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Three-level rotary figure mechanism adopting double-layer return drive

A finger, double-layer technology, applied in the field of three-level rotary finger mechanism, can solve the problems of large joint influence and large space occupation, and achieve the effect of simplifying the structure of the manipulator and saving space.

Inactive Publication Date: 2017-09-15
ZORPIA ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The design of the transmission mechanism in the prior art takes up a lot of space, or has a great influence on the joints

Method used

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  • Three-level rotary figure mechanism adopting double-layer return drive
  • Three-level rotary figure mechanism adopting double-layer return drive
  • Three-level rotary figure mechanism adopting double-layer return drive

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] Such as Figure 1 to Figure 5 As shown, it is a schematic diagram of the principle of the double-layer turn-back driven finger mechanism of the embodiment of the present invention. The double-layer turn-back driven finger mechanism of the embodiment of the present invention includes a finger frame, a gear transmission group, a motor, a screw, and a screw that cooperates with the screw. Nut and finger body. Wherein, the gear transmission set includes a first gear and a second gear that mesh with each other, and the finger body and the finger frame are rotatably connected through a first rotating shaft.

[0039]The motor 311 is fixed in the finger frame 31 and is connected with the first gear 321 of the gear train 32 through an output shaft. In practical applications, since the output speed of the motor 311 may be different from the actual required speed, a deceleration assembly may also be included to adjust the output speed of the motor. The motor 311 and the decelerat...

Embodiment 2

[0049] Compared with Embodiment 1, this embodiment provides an alternative solution in Embodiment 1 regarding the way in which the nut 35 is fixed relative to the finger frame 31 in the radial direction. The fixing of the nut 35 relative to the finger frame 31 in the radial direction means that the nut 35 is constrained in the radial direction and released in the axial direction. When the screw rod 34 rotates, the nut 35 can move in the radial direction. The bottom of the finger frame 31 is provided with a sliding guide rail, and the nut 35 is connected with the finger frame 31 through the sliding guide rail, so that the nut 35 is fixedly connected with the finger frame 31 in the radial direction, and can slide in the axial direction. The sliding guide rail can also not have a load-bearing effect, but only provide a binding effect in the radial direction. More preferably, the nut 35 is clamped on the sliding guide rail, so that the sliding guide rail can play a certain load-bea...

Embodiment 3

[0051] Such as Figure 6 to Figure 11 As shown, it is a schematic diagram of the principle of the double-layer turning back driven finger mechanism of the third embodiment. The difference between this embodiment and the second embodiment is that the finger body of this embodiment includes a base phalanx and a proximal phalanx, and correspondingly, the way the nut drives it is also different.

[0052] The above-mentioned base knuckle 42 is rotatably connected with the finger frame 31 through the first rotating shaft 40, and the base knuckle 42 and the proximal knuckle 43 are rotatably connected through the second rotating shaft 44, and are arranged between the proximal knuckle 43 and the finger frame 31. There is a first pull rod 45, one end of the first pull rod 45 is rotatably connected with the finger frame 31 through the third rotating shaft 46, and the other end of the first pull rod 45 is rotatably connected with the proximal knuckle 43 through the fourth rotating shaft 4...

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Abstract

The embodiment of the invention provides a three-level rotary figure mechanism adopting double-layer return drive. Base knuckles are connected with a figure frame. The base knuckles are connected with near knuckles. First pulling poles are connected with the figure frame. The first pulling poles are connected with the near knuckles. Far knuckles are connected with the near knuckles. Second pulling poles are connected with the base knuckles. The second pulling poles are connected with the far knuckles. Motors are connected with first gears. Bolts are connected with second gears. The first gears are in transmission connection with the second gears. Nuts are connected with the base knuckles. Reset mechanisms are arranged at connection parts of the base knuckles and the near knuckles and / or the connection parts of the far knuckles and the near knuckles. The three-level rotary figure mechanism of the double-layer return drive adopts double-layer return-transmission structure, in cooperation with special design of the bolts and nuts, primary output of power resource and driving output for finger bodies are located in two layers correspondingly and therefore occupied space of output of axial transmission is saved.

Description

technical field [0001] The embodiment of the present invention relates to a finger mechanism, in particular to a three-stage rotary finger mechanism driven by double-layer folding. Background technique [0002] The manipulator can imitate certain motion functions of the human hand and arm, and is used to grab, carry objects or operate automatic operating devices according to a fixed program. Manipulators can replace human heavy labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety, so they are widely used in various sectors of industrial production. In addition, many manipulators are also designed for the disabled to act as prosthetics for the disabled, so that the disabled have a certain ability to grasp objects. In the mechanism of the manipulator, it is necessary to drive the arm or finger through a driving mechanism, so that the arm or finger can rotate along the joint, so as to realize the graspi...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J15/02
CPCB25J15/0009B25J15/0206B25J15/0246
Inventor 白劲实
Owner ZORPIA ROBOT CO LTD
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