CN110450180B - Flexible driving rigidity variable differential coupling robot finger device - Google Patents
Flexible driving rigidity variable differential coupling robot finger device Download PDFInfo
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- CN110450180B CN110450180B CN201910760514.XA CN201910760514A CN110450180B CN 110450180 B CN110450180 B CN 110450180B CN 201910760514 A CN201910760514 A CN 201910760514A CN 110450180 B CN110450180 B CN 110450180B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
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Abstract
The invention discloses a flexible driving rigidity variable differential coupling robot finger device which comprises a base, a first knuckle, a second knuckle, a first joint shaft, a second joint shaft, a first self-locking flexible driver, a second self-locking flexible driver, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a first transmission piece, a second transmission piece, a first input bevel gear, a second input bevel gear, an output bevel gear and a transmission mechanism. The robot finger device comprehensively realizes differential coupling motion of the two-degree-of-freedom robot finger joint by utilizing two knuckles, two joint shafts, two drivers, a plurality of springs, three sets of transmission mechanisms, two sets of harmonic components, two rigid wheel rotating arms, a plurality of gears, two sliders and the like, the flexibility of the joint improves the safety of the robot in the interaction process, and the robot finger device has the function of absorbing impact energy of a transmission link to protect the structure of the robot finger joint.
Description
Technical Field
The invention belongs to the technical field of robots, relates to a dexterous robot hand, and particularly relates to a finger device of a flexible driving rigidity-variable differential coupling robot.
Background
With the development of intelligent technology, robot technology becomes a research hotspot at present, and a robot hand, as an end effector of a robot, also draws more and more attention of researchers. To assist robots in performing more tasks in special situations, a wide variety of robotic hands have been developed, such as dexterous hands, under-actuated hands, grippers, and the like. The development of a robot hand which has high flexibility, various sensing capabilities, a compact structure and large holding force and can grasp various objects with different shapes and properties is a common target for the research of the robot hand. The control of the dexterous hand of the existing robot is complex, the grasping force is small, the cost is high, meanwhile, the motor is heated due to the fact that the driving motor is locked and rotated in the process of grasping an object, more driving motors are arranged in the dexterous hand, the heat energy generated by the motors brings bad influence on a mechanical system and an electrical system of the dexterous hand, and meanwhile, the energy consumption is accelerated. The above factors restrict the application of dexterous hands.
Facing to the robot interaction task, the robot is likely to collide with the external environment, and the possibility that the dexterous hand of the robot collides and is forced to vibrate in the task of executing operation is higher. These collisions can damage the structure of the dexterous hand of the robot, reducing its useful life. In order to ensure the reliability and safety of interaction, the dexterous hand of the robot needs to have flexibility. Although the control algorithm can realize that the dexterous robot hand has active flexibility when in collision, the process generates more energy loss and has poor reliability under high-frequency impact.
Therefore, designing a dexterous robot hand with large gripping force, high adaptability, high reliability and light weight becomes one of the key points for the research of the dexterous robot hand.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a flexible driving rigidity variable differential coupling robot finger device. The device realizes the differential coupling motion of the finger joint of the two-degree-of-freedom robot; the flexibility of the joint improves the safety of the robot in the interaction process; meanwhile, the device has the function of absorbing the impact energy of a transmission link to protect the structure of the device.
The purpose of the invention is realized by the following technical scheme:
a flexible driving rigidity variable differential coupling robot finger device comprises a base, a first knuckle, a second knuckle, a first joint shaft, a second joint shaft, a first self-locking flexible driver, a second self-locking flexible driver, a first transmission wheel, a second transmission wheel, a third transmission wheel, a fourth transmission wheel, a first transmission piece, a second transmission piece, a first input bevel gear, a second input bevel gear, an output bevel gear and a transmission mechanism, wherein:
the second joint shaft is fixedly connected in the base;
the second knuckle is rotationally connected to the second joint shaft;
the first joint shaft is rotatably connected in the second knuckle;
the first knuckle is fixedly connected to the first joint shaft;
the structure of the first flexible driver with the self-locking function is the same as that of the second flexible driver with the self-locking function, and the first flexible driver with the self-locking function and the second flexible driver with the self-locking function both comprise an output shaft, a driving motor, a wave generator, a rigid gear, a flexible gear, a rigid gear rotating arm, a sliding block, a first elastic part, a second elastic part, a brake disc, a brake bar, an electromagnet and an adjusting nut;
the stator of the driving motor is fixedly connected with the base, and the rotor of the driving motor is connected with the wave generator;
the rigid wheel rotating arm is rotatably connected with the base, the rigid wheel rotating arm is fixedly connected with the rigid wheel, and a chute is arranged on the rigid wheel rotating arm;
the flexible gear is fixedly connected with the output shaft, the flexible gear is meshed with the rigid gear, and the flexible gear, the rigid gear and the wave generator form a harmonic transmission relation;
one end of the first elastic piece is fixedly connected with the base, and the other end of the first elastic piece is fixedly connected with the sliding block;
one end of the second elastic piece is fixedly connected with the sliding block, and the other end of the second elastic piece is fixedly connected with the adjusting nut;
the sliding block is embedded in the sliding grooves of the base and the rigid wheel rotating arm in a sliding mode, and can move linearly and rotationally relative to the rigid wheel rotating arm;
the brake disc is positioned between the driving motor and the wave generator and is fixedly connected with a rotor of the driving motor;
the brake rod is rotationally connected with the base;
the electromagnet is fixedly connected with the base, and an output rod of the electromagnet can push the brake rod to clamp or release the brake disc;
the output shaft of the first self-locking flexible driver is in transmission relation with the first input bevel gear through the transmission of the first driving wheel, the first transmission piece and the second driving wheel;
the output shaft of the second flexible driver with self-locking is fixedly connected with a fourth driving wheel, the third driving wheel is fixedly connected with a second input bevel gear, the third driving wheel, a second driving part and the fourth driving wheel form a driving relation, and the output shaft of the second flexible driver with self-locking and the second input bevel gear form a driving relation through the driving of the third driving wheel, the second driving part and the fourth driving wheel;
the first input bevel gear is rotationally connected to the base and meshed with the output bevel gear, and the first input bevel gear and the output bevel gear form a gear transmission relationship;
the second input bevel gear is rotationally connected to the base and meshed with the output bevel gear, and the second input bevel gear and the output bevel gear form a gear transmission relationship;
the output bevel gear is rotationally connected to the second knuckle and is fixedly connected with the input end of the transmission mechanism;
the output end of the transmission mechanism is fixedly connected with the first joint shaft, and the output bevel gear and the first joint shaft form a transmission relation through the transmission of the transmission mechanism.
In the invention, the first driving wheel adopts one or more combinations of gears, synchronous pulleys, rope pulleys and chain wheels, the second driving wheel adopts one or more combinations of gears, synchronous pulleys, rope pulleys and chain wheels, the third driving wheel adopts one or more combinations of gears, synchronous pulleys, rope pulleys and chain wheels, and the fourth driving wheel adopts one or more combinations of gears, synchronous pulleys, belt pulleys and chain wheels.
In the invention, the first transmission piece adopts one or a combination of a plurality of gears, a transmission belt and a chain, and the second transmission piece adopts one or a combination of a plurality of gears, a transmission belt and a chain.
In the invention, the first elastic part adopts a pressure spring, a tension spring, an elastic rod or an elastic rope, and the second elastic part adopts a pressure spring, a tension spring, an elastic rod or an elastic rope.
In the invention, the transmission mechanism adopts one or more combinations of a gear transmission mechanism, a connecting rod transmission mechanism, a belt transmission mechanism and a chain transmission mechanism.
Compared with the prior art, the invention has the following advantages:
1. the robot finger device comprehensively realizes differential coupling motion of the two-degree-of-freedom robot finger joint by utilizing two knuckles, two joint shafts, two drivers, a plurality of springs, three sets of transmission mechanisms, two sets of harmonic components, two rigid wheel rotating arms, a plurality of gears, two sliders and the like, the flexibility of the joint improves the safety of the robot in the interaction process, and the robot finger device has the function of absorbing impact energy of a transmission link to protect the structure of the robot finger joint.
2. The robot finger device simultaneously drives the two degrees of freedom of the robot finger joint by the driving forces generated by the two drivers, thereby greatly increasing the rated bearing capacity of the joint, greatly reducing the volume and the mass of a driving transmission system, and simultaneously independently controlling each joint; the adoption of the flexible driving mechanism greatly improves the robustness of the finger structure.
3. The robot finger device of the invention adopts a differential gear train mechanism consisting of a first input bevel gear, a second input bevel gear, an output bevel gear and a second knuckle to realize that the independent movement of the two knuckles of the finger is controlled by controlling the differential movement of the first input bevel gear and the second input bevel gear; the flexible driving mechanism is formed by integrating a harmonic component, a rigid wheel rotating arm, a driving motor, two elastic pieces and a sliding block, so that the structural flexibility of a driving element is realized; the braking mechanism formed by the electromagnet, the brake disc, the brake rod and the like is adopted to realize the power-off self-locking of the motor, thereby reducing the situation that the motor stalls and generates heat when a skillful hand clamps an object.
4. The robot finger device has the advantages of small volume, light weight, large joint rated torque and good robustness.
5. The robot finger device has the advantages of simple structure and low processing, assembling and maintaining cost, and is suitable for robot hands.
Drawings
FIG. 1 is a perspective view of a flexible drive stiffness variable differentially coupled robotic finger apparatus of the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a diagrammatic view of the finger portion mechanism of FIG. 1;
FIG. 5 is a perspective view of the drive portion of FIG. 1;
FIG. 6 is a front view of the drive portion of FIG. 1;
FIG. 7 is a cross-sectional view of the drive portion of FIG. 1 taken along section A;
FIG. 8 is a schematic view of the driving portion of FIG. 1;
in the figure: 1-base, 2-first knuckle, 3-second knuckle, 4-first joint shaft, 5-second joint shaft, 21-first input bevel gear, 22-second input bevel gear, 23-output bevel gear, 121-output shaft, 122-flexible gear, 123-rigid gear rotating arm, 124-rigid gear, 125-brake lever, 126-wave generator, 127-brake disc, 128-driving motor, 129A-first elastic member, 129B-slider, 129C-second elastic member, 129D-adjusting nut, 129E-electromagnet, 811-first transmission wheel, 812-first transmission member, 813-second transmission wheel, 821-third transmission wheel, 822-second transmission member, 823-fourth transmission wheel, 831-transmission mechanism.
Detailed Description
The technical solution of the present invention is further described below with reference to the embodiments and the drawings, but the present invention is not limited thereto, and any modification or equivalent replacement of the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention should be covered by the protection scope of the present invention.
The present embodiment provides a flexible driving stiffness variable differential coupling robot finger device, as shown in fig. 1 to 8, the robot finger device includes a base 1, a first finger joint 2, a second finger joint 3, a first joint shaft 4, a second joint shaft 5, a first flexible driver with self-locking, a second flexible driver with self-locking, a first driving wheel 811, a second driving wheel 813, a third driving wheel 821, a fourth driving wheel 823, a first driving piece 812, a second driving piece 822, a first input bevel gear 21, a second input bevel gear 22, an output bevel gear 23 and a transmission mechanism 831, wherein:
the second joint shaft 5 is fixedly connected in the base 1;
the second knuckle 3 is rotatably connected to a second joint shaft 5;
the first joint shaft 4 is rotatably connected in the second finger joint 3;
the first knuckle 2 is fixedly connected to a first joint shaft 4;
the central line of the first joint shaft 4 is parallel to the central line of the second joint shaft 5;
the structure of the first flexible driver with self-locking is the same as that of the second flexible driver with self-locking, and the first flexible driver with self-locking and the second flexible driver with self-locking both have an output shaft 121, a driving motor 128, a wave generator 126, a rigid gear 124, a flexible gear 122, a rigid gear rotating arm 123, a sliding block 129B, a first elastic piece 129A, a second elastic piece 129C, a brake disc 127, a brake lever 125, an electromagnet 129E and an adjusting nut 129D;
the stator of the driving motor 128 is fixedly connected with the base 1, and the rotor of the driving motor 128 is connected with the wave generator 126;
the rigid wheel rotating arm 123 is rotatably connected with the base 1, the rigid wheel rotating arm 123 is fixedly connected with the rigid wheel 124, and a sliding groove is formed in the rigid wheel rotating arm 123;
the flexible gear 122 is fixedly connected with the output shaft 121, the flexible gear 122 is meshed with the rigid gear 124, and the flexible gear 122, the rigid gear 124 and the wave generator 126 form a harmonic transmission relationship;
the output shaft 121 is rotatably connected with the base 1, and the rotation axis of the output shaft 121, the rotation axis of the wave generator 126, the rotation axis of the flexible gear 122, the rotation axis of the rigid gear 124, the rotation axis of the rigid gear rotating arm 123 and the rotation axis of the rotor of the driving motor are all on the same straight line;
one end of the first elastic piece 129A is fixedly connected with the base 1, and the other end of the first elastic piece 129A is fixedly connected with the sliding block 129B;
one end of the second elastic piece 129C is fixedly connected with the sliding block 129B, and the other end of the second elastic piece 129C is fixedly connected with the adjusting nut 129D;
the sliding block 129B is embedded in the sliding grooves of the base 1 and the rigid wheel rotating arm 123 in a sliding mode, the sliding block 129B can do linear motion and rotary motion relative to the rigid wheel rotating arm 123, and the linear motion direction of the sliding block 129B relative to the rigid wheel rotating arm 123 is intersected with the rotation axis of the rigid wheel rotating arm 123;
the brake disc 127 is positioned between the driving motor 128 and the wave generator 126 and is fixedly connected with the rotor of the driving motor 128;
the brake rod 125 is rotatably connected with the base 1;
the electromagnet 129E is fixedly connected with the base 1, and an output rod of the electromagnet 129E can push the brake rod 125 to clamp or release the brake disc 127;
the output shaft 121 of the first self-locking flexible driver is fixedly connected with a second transmission wheel 813, the first transmission wheel 811 is fixedly connected with a first input bevel gear 21, the first transmission wheel 811, the first transmission piece 812 and the second transmission wheel 813 form a transmission relationship, and the output shaft 121 of the first self-locking flexible driver and the first input bevel gear 21 form a transmission relationship through the transmission of the first transmission wheel 811, the first transmission piece 812 and the second transmission wheel 813;
the output shaft 121 of the second flexible driver with self-locking is fixedly connected with a fourth transmission wheel 823, the third transmission wheel 821 is fixedly connected with a second input bevel gear 22, the third transmission wheel 821, the second transmission piece 822 and the fourth transmission wheel 823 form a transmission relation, and the output shaft 121 of the second flexible driver with self-locking and the second input bevel gear 22 form a transmission relation through the transmission of the third transmission wheel 821, the second transmission piece 822 and the fourth transmission wheel 823;
the first input bevel gear 21 is rotationally connected to the base 1, the first input bevel gear 21 is meshed with the output bevel gear 23, and the first input bevel gear 21 and the output bevel gear 23 form a gear transmission relationship;
the second input bevel gear 22 is rotationally connected to the base 1, the second input bevel gear 22 is meshed with the output bevel gear 23, and the second input bevel gear 22 and the output bevel gear 23 form a gear transmission relationship;
the output bevel gear 23 is rotationally connected to the second knuckle 3, the rotation axis of the output bevel gear 23 relative to the second knuckle 3 is perpendicular to the rotation axis of the first input bevel gear 21 relative to the base 1, and the output bevel gear 23 is fixedly connected with the input end 831 of the transmission mechanism;
the output end of the transmission mechanism 831 is fixedly connected with the first joint shaft 4, and the output bevel gear 23 and the first joint shaft 4 form a transmission relationship through the transmission of the transmission mechanism 831.
In this embodiment, the transmission mechanism 831 is a bevel gear transmission mechanism.
In this embodiment, the first transmission wheel 811, the second transmission wheel 813, the third transmission wheel 821 and the fourth transmission wheel 823 adopt synchronous pulleys.
In this embodiment, the first transmission member 812 and the second transmission member 822 both use a timing belt.
In this embodiment, the first elastic member 129A and the second elastic member 129C are compression springs.
In this embodiment, when the robot finger device is in the initial state, the elastic force generated by the first elastic member 129A and the elastic force generated by the second elastic member 129C in the first flexible driver with self-locking are equal in magnitude and opposite in direction, and the rigid wheel rotating arm 123 is in the equilibrium position, as shown in fig. 8, in which the rigid wheel rotating arm 123 drawn by the solid line is in the equilibrium position. The electromagnet 129E is deenergized, the brake lever 125 clamps the brake disk 127, and the drive motor 128 is locked. When the electromagnet 129E is energized, the brake lever 125 is rotated and opened, the brake disc 127 is released, the driving motor 128 is driven, the rotor of the driving motor 128 generates torque and rotation speed, and power is transmitted to the output shaft 121 through the harmonic transmission relationship formed by the rigid gear 124, the flexible gear 122 and the wave generator 126. From newton's third law, the moment on the output shaft 121 will react to the rigid wheel 124, so that the same amount of moment is generated between the rigid wheel 124 and the base 1. Since the rigid wheel 124 is fixed to the rigid wheel rotating arm 123, the rigid wheel rotating arm 123 can rotate relative to the base 1, so that the rigid wheel 124 can rotate relative to the base 1, as shown in fig. 8, wherein the angle of rotation of the rigid wheel rotating arm 123 relative to the base 1 is θ. The rigid wheel rotating arm 123 rotates to push the sliding block 129B, so that the compression amount of the first elastic piece 129A is not equal to the compression amount of the second elastic piece 129C, the elastic force generated by the first elastic piece 129A is not equal to the elastic force generated by the second elastic piece 129C, and the resultant force F received by the sliding block 129B can prevent the rigid wheel 124 and the rigid wheel rotating arm 123 from rotating relative to the base 1. In contrast, when the impact torque from the output shaft 121 is transmitted to the harmonic component, the rigid wheel 124 rotates, the middle impact energy is stored and released by the first elastic member 129A and the second elastic member 129C, and the impact energy is gradually disappeared due to the friction, thereby protecting the finger structure. The principle is the same for the second flexible driver with self-locking, and the details are not described here.
The first input bevel gear 21, the second input bevel gear 22, the output bevel gear 23, and the carrier four constitute a differential gear train mechanism that integrates and distributes the drive torque from the first input bevel gear 21 and the second input bevel gear 22 to the second knuckle 3 (carrier) and the output bevel gear 23, and the drive force on the output bevel gear 23 is transmitted to the first joint shaft 4 through the transmission mechanism 831, and finally transmitted to the first knuckle 2.
The differential train mechanism forces and motions are analyzed as follows:
setting: the rotational angular velocities of the first input bevel gear 21, the second input bevel gear 22, the output bevel gear 23, and the second knuckle 3 are ω 1 、ω 2 、ω 3 And omega 4 The torques of the first input bevel gear 21, the second input bevel gear 22, the output bevel gear 23 and the second knuckle 3 are T, respectively 1 、T 2 、T 3 And T 4 A first input bevel gear 21, a second input bevel gearThe number of teeth of the gear 22 and the output bevel gear 23 is z 1 、z 2 And z 3 。
The transmission ratio between the first input bevel gear 21 and the output bevel gear 23 and the transmission ratio between the second input bevel gear 22 and the output bevel gear 23 are:
the basic gear ratio is defined as:
1) the relationship between the rotating speed:
as can be seen from equation (1), equation (1) has two equations, 4 unknowns, when ω is 1 And ω 2 Known as ω 3 And ω 4 Can be solved and have a unique solution. Namely, the mechanism can realize accurate position control.
2) Torque relationship:
according to the conservation of energy, there are:
as can be seen from equation (2), ω can be solved according to equation (1) 1 、ω 2 、ω 3 And ω 4 Then equation (2) has 4 unknowns when T is 1 And T 2 Known as T 3 And T 4 Can be solved and have a unique solution. Namely, the mechanism can realize accurate torque control.
The driving torque on the output shaft 121 of the first flexible driver with self-locking is transmitted to the first input bevel gear 21 through the transmission of the second transmission wheel 813, the first transmission piece 812 and the first transmission wheel 811; the driving torque on the output shaft 121 of the second flexible driver with self-locking is transmitted to the second input bevel gear 22 through the transmission of the fourth transmission wheel 823, the second transmission piece 822 and the third transmission wheel 811; then, the first knuckle 2 and the second knuckle 3 are driven to move through the transmission of the differential gear train mechanism.
Claims (8)
1. The utility model provides a variable differential coupling robot finger device of flexible drive rigidity which characterized in that robot finger device includes base, first knuckle, second knuckle, first joint axle, second joint axle, first flexible driver that has the auto-lock, the second has the flexible driver of auto-lock, first drive wheel, second drive wheel, third drive wheel, fourth drive wheel, first transmission piece, second transmission piece, first input bevel gear, second input bevel gear, output bevel gear and drive mechanism, wherein:
the second joint shaft is fixedly connected in the base;
the second knuckle is rotatably connected to a second joint shaft;
the first joint shaft is rotatably connected in the second knuckle;
the first knuckle is fixedly connected to the first joint shaft;
the structure of the first flexible driver with the self-locking function is the same as that of the second flexible driver with the self-locking function, and the first flexible driver with the self-locking function and the second flexible driver with the self-locking function both comprise an output shaft, a driving motor, a wave generator, a rigid gear, a flexible gear, a rigid gear rotating arm, a sliding block, a first elastic part, a second elastic part, a brake disc, a brake bar, an electromagnet and an adjusting nut;
the stator of the driving motor is fixedly connected with the base, and the rotor of the driving motor is connected with the wave generator;
the rigid wheel rotating arm is rotatably connected with the base, the rigid wheel rotating arm is fixedly connected with the rigid wheel, and a chute is arranged on the rigid wheel rotating arm;
the flexible gear is fixedly connected with the output shaft, the flexible gear is meshed with the rigid gear, and the flexible gear, the rigid gear and the wave generator form a harmonic transmission relation;
one end of the first elastic piece is fixedly connected with the base, and the other end of the first elastic piece is fixedly connected with the sliding block;
one end of the second elastic piece is fixedly connected with the sliding block, and the other end of the second elastic piece is fixedly connected with the adjusting nut;
the sliding block is embedded in the sliding grooves of the base and the rigid wheel rotating arm in a sliding mode, and can move linearly and rotationally relative to the rigid wheel rotating arm;
the brake disc is positioned between the driving motor and the wave generator and is fixedly connected with a rotor of the driving motor;
the brake rod is rotationally connected with the base;
the electromagnet is fixedly connected with the base, and an output rod of the electromagnet can push the brake rod to clamp or release the brake disc;
the output shaft of the first self-locking flexible driver is fixedly connected with the second transmission wheel, the first transmission wheel is fixedly connected with the first input bevel gear, the first transmission wheel, the first transmission piece and the second transmission wheel form a transmission relation, and the output shaft of the first self-locking flexible driver and the first input bevel gear form a transmission relation through the transmission of the first transmission wheel, the first transmission piece and the second transmission wheel;
the output shaft of the second flexible driver with self-locking is fixedly connected with a fourth driving wheel, the third driving wheel is fixedly connected with a second input bevel gear, the third driving wheel, a second driving part and the fourth driving wheel form a driving relation, and the output shaft of the second flexible driver with self-locking and the second input bevel gear form a driving relation through the driving of the third driving wheel, the second driving part and the fourth driving wheel;
the first input bevel gear is rotationally connected to the base and meshed with the output bevel gear, and the first input bevel gear and the output bevel gear form a gear transmission relationship;
the second input bevel gear is rotationally connected to the base and meshed with the output bevel gear, and the second input bevel gear and the output bevel gear form a gear transmission relationship;
the output bevel gear is rotationally connected to the second knuckle and is fixedly connected with the input end of the transmission mechanism;
the output end of the transmission mechanism is fixedly connected with the first joint shaft, and the output bevel gear and the first joint shaft form a transmission relation through the transmission of the transmission mechanism;
the output bevel gear is perpendicular to the rotation axis of the second knuckle and the rotation axis of the first input bevel gear and the second input bevel gear relative to the base and is parallel to the extending direction of the second knuckle.
2. The flexible drive stiffness variable differential coupling robot finger apparatus according to claim 1, wherein the first drive wheel is a combination of one or more of gears, synchronous pulleys, sheaves, and sprockets, the second drive wheel is a combination of one or more of gears, synchronous pulleys, sheaves, and sprockets, the third drive wheel is a combination of one or more of gears, synchronous pulleys, sheaves, and sprockets, and the fourth drive wheel is a combination of one or more of gears, synchronous pulleys, and sprockets.
3. The variably flexible drive stiffness differentially coupled robotic finger device according to claim 1 wherein the first drive member comprises a combination of one or more of a gear, a belt, and a chain, and the second drive member comprises a combination of one or more of a gear, a belt, and a chain.
4. The flexibly driven variable stiffness differentially coupled robotic finger device according to claim 1, wherein the first elastic member is a compression spring, a tension spring, an elastic rod or an elastic rope, and the second elastic member is a compression spring, a tension spring, an elastic rod or an elastic rope.
5. The flexible drive stiffness variable differential coupling robotic finger device according to claim 1, wherein the transmission mechanism is one or a combination of a gear transmission mechanism, a link transmission mechanism, a belt transmission mechanism, a chain transmission mechanism.
6. The flexible drive stiffness variable differential coupling robotic finger device according to claim 1, wherein a centerline of the first joint axis is parallel to a centerline of the second joint axis.
7. The flexibly driven variable stiffness differential coupling robot finger device according to claim 1, wherein the output shaft is rotatably connected to the base 1, and the rotation axis of the output shaft, the rotation axis of the wave generator, the rotation axis of the flexspline, the rotation axis of the rigid spline rotor, and the rotation axis of the rotor of the driving motor are all collinear.
8. The flexible drive stiffness variable differentially coupled robotic finger apparatus according to claim 1, wherein the direction of linear motion of the slider relative to the rigid wheel rotor arm intersects the axis of rotation of the rigid wheel rotor arm.
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| CN111360869A (en) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | Parallel driving joint for super-dynamic bionic robot and robot |
| CN111360868A (en) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | Bionic robot and limb structure of parallel driving joint of bionic robot |
| CN112776913B (en) * | 2021-01-28 | 2022-06-07 | 南方科技大学 | Biped robot |
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