle phalanx, and the middle gear 11 is installed on the middle gear support shaft 15 by the first bearing 18 and the second bearing 19, The intermediate gear support shaft 15 passes through the middle knuckle transmission member 4, the terminal joint shaft 14 is installed on the middle knuckle left side wall 6-1 and the middle knuckle right side wall 6-2, and the terminal joint shaft 14 passes through the middle knuckle The transmission member 4 is located in the end joint 9 and the fingertip one-dimensional torque sensor 21 is installed on the end joint shaft 14 through the third bearing 16 and the fourth bearing 17, and the driven spur gear 12 is installed on the fingertip one-dimensional torque sensor 21; The intermediate gear 11 meshes with the fixed spur gear 10 and the driven spur gear 12 respectively.

working principle:

The finger joint gear coupling transmission mechanism of the present invention is applied to the dexterous hand fingers with two joints (intermediate joint 8 and end joint 9) and one degree of freedom in the finger part, and can realize two joints (intermediate joint 8 and end joint 9) 9) The same rotation angle is a coupling motion of 1:1, that is, the rotation angle of the middle phalanx 6 and the end phalanx 7 is the same. The driving motor 1 drives the transmission bevel gear pair 2 to rotate, and the transmission bevel gear pair 2 transmits the power to the middle joint rotation shaft 13, and the middle joint rotation shaft 13 drives the wave generator 3-2 of the harmonic reducer 3 to rotate, thereby decelerating the harmonic The flex spline 3-1 of the device drives the middle knuckle 6 to rotate around the middle joint rotation shaft 13 through the middle knuckle transmission part 4 (the middle joint rotation shaft 13 and the middle gear support shaft 15 rotate around the middle joint rotation shaft 13 at the same time), with this At the same time, the intermediate gear 11 rotates forward along the fixed spur gear 10, and the driven spur gear 12 rotates forward along the intermediate gear 11. The intermediate gear 11 drives the fingertip one-dimensional torque sensor 21 to rotate forward and then drives the terminal knuckle 7 around the terminal joint. Shaft 14 rotates forward, realizes the bending of finger, because the modulus of described fixed spur gear 10, intermediate gear 11 and driven spur gear 12 is identical, the number of teeth of fixed spur gear 10 and driven spur gear 12 is identical; According to three The gear meshing principle, when the intermediate joint 8 (intermediate joint rotation shaft 13) rotates an angle A, due to the meshing effect of the intermediate gear 11, the driven spur gear 12 rotates around the end joint 9 (the end joint shaft 14) by the same angle A, In this way, the 1:1 coupled movement of the two joints of the finger is realized (see Figures 1-4).

Claims (2)

1. A robot dexterous hand finger joint gear coupling transmission mechanism is characterized in that: said gear coupling transmission mechanism consists of fixed spur gear (10), intermediate gear (11), driven spur gear (12), intermediate gear support shaft (15) form, the module of described fixed spur gear (10), intermediate gear (11) and driven spur gear (12) is identical, and the number of teeth of fixed spur gear (10) and driven spur gear (12) is identical, 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 the flexible gear (3-1) of the harmonic The flexible wheel (3-1) of the wave reducer (3) is fixedly connected with the transmission member (4) located in the middle knuckle (6), and the fixed spur gear (10) and the rigid wheel ( 3-3) and the right side wall of the first knuckle (5-2) are fixed together, the fixed spur gear (10) is coaxial with the middle joint (8), and the middle gear support shaft (15) is located at the middle knuckle (6) and its two ends are respectively installed on the middle knuckle left side wall (6-1) and the middle knuckle right side wall (6-2), and the middle gear (11) is installed on the middle gear support shaft (15) , the intermediate gear support shaft (15) passes through the intermediate knuckle transmission (4), the driven spur gear (12) is installed on the fingertip one-dimensional torque sensor (21), the driven spur gear (12) and the end joint (9) Coaxial. 2. robot dexterous finger joint gear coupling transmission mechanism according to claim 1, is characterized in that: the axial distance of fixed spur gear (10) and intermediate gear (11) and driven spur gear (12) and intermediate gear ( 11) the axis distances are the same, equal to 1/2 of the length of the middle phalanx (6).

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