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CN-121989287-A - Dexterous hand joint self-limiting transmission structure, dexterous hand and robot

CN121989287ACN 121989287 ACN121989287 ACN 121989287ACN-121989287-A

Abstract

The invention relates to the technical field of smart hands and provides a smart hand joint self-limiting transmission structure, a smart hand and a robot, wherein the smart hand joint self-limiting transmission structure comprises a driving module, a worm wheel, a reduction box body and a connecting rod assembly, an offset connecting hole is formed in the worm wheel, a top connecting hole is formed in the reduction box body, the distance between the top connecting hole and the center of the worm wheel is equal to the distance between a first connecting hole and a second connecting hole at two ends of the connecting rod assembly, and therefore, a quadrilateral double-rocker mechanism is formed through the worm wheel, the reduction box body and the connecting rod assembly, so that the precision and the design flexibility of joint transmission are improved, and the structure is compact, and the safety and the durability are higher; the output of the driving motor is converted into the rotation angle of the finger joint through the double rocker-quadrilateral transmission mechanism, and meanwhile, mechanical self-limiting is realized at the movement limit position, so that the damage or dangerous operation of parts caused by excessive movement of the joint is avoided.

Inventors

  • WANG KAIFENG
  • LIU YIRUI
  • Xue Zekang

Assignees

  • 天津大学
  • 北京摩拉克斯电子技术有限公司

Dates

Publication Date
20260508
Application Date
20260313

Claims (10)

  1. 1. The utility model provides a dexterous hand joint is from spacing transmission structure which characterized in that includes: the driving module is used for providing transmission power; The worm is in transmission connection with an output shaft of the driving module, the worm wheel is in transmission fit with the worm, an offset connecting hole is formed in the worm wheel, and a preset offset distance is reserved between the offset connecting hole and the circle center of the worm wheel; The speed reduction box body is arranged on the driving module and surrounds the worm and the worm wheel, and a top connecting hole is formed in one end, far away from the driving module, of the speed reduction box body; the connecting rod assembly, the both ends of connecting rod assembly set up first connecting hole and second connecting hole respectively, first connecting hole with the top connecting hole is connected through near knuckle of finger, the second connecting hole with the offset connecting hole is articulated, the top connecting hole with the distance in the centre of a circle of worm wheel with first connecting hole with the distance in second connecting hole equals.
  2. 2. The smart hand joint self-limiting transmission structure of claim 1, wherein a distance from the top attachment hole to the first attachment hole is equal to the preset offset distance.
  3. 3. The dexterous hand joint self-limiting transmission structure of claim 1, wherein the link assembly comprises two arc-shaped links, the first and second connection holes being located at both ends of the arc-shaped links; the second connecting holes of the two arc-shaped connecting rods are respectively hinged with two sides of the worm wheel and two ends of the connecting holes, and the first connecting holes of the two arc-shaped connecting rods are used for being connected with the finger near knuckle.
  4. 4. The smart hand joint self-limiting transmission structure of claim 1, wherein the reduction gearbox comprises a base and a top cover; the base is arranged at the end part of the driving module, a first bearing is arranged in the base, and the lower end of the worm is in transmission connection with an output shaft of the driving module through the first bearing; The top cover is installed with the base in a matched mode, the top connecting hole is located on one side, far away from the base, of the top cover, a second bearing is arranged in the top cover, and the upper end of the worm is connected with the inner ring of the second bearing and used for achieving rotation of the worm.
  5. 5. The self-limiting transmission structure of a dexterous hand joint according to claim 4, wherein the reduction gearbox further comprises a side plate, the side plate is fixed on the side edges of the base and the top cover through a connecting piece, and two sides of the worm wheel are respectively connected with the side plate through bearings.
  6. 6. The self-limiting transmission structure of the smart hand joint of claim 5, further comprising an optical axis, wherein the worm wheel is provided with an arc groove, and the circle center of an arc corresponding to the arc groove coincides with the circle center of the worm wheel; the side plates are respectively provided with a positioning hole, the optical axis is inserted into the arc-shaped groove and used for limiting the rotation of the worm wheel, and two ends of the optical axis are respectively matched with the positioning holes on two sides.
  7. 7. The self-limiting transmission structure of the smart hand joint according to claim 6, wherein the distance between the arc-shaped groove and the center of the worm wheel is 4-7 mm, the width of the arc-shaped groove is 0.8-1.4 mm, and the central angle of the arc corresponding to the arc-shaped groove is 80-120 degrees.
  8. 8. The self-limiting transmission structure of a smart hand joint as recited in any one of claims 5 to 7, further comprising an angular position detecting device provided at a side of the side plate away from the worm wheel for detecting a rotation angle of the worm wheel.
  9. 9. A dexterous hand comprising a dexterous hand joint self limiting transmission as defined in any one of claims 1 to 8.
  10. 10. A robot comprising the dexterous hand of claim 9.

Description

Dexterous hand joint self-limiting transmission structure, dexterous hand and robot Technical Field The invention relates to the technical field of dexterous hands, in particular to a dexterous hand joint self-limiting transmission structure, a dexterous hand and a robot. Background The smart hand is used as a core component of the robot technology, and the precision operation capability of the humanization is realized through the fusion of precise transmission, multi-mode perception and intelligent algorithms. As the dexterous hand can realize fine grabbing actions, the device has application potential in fields of industrial precise assembly (such as single-hand operation mobile phone), medical operation (such as endoscope robot ‌), home service and the like, is particularly used in the medical operation field, and can assist a surgeon or independently perform accurate and efficient operation. The existing flexible hand joint transmission structure has the common problems that the first transmission precision is insufficient, when a traditional gear, a single rocker or a steel wire rope driving mode is adopted, a nonlinear relation or hysteresis exists between input and joint output, so that the joint angle is difficult to accurately control, and the second transmission structure is lack of mechanical limit protection, wherein most of the joint transmission structures are easy to excessively rotate or damage under the driving of high force, and the reliable self-limit function is lacked, so that the motion damage is easy to cause. Disclosure of Invention The invention aims to provide a flexible hand joint self-limiting transmission structure, a flexible hand and a robot, which improve the precision and the design flexibility of joint transmission, and have compact structure, higher safety and durability. In a first aspect, an embodiment of the present invention provides a smart hand joint self-limiting transmission structure, including: the driving module is used for providing transmission power; The worm is in transmission connection with an output shaft of the driving module, the worm wheel is in transmission fit with the worm, an offset connecting hole is formed in the worm wheel, and a preset offset distance is reserved between the offset connecting hole and the circle center of the worm wheel; The speed reduction box body is arranged on the driving module and surrounds the worm and the worm wheel, and a top connecting hole is formed in one end, far away from the driving module, of the speed reduction box body; the connecting rod assembly, the both ends of connecting rod assembly set up first connecting hole and second connecting hole respectively, first connecting hole with the top connecting hole is connected through near knuckle of finger, the second connecting hole with the offset connecting hole is articulated, the top connecting hole with the distance in the centre of a circle of worm wheel with first connecting hole with the distance in second connecting hole equals. In one possible implementation, the distance from the top connection hole to the first connection hole is equal to the preset offset distance. In one possible implementation manner, the connecting rod assembly comprises two arc-shaped connecting rods, wherein the first connecting holes and the second connecting holes are positioned at two ends of the arc-shaped connecting rods, the second connecting holes of the two arc-shaped connecting rods are respectively hinged with two sides of the worm wheel and two ends of the connecting holes, and the first connecting holes of the two arc-shaped connecting rods are used for being connected with the finger near knuckle. In one possible implementation manner, the speed reduction box body comprises a base and a top cover, wherein the base is installed at the end part of the driving module, a first bearing is arranged in the base, the lower end of the worm is in transmission connection with an output shaft of the driving module through the first bearing, the top cover is installed in a matched mode with the base, the top cover is located at one side, far away from the base, of the top cover, a second bearing is arranged in the top cover, and the upper end of the worm is connected with an inner ring of the second bearing and used for achieving rotation of the worm. In one possible implementation manner, the reduction gearbox further comprises a side plate, the side plate is fixed on the side edges of the base and the top cover through a connecting piece, and two sides of the worm wheel are respectively connected with the side plate through bearings. In one possible implementation mode, the smart hand joint self-limiting transmission structure further comprises an optical axis, wherein an arc groove is arranged on the worm wheel, the circle center of an arc corresponding to the arc groove coincides with the circle center of the worm wheel, positioning holes are formed in the side plates, the opt