CN205928688U - Articulated robot points transmission - Google Patents
Articulated robot points transmission Download PDFInfo
- Publication number
- CN205928688U CN205928688U CN201620926588.8U CN201620926588U CN205928688U CN 205928688 U CN205928688 U CN 205928688U CN 201620926588 U CN201620926588 U CN 201620926588U CN 205928688 U CN205928688 U CN 205928688U
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- rope
- digitorum manus
- articulations digitorum
- resilience
- mounting groove
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Abstract
The utility model belongs to the robot field relates to an articulated robot points transmission. Including a finger joint, the 2nd finger joint, the 3rd finger joint, reset spring no. 1, reset spring no. 2, reset spring no. 3, the rope no. 1 that kick -backs, the rope no. 2 that kick -backs, the rope no. 3 that kick -backs, taut rope no. 1, taut rope no. 2, taut rope no. 3, motor output dish no. 1, motor output dish no. 2 and motor output dish no. 3. Because the utility model discloses increased resilience rope and taut rope mounting groove among the three finger joint, makeed three resilience rope and three taut rope are in among the three finger joint and by completely confine. Three reset spring makes threely reset spring's the pulling force direction and the direction of motion collineation of three resilience rope. This principle makes three resilience rope not exist not hard uply. There is not the idle running in the bending of control finger of robot in the motor with straightening when moving. Three resilience rope and three taut rope are controlled respectively three finger joint, the action of finger of robot structure is various.
Description
Technical field
This utility model belongs to robot field, is related to a kind of articulated robot finger actuating device.
Background technology
With increasingly improving of people's living standard and being continuously increased of demand, various intelligent equipments engender.Machine
The summit product of the so-called intelligent equipment of device people, helps butcher,baker,and the candlestick maker group, solves many problems.Robot hand,
So-called robot captures the vitals of article, and its structure is even more the problem that a lot of structural engineer's needs are captured.As Fig. 1 institute
Show, existing robot hand structure includes, existing first articulations digitorum manus 1, existing second articulations digitorum manus 2, existing 3rd articulations digitorum manus 3, existing
There are back-moving spring 1, existing back-moving spring 25, existing resilience rope 6, existing tension rope 7 and existing motor output panel 8.Its principle
It is that existing tension rope 7 reclaims when existing motor output panel 8 rotates counterclockwise, existing resilience rope 6 discharges simultaneously.Described existing
First articulations digitorum manus 1, existing second articulations digitorum manus 2 and existing 3rd articulations digitorum manus 3 bend.When existing motor output panel 8 rotates clockwise
When, existing tension rope 7 discharges, and existing resilience rope 6 reclaims simultaneously.Described existing first articulations digitorum manus 1, existing second articulations digitorum manus 2 and
Existing 3rd articulations digitorum manus 3 stretch.To reach the purpose allowing robot clinodactyly to stretch.
Analyze the above-mentioned prior art referring to have the following disadvantages, i.e. technical problem to be solved in the utility model:
1st, as shown in figure, due to existing resilience rope 6 and existing tension rope 7 described existing first articulations digitorum manus 1, existing
In two articulations digitorum manus 2 and existing 3rd articulations digitorum manus 3 and by Complete Bind, and the direction of pull of existing back-moving spring 1 with existing
The direction of motion of resilience rope 6 is not conllinear.Above-mentioned both make existing resilience rope 6 after being released, and exist loosening.Motor is led to exist
Control robot finger to bend and stretch and during action, there is idle running.
2nd, due to existing resilience rope 6 and only one group of existing tension rope 7, motor can only control existing first articulations digitorum manus 1, and
Existing second articulations digitorum manus 2 and existing 3rd articulations digitorum manus 3 are not controlled, and the action of robot finger's structure is few.
Utility model content
The purpose of this utility model is to overcome defect present in prior art, designs a kind of articulated robot finger
Actuating device.This device is mainly used in robot industry.Efficiently solve in Conventional robotic's finger structure, motor is in control
Robot clinodactyly processed and stretching there is a problem of during action idle running, robot finger's structure action few.
To achieve these goals, the technical solution of the utility model is a kind of design articulated robot finger transmission dress
Put, including the first articulations digitorum manus, the second articulations digitorum manus, the 3rd articulations digitorum manus, back-moving spring one, back-moving spring two, back-moving spring three, resilience
Rope one, resilience rope two, resilience rope three, tension rope one, tension rope two, tension rope three, motor output panel one, motor output panel two and
Motor output panel three.
Described first articulations digitorum manus have the mounting groove one of described tension rope one and the mounting groove one of described resilience rope one；Described
Second articulations digitorum manus have the mounting groove two of described tension rope two and the mounting groove two of described resilience rope two；Described second articulations digitorum manus are opened
There are the mounting groove three of described tension rope one and the mounting groove three of described resilience rope one；Described 3rd articulations digitorum manus have described tension rope
Three mounting groove four and the mounting groove four of described resilience rope three；Described 3rd articulations digitorum manus have described tension rope one and tension rope two
Mounting groove five and described resilience rope one and resilience rope two mounting groove five.
Its annexation is：Described first articulations digitorum manus and the second articulations digitorum manus are hinged；Described second articulations digitorum manus and the 3rd finger
Joint is hinged；One end of described tension rope one is fixed on described motor output panel one；One end of described tension rope two is fixed on
On described motor output panel two；One end of described tension rope three is fixed on described motor output panel three；Described tension rope one
The other end is fixed on described first articulations digitorum manus；The other end of described tension rope two is fixed on described second articulations digitorum manus；Described
The other end of tension rope three is fixed on described 3rd articulations digitorum manus；The institute that described tension rope one has through described first articulations digitorum manus
State the mounting groove one of tension rope one, the mounting groove three of described tension rope one that described second articulations digitorum manus have and the described 3rd refers to close
Save in the described tension rope one having and the mounting groove five of tension rope two；Described tension rope two has through described second articulations digitorum manus
The mounting groove two of described tension rope two and the described tension rope one that has of described 3rd articulations digitorum manus and tension rope two mounting groove
In five；In the mounting groove four of described tension rope three that described tension rope three has through described 3rd articulations digitorum manus；Described resilience rope
One one end is fixed on described back-moving spring one；One end of described resilience rope two is fixed on described back-moving spring two；Described
One end of resilience rope three is fixed on described back-moving spring three；The other end of described resilience rope one is fixed on described first articulations digitorum manus
On；The other end of described resilience rope two is fixed on described second articulations digitorum manus；The other end of described resilience rope three is fixed on described
On 3rd articulations digitorum manus；Described resilience rope one through described first articulations digitorum manus have the mounting groove one of described resilience rope, described second
Articulations digitorum manus have a mounting groove three of described resilience rope one and described 3rd articulations digitorum manus have described resilience rope one and resilience rope two
Mounting groove five in；The mounting groove two of described resilience rope two that described resilience rope two has through described second articulations digitorum manus and described
In described resilience rope one and the mounting groove five of resilience rope two that 3rd articulations digitorum manus have；Described resilience rope three passes through described 3rd finger
In the mounting groove four of described resilience rope three that joint has.
Advantage of the present utility model and having the beneficial effects that：Because this utility model increased the resilience in three articulations digitorum manus
Rope and tension rope mounting groove are so that described three resilience ropes and three tension ropes are in described three articulations digitorum manus and by completely about
Bundle.Described three back-moving springs are so that the direction of pull of three described back-moving springs is conllinear with the direction of motion of three resilience ropes.
This principle makes three resilience ropes after being released, and does not exist loosening.Motor is controlling robot finger's bending and is stretching action
When there is not idle running.
Because this utility model increased motor, the control ability of finger structure is improved.Described three resilience ropes and three
Tension rope, controls described three articulations digitorum manus respectively, and the action of robot finger's structure is various.
Brief description
Fig. 1 is existing robot finger's principle schematic diagram.；
Fig. 2 is this utility model robot finger's principle schematic diagram.；
Fig. 3 is this utility model robot finger joint principle schematic diagram.；
Wherein, existing first articulations digitorum manus of 1-；Existing second articulations digitorum manus of 2-；Existing 3rd articulations digitorum manus of 3-；4- existing reset bullet
Spring one；The existing back-moving spring of 5- two；6- existing resilience rope；The existing tension rope of 7-；8- existing motor output panel；21- first refers to close
Section；22- second articulations digitorum manus；23- the 3rd articulations digitorum manus；24- back-moving spring one；25- back-moving spring two；26- back-moving spring three；27-
Resilience rope one；28- resilience rope two；29- resilience rope three；210- tension rope one；211- tension rope two；212- tension rope three；213-
Motor output panel one；214- motor output panel two；215- motor output panel three；The installation of the tension rope one of 31- first articulations digitorum manus
Groove one；The mounting groove one of the resilience rope one of 32- first articulations digitorum manus；The mounting groove two of the tension rope two of 33- second articulations digitorum manus；34-
The mounting groove two of the resilience rope two of the second articulations digitorum manus；The mounting groove three of the tension rope one of 35- second articulations digitorum manus；36- second refers to close
The mounting groove three of the resilience rope one of section；The mounting groove four of the tension rope three of 37- the 3rd articulations digitorum manus；The resilience of 38- the 3rd articulations digitorum manus
The mounting groove four of rope three；The tension rope one of 39- the 3rd articulations digitorum manus and the mounting groove five of tension rope two；310- the 3rd articulations digitorum manus return
The mounting groove five of bullet rope one and resilience rope two.
Specific embodiment
With reference to the accompanying drawings and examples specific embodiment of the present utility model is further described, following examples
It is only used for clearly the technical solution of the utility model being described, and protection model of the present utility model can not be limited with this
Enclose.
As shown in Figures 2 and 3, the technical solution of the utility model is a kind of design articulated robot finger transmission dress
Put, including the first articulations digitorum manus 21, the second articulations digitorum manus 22, the 3rd articulations digitorum manus 23, back-moving spring 1, back-moving spring 2 25, reset
Spring 3 26, resilience rope 1, resilience rope 2 28, resilience rope 3 29, tension rope 1, tension rope 2 211, tension rope three
212nd, motor output panel 1, motor output panel 2 214 and motor output panel 3 215.
Described first articulations digitorum manus 21 have the mounting groove 1 of tension rope one of the first articulations digitorum manus and described first articulations digitorum manus
Resilience rope one mounting groove 1；Described second articulations digitorum manus 22 have the mounting groove two of the tension rope two of described second articulations digitorum manus
33 and second articulations digitorum manus resilience rope two mounting groove 2 34；Described second articulations digitorum manus 22 have the tension of described second articulations digitorum manus
The mounting groove 3 36 of the resilience rope one of the mounting groove 3 35 of rope one and the second articulations digitorum manus；Described 3rd articulations digitorum manus 23 have described
The mounting groove 4 38 of the resilience rope three of the mounting groove 4 37 of the tension rope three of three articulations digitorum manus and described 3rd articulations digitorum manus；Described 3rd
Articulations digitorum manus 23 have the resilience of the described tension rope one of the 3rd articulations digitorum manus and the mounting groove 5 39 of tension rope two and the 3rd articulations digitorum manus
Rope one and the mounting groove 5 310 of resilience rope two.
Its annexation is：Described first articulations digitorum manus 21 and the second articulations digitorum manus 22 are hinged；Described second articulations digitorum manus 22 He
3rd articulations digitorum manus 23 are hinged；One end of described tension rope 1 is fixed on described motor output panel 1；Described tension rope
2 211 one end is fixed on described motor output panel 2 214；It is defeated that one end of described tension rope 3 212 is fixed on described motor
On placing 3 215；The other end of described tension rope 1 is fixed on described first articulations digitorum manus 21；Described tension rope 2 211
The other end is fixed on described second articulations digitorum manus 22；The other end of described tension rope 3 212 is fixed on described 3rd articulations digitorum manus 23
On；Described tension rope 1 passes through the mounting groove 1 of tension rope one of described first articulations digitorum manus, the tension rope of the second articulations digitorum manus
In one mounting groove 3 35 and the tension rope one of the 3rd articulations digitorum manus and the mounting groove 5 39 of tension rope two；Described tension rope 2 211
Tension rope one and tension rope two through the mounting groove 2 33 of the tension rope two of described second articulations digitorum manus and described 3rd articulations digitorum manus
Mounting groove 5 39 in；Described tension rope 3 212 passes through in the mounting groove 4 37 of tension rope three of described 3rd articulations digitorum manus；Described
One end of resilience rope 1 is fixed on described back-moving spring 1；One end of described resilience rope 2 28 is fixed on described reset bullet
On spring 2 25；One end of described resilience rope 3 29 is fixed on described back-moving spring 3 26；The other end of described resilience rope 1
It is fixed on described first articulations digitorum manus 21；The other end of described resilience rope 2 28 is fixed on described second articulations digitorum manus 22；Described
The other end of resilience rope 3 29 is fixed on described 3rd articulations digitorum manus 23；Described resilience rope 1 passes through described first articulations digitorum manus
The mounting groove 1 of resilience rope one, the mounting groove 3 36 of the resilience rope one of described second articulations digitorum manus and described 3rd articulations digitorum manus return
In the mounting groove 5 310 of bullet rope one and resilience rope two；Described resilience rope 2 28 passes through the resilience rope two of described second articulations digitorum manus
In mounting groove 2 34 and the described resilience rope one of the 3rd articulations digitorum manus and the mounting groove 5 310 of resilience rope two；Described resilience rope 3 29
Through in the mounting groove 4 38 of the resilience rope three of described 3rd articulations digitorum manus.
Described first articulations digitorum manus 21 have the mounting groove 1 of tension rope one of the first articulations digitorum manus and described first articulations digitorum manus
Resilience rope one mounting groove 1；Described second articulations digitorum manus 22 have the mounting groove two of the tension rope two of described second articulations digitorum manus
33 and second articulations digitorum manus resilience rope two mounting groove 2 34；Described second articulations digitorum manus 22 have the tension of described second articulations digitorum manus
The mounting groove 3 36 of the resilience rope one of the mounting groove 3 35 of rope one and the second articulations digitorum manus；Described 3rd articulations digitorum manus 23 have described
The mounting groove 4 38 of the resilience rope three of the mounting groove 4 37 of the tension rope three of three articulations digitorum manus and described 3rd articulations digitorum manus；Described 3rd
Articulations digitorum manus 23 have the resilience of the described tension rope one of the 3rd articulations digitorum manus and the mounting groove 5 39 of tension rope two and the 3rd articulations digitorum manus
The mounting groove 5 310 of rope one and resilience rope two is so that described resilience rope 1, resilience rope 2 28, resilience rope 3 29, tension rope one
210th, tension rope 2 211 and tension rope 3 212 in described first articulations digitorum manus 21, the second articulations digitorum manus 22 and the 3rd articulations digitorum manus 23 simultaneously
By Complete Bind.Described back-moving spring 1, back-moving spring 2 25 and back-moving spring 3 26 so that described back-moving spring 1,
The direction of pull of back-moving spring 2 25 and back-moving spring 3 26 and the motion of resilience rope 1, resilience rope 2 28 and resilience rope 3 29
Direction is conllinear.This principle makes resilience rope 1, resilience rope 2 28 and resilience rope 3 29 after being released, and does not exist loosening.Electricity
Machine is controlling robot finger's bending and there is not idle running when stretching action.Motor improves to the control ability of finger structure.
Described resilience rope 1 and tension rope 1 control described first articulations digitorum manus 21, resilience rope 2 28 and tension rope two
211 control the second articulations digitorum manus 22, resilience rope 3 29 and tension rope 3 212 control the 3rd articulations digitorum manus 23, robot finger's structure
Action is various.
The above is only preferred embodiments of the present utility model it is noted that common skill for the art
For art personnel, on the premise of without departing from this utility model know-why, some improvements and modifications can also be made, these change
Enter and retouch also to should be regarded as protection domain of the present utility model.
Claims (3)
1. a kind of articulated robot finger actuating device it is characterised in that：First articulations digitorum manus（21）, the second articulations digitorum manus（22）、
3rd articulations digitorum manus（23）, back-moving spring one（24）, back-moving spring two（25）, back-moving spring three（26）, resilience rope one（27）, resilience
Rope two（28）, resilience rope three（29）, tension rope one（210）, tension rope two（211）, tension rope three（212）, motor output panel one
（213）, motor output panel two（214）With motor output panel three（215）；
Described first articulations digitorum manus（21）Have the mounting groove one of the tension rope one of the first articulations digitorum manus（31）With described first articulations digitorum manus
Resilience rope one mounting groove one（32）；Described second articulations digitorum manus（22）Have the installation of the tension rope two of described second articulations digitorum manus
Groove two（33）Mounting groove two with the resilience rope two of the second articulations digitorum manus（34）；Described second articulations digitorum manus（22）Have described second finger
The mounting groove three of the tension rope one in joint（35）Mounting groove three with the resilience rope one of the second articulations digitorum manus（36）；Described 3rd refers to close
Section（23）Have the mounting groove four of the tension rope three of described 3rd articulations digitorum manus（37）With the resilience rope three of described 3rd articulations digitorum manus
Mounting groove four（38）；Described 3rd articulations digitorum manus（23）Have the tension rope one of described 3rd articulations digitorum manus and the mounting groove of tension rope two
Five（39）With the resilience rope one of the 3rd articulations digitorum manus and the mounting groove five of resilience rope two（310）；
Its annexation is：Described first articulations digitorum manus（21）With the second articulations digitorum manus（22）Hinged；Described second articulations digitorum manus（22）
With the 3rd articulations digitorum manus（23）Hinged；Described tension rope one（210）One end be fixed on described motor output panel one（213）On；Institute
State tension rope two（211）One end be fixed on described motor output panel two（214）On；Described tension rope three（212）One end solid
It is scheduled on described motor output panel three（215）On；Described tension rope one（210）The other end be fixed on described first articulations digitorum manus（21）
On；Described tension rope two（211）The other end be fixed on described second articulations digitorum manus（22）On；Described tension rope three（212）Another
One end is fixed on described 3rd articulations digitorum manus（23）On；Described tension rope one（210）Tension rope one through described first articulations digitorum manus
Mounting groove one（31）, the second articulations digitorum manus tension rope one mounting groove three（35）Tension rope one and tension with the 3rd articulations digitorum manus
The mounting groove five of rope two（39）In；Described tension rope two（211）Mounting groove two through the tension rope two of described second articulations digitorum manus
（33）With the tension rope one of described 3rd articulations digitorum manus and the mounting groove five of tension rope two（39）In；Described tension rope three（212）Wear
Cross the mounting groove four of the tension rope three of described 3rd articulations digitorum manus（37）In；Described resilience rope one（27）One end be fixed on described multiple
Position spring one（24）On；Described resilience rope two（28）One end be fixed on described back-moving spring two（25）On；Described resilience rope three
（29）One end be fixed on described back-moving spring three（26）On；Described resilience rope one（27）The other end be fixed on described first finger
Joint（21）On；Described resilience rope two（28）The other end be fixed on described second articulations digitorum manus（22）On；Described resilience rope three
（29）The other end be fixed on described 3rd articulations digitorum manus（23）On；Described resilience rope one（27）Returning through described first articulations digitorum manus
The mounting groove one of bullet rope one（32）, described second articulations digitorum manus resilience rope one mounting groove three（36）With described 3rd articulations digitorum manus
The mounting groove five of resilience rope one and resilience rope two（310）In；Described resilience rope two（28）Resilience through described second articulations digitorum manus
The mounting groove two of rope two（34）With the resilience rope one of described 3rd articulations digitorum manus and the mounting groove five of resilience rope two（310）In；Described
Resilience rope three（29）Mounting groove four through the resilience rope three of described 3rd articulations digitorum manus（38）In.
2. a kind of articulated robot finger actuating device according to claim 1 it is characterised in that：Described first refers to close
Section（21）Have the mounting groove one of the tension rope one of the first articulations digitorum manus（31）Installation with the resilience rope one of described first articulations digitorum manus
Groove one（32）；Described second articulations digitorum manus（22）Have the mounting groove two of the tension rope two of described second articulations digitorum manus（33）With the second finger
The mounting groove two of the resilience rope two in joint（34）；Described second articulations digitorum manus（22）Have the tension rope one of described second articulations digitorum manus
Mounting groove three（35）Mounting groove three with the resilience rope one of the second articulations digitorum manus（36）；Described 3rd articulations digitorum manus（23）Have described
The mounting groove four of the tension rope three of three articulations digitorum manus（37）Mounting groove four with the resilience rope three of described 3rd articulations digitorum manus（38）；Described
3rd articulations digitorum manus（23）Have the tension rope one of described 3rd articulations digitorum manus and the mounting groove five of tension rope two（39）Refer to close with the 3rd
The resilience rope one of section and the mounting groove five of resilience rope two（310）So that described resilience rope one（27）, resilience rope two（28）, resilience
Rope three（29）, tension rope one（210）, tension rope two（211）With tension rope three（212）In described first articulations digitorum manus（21）, second
Articulations digitorum manus（22）With the 3rd articulations digitorum manus（23）In and by Complete Bind；
Described back-moving spring one（24）, back-moving spring two（25）With back-moving spring three（26）So that described back-moving spring one（24）、
Back-moving spring two（25）With back-moving spring three（26）Direction of pull and resilience rope one（27）, resilience rope two（28）With resilience rope three
（29）The direction of motion conllinear.
3. a kind of articulated robot finger actuating device according to claim 1 it is characterised in that：Described resilience rope one
（27）With tension rope one（210）Control described first articulations digitorum manus（21）, resilience rope two（28）With tension rope two（211）Control second
Articulations digitorum manus（22）, resilience rope three（29）With tension rope three（212）Control the 3rd articulations digitorum manus（23）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620926588.8U CN205928688U (en) | 2016-08-24 | 2016-08-24 | Articulated robot points transmission |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620926588.8U CN205928688U (en) | 2016-08-24 | 2016-08-24 | Articulated robot points transmission |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205928688U true CN205928688U (en) | 2017-02-08 |
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|---|---|---|---|
| CN201620926588.8U Expired - Fee Related CN205928688U (en) | 2016-08-24 | 2016-08-24 | Articulated robot points transmission |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078777A (en) * | 2016-08-24 | 2016-11-09 | 北京灵铱科技有限公司 | A kind of articulated robot finger actuating device |
-
2016
- 2016-08-24 CN CN201620926588.8U patent/CN205928688U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078777A (en) * | 2016-08-24 | 2016-11-09 | 北京灵铱科技有限公司 | A kind of articulated robot finger actuating device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 Termination date: 20180824 |