WO2016180365A1 - Continuum differential mechanism and mechanical arm - Google Patents

Continuum differential mechanism and mechanical arm Download PDF

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Publication number
WO2016180365A1
WO2016180365A1 PCT/CN2016/082047 CN2016082047W WO2016180365A1 WO 2016180365 A1 WO2016180365 A1 WO 2016180365A1 CN 2016082047 W CN2016082047 W CN 2016082047W WO 2016180365 A1 WO2016180365 A1 WO 2016180365A1
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Prior art keywords
output
input
wire
differential
hole
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PCT/CN2016/082047
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French (fr)
Chinese (zh)
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汪雯
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Publication of WO2016180365A1 publication Critical patent/WO2016180365A1/en

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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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • the present invention relates to a differential mechanism, and more particularly to a differential transmission mechanism based on a flexible continuum mechanism that can be applied to a variety of underactuated mechanical systems.
  • a driving source such as a motor, a cylinder, a cylinder, etc.
  • a corresponding number of controllers are required to achieve independent control of each degree of freedom. This often results in increased mechanical system costs, increased weight, and reduced reliability.
  • the differential mechanism can adaptively distribute one motion input to multiple (usually two) motion outputs, so that control of multiple degrees of freedom can be achieved with fewer drive sources and controllers, significantly reducing the number of degrees of freedom.
  • the cost and weight of the system reduce the control difficulty and improve the system reliability.
  • the differential mechanism has thus been widely used.
  • the main configuration of the differential mechanism is movable pulley type, gear rack type, connecting rod type, etc., all of which have the disadvantages of relatively complicated structure and large backlash.
  • the present invention proposes a novel continuous body differential mechanism that uses one motion as a drive input to generate an arbitrary multi-path motion output.
  • the invention particularly designs a continuous body differential mechanism, wherein the drive input and the drive output form a continuously deformable continuous body differential mechanism that is completely connected to each part, and the drive input of the drive source can be distributed to the plurality of drive outputs. It is then passed to the various moving parts of the system.
  • the continuum mechanism can not only move integrally; when the output end is subjected to external constraints or loads of different sizes, the continuum mechanism produces corresponding deformation, so that the motion output of each channel has different output, and each output There is also a corresponding difference in the magnitude of the force output at the end.
  • the continuum differential mechanism of the present invention is comprised of one or more substantially differential units.
  • Each differential unit is mainly composed of a base, an elastic alloy input and output wire, an end plate and the like, and the parts thereof are completely connected, and the drive input and the drive output are substantially connected in an elastic manner, which is a continuous deformation.
  • New transmission mechanism is mainly composed of a base, an elastic alloy input and output wire, an end plate and the like, and the parts thereof are completely connected, and the drive input and the drive output are substantially connected in an elastic manner, which is a continuous deformation.
  • the input wire of the basic differential unit can be moved back and forth under the motor or manual drive.
  • the input wire passes through the base, and the other end of the input wire is fixed in the middle of the end plate (not necessarily in the middle), and the two sides of the end plate are respectively fixed.
  • Two or more elastic alloy wires which then pass through the base as a motion output, dividing one motion input into two or multiple motion outputs.
  • the input and output wires are bent in the corresponding directions, so that the plurality of output wires adaptively have different outputs.
  • the motion output on the output wire can be used as an input of another basic differential unit.
  • serially and parallelly connecting a plurality of basic differential units it is theoretically possible to convert one motion input into any number of motion outputs, thereby satisfying The needs of various differential sports.
  • a continuum differential mechanism comprising one or more basic differential units, each basic differential unit comprising: a base, the base having an input through hole and an output through a hole; an end disc, the end disc being spaced apart from the base by a predetermined distance; and an input wire and an output wire, one end of the input wire being fixed to the end disc, and the other end passing through the input through hole And one end of the output wire is fixed to the end disc, and the other end passes through the output through hole.
  • the distance between the end disc and the base is 0.25 to 4 times the distance between the output wire and the input wire. More preferably, the distance between the end disc and the base is 0.5 to 2 times the distance between the output wire and the input wire. Most preferably, the distance between the end disc and the base is 0.5 to 1 times the distance between the output wire and the input wire.
  • the basic differential unit includes an input wire and two output wires, the two output wires being respectively located on opposite sides of the input wire; or the basic differential unit includes an input wire and Three output wires.
  • the continuum differential mechanism includes two basic differential units, the two basic differential units sharing a pedestal and each of the basic differential units includes an input wire and a plurality of output wires. Wherein one output filament of one of the two basic differential units is used as another base The input wire of the differential unit.
  • the continuum differential mechanism includes two basic differential units, the two basic differential units sharing a pedestal and each of the basic differential units includes an input wire and two output wires. An output wire of one of the two basic differential units is used as an input wire of another substantially differential unit.
  • the continuum differential mechanism includes three basic differential units, the three basic differential units sharing a pedestal and each of the basic differential units includes an input wire and a plurality of output wires. The two output wires of one of the three basic differential units are used as input wires for the other two basic differential units, respectively.
  • the continuum differential mechanism includes three basic differential units, the three basic differential units sharing a pedestal and each of the basic differential units includes an input wire and two output wires. Wherein the two output wires of the first one of the three basic differential units are used as input wires of the other two basic differential units, respectively.
  • the end plate of the first basic differential unit is provided with a through slot for the output wires of the other two basic differential units to pass through.
  • the continuum differential mechanism includes three basic differential units, the three basic differential units sharing a pedestal and each of the basic differential units includes an input wire and a plurality of output wires.
  • the first basic differential unit comprises two output wires
  • the second and third basic differential units comprise three output wires
  • the two output wires of the first basic differential unit are respectively used as the second sum The input wire of the third basic differential unit.
  • a two-finger robot comprising:
  • the continuous body differential mechanism comprising:
  • the base is provided with an input through hole and an output through hole;
  • An end disc the end disc being spaced apart from the base by a predetermined distance
  • An input wire and an output wire one end of the input wire being fixed to the end disk, the other end passing through the input through hole, and one end of the output wire is fixed to the end disk, and the other end is passed through the output Through hole
  • a finger holder and two fingers each finger being hinged to the finger holder and including a drive rod, a connecting rod, a first knuckle and a second knuckle, wherein
  • One end of the first knuckle is hinged to the finger seat, and the other end of the first knuckle is hinged to the second knuckle;
  • One end of the drive rod is hinged to the finger holder, the other end of the drive rod is hinged to one end of the link, and the other end of the link is hinged to the second knuckle;
  • One end of the output wire passing through the output through hole is fixed to the drive rod;
  • the base, the base and the finger holder are fixed to the base.
  • one end of the finger holder, the one end of the first knuckle, and the one end of the drive rod are hinged to each other by a pin.
  • a three-finger robot comprising:
  • the continuous body differential mechanism comprising:
  • the base is provided with an input through hole and an output through hole;
  • An end disc the end disc being spaced apart from the base by a predetermined distance
  • An input wire and an output wire one end of the input wire being fixed to the end disk, the other end passing through the input through hole, and one end of the output wire is fixed to the end disk, and the other end is passed through the output Through hole;
  • a palm and three fingers are hinged to the palm and are respectively connected to three of the output wires, the palm being fixed to the base.
  • each finger includes a first knuckle, a second knuckle, a first link, and a second link.
  • One end of the first knuckle is hinged to the palm, and the other end of the first knuckle is hinged to the second knuckle.
  • One end of the first link is hinged to the output wire, the other end is hinged to one end of the second link, and the other end of the second link is hinged to the second knuckle.
  • the input wire and/or the output wire are thin rods or thin tubes that can withstand the push-pull force and are elastically deformable.
  • the input wire and/or the output wire are elastic alloy wires.
  • the cooperation between the input wire and the input through hole and the cooperation between the output wire and the output through hole are gap fit.
  • the base is stationary.
  • the continuous body differential mechanism is further provided with an input sleeve and an output sleeve, and the input sleeve and the output sleeve are respectively fixed to the input through hole and the output a through hole such that the input wire and the output wire pass through the input sleeve and the output sleeve, respectively.
  • 1 is a schematic structural view of a continuum basic differential unit having two motion outputs
  • FIG. 2 is a schematic structural view of the continuum basic differential unit of FIG. 1 in a curved configuration
  • FIG. 3 is a schematic structural view of a continuum differential mechanism composed of a basic differential unit string and a parallel combination of FIG. 1;
  • FIG. 4 is a schematic structural view of the continuous body differential mechanism of FIG. 3 in a curved state
  • Figure 5 is a schematic structural view of a continuum basic differential unit having a three-way motion output
  • FIG. 6 is a schematic structural view of the continuum basic differential unit of FIG. 3 in a curved configuration
  • FIG. 7 is a schematic structural view of a continuous body differential mechanism formed by the basic differential unit string and the parallel combination of FIG. 4;
  • Figure 8 is a schematic view showing the structure of the continuous body differential mechanism of Figure 7 in a curved form
  • FIG. 9 is a schematic structural view of a two-finger manipulator based on a continuous body differential mechanism
  • FIG. 10 is a schematic structural view of a three-finger manipulator based on a continuous body differential mechanism
  • FIG. 11 is a schematic structural view of a finger employed by the three-finger robot of FIG. 10.
  • FIG. 11 is a schematic structural view of a finger employed by the three-finger robot of FIG. 10.
  • wire refers to a member having a dimension in the length direction that is much larger than the cross-sectional dimension, also referred to as a “rod or thin rod” or “tube or tubule”, which can withstand the push-pull force and is elastically deformable. Solid or hollow.
  • the input wire passes through the input through hole to include both the input wire directly through the input through hole and the input wire through the input through hole through a portion such as a sleeve disposed on the input through hole.
  • the output wire passing through the output through hole includes both the output wire directly passing through the output through hole, and the output wire passing through the output through hole through a sleeve such as a sleeve disposed on the output through hole.
  • the continuum differential mechanism may be composed of a plurality of basic differential units, wherein the output wire of one of the basic differential units may serve as an input wire for another substantially differential unit.
  • Figures 1-8 illustrate various embodiments of a continuum differential mechanism in accordance with the present invention.
  • the basic differential unit of the continuum differential mechanism comprises a base 1, 7, 13, 19, end discs 5, 18, and input wires 2, 14 and output wires 3, 4, 9, 10, 11, 12, 15, 16, 17, 21, 22, 23, 24, 25, 26.
  • Input vias 101, 131 and output vias 102, 103, 132, 133, 134 are provided on the pedestal.
  • the end disc is spaced apart from the base by a predetermined distance.
  • One end of the input wire is fixed to the end disc, and the other end passes through the input through hole, and one end of the output wire is fixed to the end disc, and the other end passes through the output through hole.
  • the basic differential unit is further provided with an input sleeve and an output sleeve, the input sleeve and the output sleeve being respectively fixed to the input through hole and the output through hole, so that the input wire and the output wire pass through the input sleeve respectively And output sleeve.
  • the input wire and/or the output wire can be an elastic rod or an elastic tube.
  • the input wire and/or the output wire are elastic alloy wires.
  • the material of the input wire and the output wire may be nickel titanium alloy, stainless steel or the like.
  • the fit between the input wire and the input through hole and the fit between the output wire and the output through hole are clearance fits. Since the input and output wires will bend and deform during the process of forming the differential motion, it will occupy more space than the diameter; if the clearance fit is not used, the input and output wires will have a large frictional resistance with the pipe wall after bending, affecting The formation of differential motion.
  • the distance between the end disc and the base is 0.25 to 4 times the distance between the output wire and the input wire. More preferably, the distance between the end disc and the base is 0.5 to 2 times the distance between the output wire and the input wire. Most preferably, the distance between the end disc and the base is 0.5 to 1 times the distance between the output wire and the input wire.
  • the base is fixed during application.
  • the input wire of the continuous body differential mechanism can be moved back and forth under the driving of the motor or the human power, and drives the output wire to move, so that one motion input is divided into two or multiple motion outputs.
  • the input and output wires are bent in the corresponding directions, so that the plurality of output wires adaptively have different outputs.
  • the motion output on the output wire can be used as the input of the basic differential unit of another continuous body differential mechanism.
  • serially and parallelly connecting a plurality of basic differential units it is theoretically possible to convert one motion input into any number of The motion output can meet the needs of various differential motions.
  • Figure 1 shows a basic differential unit with two motion outputs.
  • a basic differential unit itself constitutes a continuous body differential mechanism.
  • the plurality of basic differential units may together form a continuous differential mechanism, as will be described in more detail below.
  • the basic differential unit mainly comprises a base 1, an elastic alloy wire 2, 3, 4 and an end plate 5, wherein the elastic alloy wire 2 is an input wire, and the elastic alloy wires 3, 4 are output wires.
  • the output holes 102, 103 are respectively passed through the elastic alloy wires 2, 3, 4.
  • the end disc 5 is fixed to one end of the elastic alloy wires 2, 3, 4.
  • FIG. 2 is a schematic view showing the structure of the continuous body differential mechanism of FIG. 1 in a curved configuration.
  • FIG. 3 is a schematic view showing the structure of a continuum differential mechanism composed of a series of basic differential units of FIG. 1 and a parallel combination.
  • the continuum differential mechanism is composed of three basic differential units 100, 200, 300, wherein three basic differential units share a pedestal 7.
  • the series connection means that the output end of a certain basic differential unit is connected to the input end of another basic differential unit, and the two basic differential units are in series relationship; It means that the output of one basic differential unit is connected to the input of two or more basic differential units at the same time, and the two or more basic differential units are in parallel relationship.
  • the basic differential unit 100 and the basic differential unit 200, the basic differential unit 100 and the basic differential unit 300 are respectively in a series relationship, and the basic differential units 200 and 300 are in a parallel relationship.
  • the elastic alloy wire 8 in this embodiment is the input wire of the entire differential mechanism.
  • the basic differential unit 100 By pulling or pushing the alloy wire 8, the basic differential unit 100 is first moved and deformed, and then the basic differential unit 100 drives the basic differential units 200 and 300 to generate motion and deformation, respectively, and the end discs of the basic differential units 200 and 300.
  • the upper fixed elastic alloy wires 9 to 12 are correspondingly displaced.
  • the corresponding position on the end disc of the basic differential unit 100 has a hollow slot, so that the basic differential unit 100 and the output wires 9 to 12 do not interfere with each other during operation.
  • Fig. 4 shows a curved form of the continuous body differential mechanism.
  • Figure 5 shows a basic differential unit with a three-way motion output.
  • a basic differential unit itself constitutes a continuous body differential mechanism.
  • the plurality of basic differential units may together form a continuous differential mechanism, as will be described in more detail below.
  • the basic differential unit Mainly comprising a base 13, elastic alloy wires 14, 15, 16, 17 and an end disc 18, wherein the elastic alloy wire 14 is an input wire, and the elastic alloy wires 15, 16, 17 are output wires.
  • the base 13 has four holes, the middle hole for the elastic alloy wire 14 to pass through, and the outer three holes for the elastic alloy wires 15, 16, 17 to pass therethrough.
  • the end disc 18 is fixed to one end of the alloy wires 14, 15, 16, 17.
  • Fig. 6 shows a curved form of the continuous body differential mechanism of Fig. 5.
  • Fig. 7 is a schematic structural view of a continuous body differential mechanism which is composed of a basic differential unit string of Fig. 5 and a parallel combination.
  • the continuum differential mechanism is mainly composed of a base 19, three basic differential units 400, 500, 600, wherein the three basic differential units share a base 19.
  • the basic differential units 400 and 500, the basic differential units 400 and 600 are in a series relationship, and the basic differential units 500 and 600 are in a parallel relationship.
  • the elastic alloy wire 19 in this embodiment is the input wire of the entire mechanism.
  • the basic differential unit 400 By pulling or pushing the alloy wire 19, the basic differential unit 400 is first moved and deformed, and then the basic differential unit 400 drives the basic differential units 500 and 600 to generate motion and deformation, respectively, and the end discs of the basic differential units 500 and 600.
  • the upper fixed elastic alloy wires 21 to 26 are correspondingly displaced.
  • Fig. 8 shows a curved form of the continuous body differential mechanism.
  • the continuum differential mechanism of the present invention can be constructed from any suitable number of substantially differential units.
  • the continuum differential mechanism may also include two basic differential units (not shown), the two basic differential units sharing one pedestal and each basic differential unit including one An input wire and a plurality of output wires (e.g., two or three output wires), wherein one output wire of one of the two substantially differential units serves as an input wire for the other substantially differential unit.
  • Figure 9 is a schematic view showing the structure of an embodiment of a two-finger manipulator based on the continuous body differential mechanism of the present invention.
  • the two fingers of the robot are unfolded and bent under the driving of a continuous body differential mechanism 1000.
  • the two-finger robot includes a continuous body differential mechanism 1000, a finger holder 37, two fingers 1001, 1002, and a base 27. Each finger is hinged to the finger holder 37, and the finger holder 37 is fixed to the base 27.
  • the continuous body differential mechanism 1000 is the same as the continuous body differential mechanism shown in FIG. 1, and mainly includes a base 28, elastic alloy wires 29, 30, 31 and an end disk 32, wherein the elastic alloy wire 29 is an input.
  • the filaments, the elastic alloy wires 30, 31 are output wires and will not be described in detail herein.
  • each finger includes a drive rod 40, a link 42, a first knuckle 35, and a second knuckle 38.
  • One end of the first knuckle 35 is hinged to the finger holder 37, and the other end of the first knuckle 35 is hinged to the second knuckle 38.
  • One end of the drive rod 40 is hinged to the finger holder 37, and the other end of the drive rod 40 is hinged to one end of the link 42.
  • the other end of the link 42 is hinged to the second knuckle 38.
  • One end of the output wire 30 that passes through the output through hole is fixed to the drive rod 40.
  • one end of the output wire 30 passing through the output through hole is fixed to the middle of the drive rod 40.
  • the elastic alloy wires 30 and 31 are connected to two fingers by a pin 33 and 34, respectively. Both fingers have a symmetrical structure and are composed of two knuckles. Taking one of the fingers as an example, the first knuckle 35 is connected to the finger holder 37 by a pin 36, and the second knuckle 38 is connected to the end of the first knuckle 35 by a pin 39.
  • the output wire 30 is coupled to the drive rod 40 of this finger by a pin 33 which is free to rotate within the bore of the link 40.
  • One end of the link 40 is connected to the finger holder 37 by a pin 36, and the other end is connected to the link 42 by a pin 41, and the other end of the link 42 is connected to the second knuckle 38 by a pin 43.
  • the main working principle of the embodiment is that when the push-pull elastic alloy wire 29 is pushed back and forth, the end disc 32 moves forward and backward at the same time, and the output wires 30, 31 are moved back and forth, thereby driving the first knuckle 35 and the second knuckle 36 to bend and Expand.
  • the continuum differential mechanism is correspondingly bent, and the output wire on the other side continues to move until the finger on this side also contacts the object and then stops moving.
  • Fig. 9 is a schematic view showing the configuration of an embodiment of a three-finger robot 2000 based on the continuous body differential mechanism of the present invention.
  • the three fingers of the robot are unfolded and bent under the drive of a continuous body differential mechanism 800.
  • the three-finger robot 2000 includes a continuous body differential mechanism 800 and a palm 53 and three fingers 54, 55, 56.
  • Three fingers are hinged to the palm 53 and are connected to the three output wires 46, 47 and 48, respectively.
  • the palm 53 is fixed to the base 44 of the continuum mechanism 800. In the present embodiment, the palm 53 is fixed to the base 44 by three uprights 50, 51 and 52.
  • the continuous body differential mechanism 800 is the same as the continuous body differential mechanism shown in FIG. 5, and mainly includes a base 44, elastic alloy wires 45, 46, 47, 48 and an end disk 49, wherein the elastic alloy wire 45
  • the elastic alloy wires 46, 47 and 48 are output wires and will not be described in detail herein.
  • each finger has the same structure and are composed of two knuckles.
  • each finger includes a first knuckle 57, a second knuckle 59, a first link 62, and a second link 64, wherein one end of the first knuckle 57 is hinged to the palm 53.
  • the other end of the first knuckle 57 is hinged to the second knuckle 59.
  • One end of the first link 62 is hinged to one of the output wires (eg, the output wire 46 for driving the finger 54 and the other end hinged to one end of the second link 64.
  • the other end of the second link 64 is hinged to the Two knuckles 59.
  • the first knuckle 57 is connected to the palm 53 by a pin 58.
  • the second knuckle 59 is connected to the end of the first knuckle 57 by a pin 60.
  • the output elastic alloy wire 46 is fixed to the pin 61, and the pin 61 is mounted on the link 62 so as to be freely rotatable in the hole of the first link 62.
  • the other end of the first link 62 is connected to the second link 64 via a pin 63.
  • the other end of the second link 64 is connected to the second knuckle 59 by a pin 65.
  • the main working principle of this embodiment is: when the push-pull elastic alloy wire 45 moves up and down, the end plate 49 moves up and down at the same time and drives the output wires 46, 47 and 48 to move up and down, thereby driving the first knuckles and the second of the three fingers.
  • the knuckles are bent and unfolded.
  • the continuous body differential mechanism can continue to move, so that the continuous body differential mechanism 800 is correspondingly bent, and the two unobstructed output wires can continue to move, thereby driving the corresponding two.
  • the root finger continues to move until all the fingers are finally touching the object to stop moving.
  • the continuum differential mechanism of the invention can convert one input into any multi-path motion output, and has a simple structure and good adaptability.

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Abstract

Provided in the present invention are a continuum differential mechanism and mechanical arm. The continuum differential mechanism comprises a base, an end disk, an input wire and an output wire. An input through hole and an output hole are provided on the base. There is a preset distance between the end disk and the base. One end of the input wire is fixed on the end disk, and another end passes through the input through hole, and one end of the output wire is fixed on the end disk and another end passes through the output through hole. The continuum differential mechanism in the present invention eliminates backlash of a drive system, has a good self-adaptive capability and markedly reduces mechanism weight and manufacturing cost.

Description

连续体差动机构及机械手Continuum differential mechanism and manipulator 技术领域Technical field
本发明涉及一种差动机构，具体地说是一种基于柔性连续体机构的差动传动机构，可应用于各种欠驱动的机械系统。The present invention relates to a differential mechanism, and more particularly to a differential transmission mechanism based on a flexible continuum mechanism that can be applied to a variety of underactuated mechanical systems.
技术背景technical background
为了实现复杂多自由度机械系统的控制，一般需要使用与自由度相等数量的驱动源(如电机、液缸、气缸等)，同时需要相应数量的控制器来实现对各个自由度的独立控制。这样通常造成机械系统成本升高、重量增加和可靠性降低。In order to realize the control of complex multi-degree-of-freedom mechanical systems, it is generally necessary to use a driving source (such as a motor, a cylinder, a cylinder, etc.) equal to the degree of freedom, and a corresponding number of controllers are required to achieve independent control of each degree of freedom. This often results in increased mechanical system costs, increased weight, and reduced reliability.
差动机构能将一个运动输入自适应地分配到多个(通常是两个)运动输出上，这样仅使用较少的驱动源及控制器就可以实现对多个自由度的控制，明显降低了系统的成本及重量、降低了控制难度、提高了系统可靠性。差动机构因而得到了广泛的应用。The differential mechanism can adaptively distribute one motion input to multiple (usually two) motion outputs, so that control of multiple degrees of freedom can be achieved with fewer drive sources and controllers, significantly reducing the number of degrees of freedom. The cost and weight of the system reduce the control difficulty and improve the system reliability. The differential mechanism has thus been widely used.
目前常见的差动机构的主要构型有动滑轮式，齿轮齿条式，连杆式等，都存在结构比较复杂、回差较大等缺点。At present, the main configuration of the differential mechanism is movable pulley type, gear rack type, connecting rod type, etc., all of which have the disadvantages of relatively complicated structure and large backlash.
发明内容Summary of the invention
针对目前差动机构的发展状况和技术背景，本发明提出了一种新型的连续体差动机构，采用一路运动作为驱动输入，可以产生任意多路运动输出。In view of the development status and technical background of the current differential mechanism, the present invention proposes a novel continuous body differential mechanism that uses one motion as a drive input to generate an arbitrary multi-path motion output.
本发明特别设计了一种连续体差动机构，其中驱动输入与驱动输出组成各部分完整相连的可连续变形的连续体差动机构，可将驱动源的驱动输入分配到多个驱动输出上，继而传递到系统各个运动部件上。驱动时，连续体机构不仅可以整体地移动；在输出端承受不同大小的外约束或载荷时，连续体机构产生相应的变形，从而柔顺的使得各路运动输出具有不同的输出量，并且各输出端输出的力的大小也存在相应的不同。The invention particularly designs a continuous body differential mechanism, wherein the drive input and the drive output form a continuously deformable continuous body differential mechanism that is completely connected to each part, and the drive input of the drive source can be distributed to the plurality of drive outputs. It is then passed to the various moving parts of the system. When driven, the continuum mechanism can not only move integrally; when the output end is subjected to external constraints or loads of different sizes, the continuum mechanism produces corresponding deformation, so that the motion output of each channel has different output, and each output There is also a corresponding difference in the magnitude of the force output at the end.
由于连续体差动机构中不使用铰链、连杆等传统的机构元件，从而消除了传动系统的回差。大量使用弹性合金丝作为驱动与传递元件，使得连续体差动 机构具有更强的自适应能力，同时明显减轻了机构重量和制造成本。各个运动输出之间因为连续体机构而具有协调的运动关系，能自适应运动输出端的不同负载情况。Since the conventional mechanism components such as hinges and connecting rods are not used in the continuous body differential mechanism, the hysteresis of the transmission system is eliminated. A large number of elastic alloy wires are used as driving and transmitting elements to make the continuous body differential The organization has greater self-adaptation capabilities while significantly reducing the weight of the mechanism and manufacturing costs. There is a coordinated motion relationship between the individual motion outputs due to the continuum mechanism, which can adapt to different load conditions at the motion output.
本发明的连续体差动机构由一个或多个基本差动单元构成。每个差动单元主要由基座、弹性合金输入输出丝、末端盘等部件组成，其各部分完整相连，驱动输入与驱动输出实质上是以一种弹性的方式相连，是一种可连续变形的新型传动机构。The continuum differential mechanism of the present invention is comprised of one or more substantially differential units. Each differential unit is mainly composed of a base, an elastic alloy input and output wire, an end plate and the like, and the parts thereof are completely connected, and the drive input and the drive output are substantially connected in an elastic manner, which is a continuous deformation. New transmission mechanism.
基本差动单元的输入丝可在电机或人力驱动下前后移动，输入丝穿过基座，输入丝的另一端固定在末端盘的中部(不一定要正中)，末端盘的两侧分别固定有两根或多根弹性合金丝，这些合金丝再穿过基座作为运动输出，将一路运动输入分成了两路或多路运动输出。在各路运动输出的负载不均衡的情况下，输入丝和输出丝会向相应方向弯曲，使得多根输出丝自适应地具有不同的输出量。The input wire of the basic differential unit can be moved back and forth under the motor or manual drive. The input wire passes through the base, and the other end of the input wire is fixed in the middle of the end plate (not necessarily in the middle), and the two sides of the end plate are respectively fixed. Two or more elastic alloy wires, which then pass through the base as a motion output, dividing one motion input into two or multiple motion outputs. In the case where the load of each motion output is unbalanced, the input and output wires are bent in the corresponding directions, so that the plurality of output wires adaptively have different outputs.
进一步地，输出丝上的运动输出可以作为另外一个基本差动单元的输入，通过多个基本差动单元的串联、并联，理论上可以将一路运动输入转化为任意数量的运动输出，从而可以满足各种差动运动的需求。Further, the motion output on the output wire can be used as an input of another basic differential unit. By serially and parallelly connecting a plurality of basic differential units, it is theoretically possible to convert one motion input into any number of motion outputs, thereby satisfying The needs of various differential sports.
根据本发明的一方面，提供了一种连续体差动机构，包括一个或多个基本差动单元，每个基本差动单元包括：基座，所述基座上设输入通孔和输出通孔；末端盘，所述末端盘与所述基座之间间隔预定距离；以及输入丝和输出丝，所述输入丝的一端固定于所述末端盘，另一端穿过所述输入通孔，且所述输出丝的一端固定于所述末端盘，另一端穿过所述输出通孔。According to an aspect of the present invention, a continuum differential mechanism is provided, comprising one or more basic differential units, each basic differential unit comprising: a base, the base having an input through hole and an output through a hole; an end disc, the end disc being spaced apart from the base by a predetermined distance; and an input wire and an output wire, one end of the input wire being fixed to the end disc, and the other end passing through the input through hole And one end of the output wire is fixed to the end disc, and the other end passes through the output through hole.
较佳地，末端盘与基座之间的距离为输出丝与输入丝之间距离的0.25至4倍。更佳地，末端盘与基座之间的距离为输出丝与输入丝之间距离的0.5至2倍。最佳地，末端盘与基座之间的距离为输出丝与输入丝之间距离的0.5至1倍。Preferably, the distance between the end disc and the base is 0.25 to 4 times the distance between the output wire and the input wire. More preferably, the distance between the end disc and the base is 0.5 to 2 times the distance between the output wire and the input wire. Most preferably, the distance between the end disc and the base is 0.5 to 1 times the distance between the output wire and the input wire.
一优选实施例中，基本差动单元包括一根输入丝和两根输出丝，所述两根输出丝分别位于所述输入丝两侧；或者，所述基本差动单元包括一根输入丝和三根输出丝。In a preferred embodiment, the basic differential unit includes an input wire and two output wires, the two output wires being respectively located on opposite sides of the input wire; or the basic differential unit includes an input wire and Three output wires.
另一优选实施例中，连续体差动机构包括两个基本差动单元，所述两个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和多根输出丝，其中所述两个基本差动单元中的一个基本差动单元的一根输出丝用作另一个基 本差动单元的输入丝。In another preferred embodiment, the continuum differential mechanism includes two basic differential units, the two basic differential units sharing a pedestal and each of the basic differential units includes an input wire and a plurality of output wires. Wherein one output filament of one of the two basic differential units is used as another base The input wire of the differential unit.
另一优选实施例中，连续体差动机构包括两个基本差动单元，所述两个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和两根输出丝，其中所述两个基本差动单元中的一个基本差动单元的一根输出丝用作另一个基本差动单元的输入丝。另一优选实施例中，连续体差动机构包括三个基本差动单元，所述三个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和多根输出丝，其中所述三个基本差动单元中的一个基本差动单元的两根输出丝分别用作另外两个基本差动单元的输入丝。In another preferred embodiment, the continuum differential mechanism includes two basic differential units, the two basic differential units sharing a pedestal and each of the basic differential units includes an input wire and two output wires. An output wire of one of the two basic differential units is used as an input wire of another substantially differential unit. In another preferred embodiment, the continuum differential mechanism includes three basic differential units, the three basic differential units sharing a pedestal and each of the basic differential units includes an input wire and a plurality of output wires. The two output wires of one of the three basic differential units are used as input wires for the other two basic differential units, respectively.
另一优选实施例中，连续体差动机构包括三个基本差动单元，所述三个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和两根输出丝，其中所述三个基本差动单元中的第一个基本差动单元的两根输出丝分别用作另外两个基本差动单元的输入丝。In another preferred embodiment, the continuum differential mechanism includes three basic differential units, the three basic differential units sharing a pedestal and each of the basic differential units includes an input wire and two output wires. Wherein the two output wires of the first one of the three basic differential units are used as input wires of the other two basic differential units, respectively.
较佳地，第一个基本差动单元的末端盘上设有通槽，所述通槽用于供所述另外两个基本差动单元的输出丝穿过。Preferably, the end plate of the first basic differential unit is provided with a through slot for the output wires of the other two basic differential units to pass through.
另一优选实施例中，连续体差动机构包括三个基本差动单元，所述三个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和多根输出丝，其中，第一个基本差动单元包括两个输出丝，第二和第三个基本差动单元包括三根输出丝，所述第一个基本差动单元的两根输出丝分别用作第二和第三个基本差动单元的输入丝。In another preferred embodiment, the continuum differential mechanism includes three basic differential units, the three basic differential units sharing a pedestal and each of the basic differential units includes an input wire and a plurality of output wires. Wherein the first basic differential unit comprises two output wires, the second and third basic differential units comprise three output wires, and the two output wires of the first basic differential unit are respectively used as the second sum The input wire of the third basic differential unit.
根据本发明的另一方面，还提供了一种两指机械手，包括：According to another aspect of the present invention, there is also provided a two-finger robot comprising:
连续体差动机构，所述连续体差动机构包括：a continuous body differential mechanism, the continuous body differential mechanism comprising:
基座，所述基座上设输入通孔和输出通孔；a base, the base is provided with an input through hole and an output through hole;
末端盘，所述末端盘与所述基座之间间隔预定距离；以及An end disc, the end disc being spaced apart from the base by a predetermined distance;
输入丝和输出丝，所述输入丝的一端固定于所述末端盘，另一端穿过所述输入通孔，且所述输出丝的一端固定于所述末端盘，另一端穿过所述输出通孔；An input wire and an output wire, one end of the input wire being fixed to the end disk, the other end passing through the input through hole, and one end of the output wire is fixed to the end disk, and the other end is passed through the output Through hole
手指座和两根手指，每根手指铰接于所述手指座并包括驱动杆、连杆、第一指节和第二指节，其中a finger holder and two fingers, each finger being hinged to the finger holder and including a drive rod, a connecting rod, a first knuckle and a second knuckle, wherein
所述第一指节的一端铰接于所述手指座，所述第一指节的另一端铰接于所述第二指节； One end of the first knuckle is hinged to the finger seat, and the other end of the first knuckle is hinged to the second knuckle;
所述驱动杆的一端铰接于所述手指座，所述驱动杆的另一端铰接于所述连杆的一端，所述连杆的另一端铰接于所述第二指节；以及One end of the drive rod is hinged to the finger holder, the other end of the drive rod is hinged to one end of the link, and the other end of the link is hinged to the second knuckle;
所述输出丝的穿过所述输出通孔的一端固定于所述驱动杆；以及One end of the output wire passing through the output through hole is fixed to the drive rod;
底座，所述基座和所述手指座固定于所述底座。The base, the base and the finger holder are fixed to the base.
一优选实施例中，手指座的一端、所述第一指节的所述一端以及所述驱动杆的所述一端通过销钉相互铰接。In a preferred embodiment, one end of the finger holder, the one end of the first knuckle, and the one end of the drive rod are hinged to each other by a pin.
根据本发明的又一方面，还提供了一种三指机械手，包括：According to still another aspect of the present invention, there is also provided a three-finger robot comprising:
连续体差动机构，所述连续体差动机构包括：a continuous body differential mechanism, the continuous body differential mechanism comprising:
基座，所述基座上设输入通孔和输出通孔；a base, the base is provided with an input through hole and an output through hole;
末端盘，所述末端盘与所述基座之间间隔预定距离；以及An end disc, the end disc being spaced apart from the base by a predetermined distance;
输入丝和输出丝，所述输入丝的一端固定于所述末端盘，另一端穿过所述输入通孔，且所述输出丝的一端固定于所述末端盘，另一端穿过所述输出通孔；以及An input wire and an output wire, one end of the input wire being fixed to the end disk, the other end passing through the input through hole, and one end of the output wire is fixed to the end disk, and the other end is passed through the output Through hole;
手掌和三根手指，所述三根手指铰接于所述手掌并分别与三根所述输出丝连接，所述手掌固定于所述基座上。A palm and three fingers are hinged to the palm and are respectively connected to three of the output wires, the palm being fixed to the base.
一优选实施例中，每根手指包括第一指节、第二指节、第一连杆和第二连杆。所述第一指节的一端铰接于所述手掌，所述第一指节的另一端铰接于所述第二指节。所述第一连杆的一端铰接于所述输出丝，另一端铰接于第二连杆的一端，所述第二连杆的另一端铰接于所述第二指节。In a preferred embodiment, each finger includes a first knuckle, a second knuckle, a first link, and a second link. One end of the first knuckle is hinged to the palm, and the other end of the first knuckle is hinged to the second knuckle. One end of the first link is hinged to the output wire, the other end is hinged to one end of the second link, and the other end of the second link is hinged to the second knuckle.
上述各方面中，较佳地，所述输入丝和/或所述输出丝是可承受推拉力、可弹性变形的细杆或细管。In the above aspects, preferably, the input wire and/or the output wire are thin rods or thin tubes that can withstand the push-pull force and are elastically deformable.
更佳地，所述输入丝和/或所述输出丝是弹性合金丝。More preferably, the input wire and/or the output wire are elastic alloy wires.
上述各方面中，较佳地，所述输入丝与所述输入通孔之间的配合以及所述输出丝与所述输出通孔之间的配合均为间隙配合。In the above aspects, preferably, the cooperation between the input wire and the input through hole and the cooperation between the output wire and the output through hole are gap fit.
较佳地，所述基座固定不动。Preferably, the base is stationary.
上述各方面中，较佳地，所述连续体差动机构还设有输入套管和输出套管，所述输入套管和所述输出套管分别固定于所述输入通孔和所述输出通孔，从而所述输入丝和所述输出丝分别穿过所述输入套管和所述输出套管。 In the above aspects, preferably, the continuous body differential mechanism is further provided with an input sleeve and an output sleeve, and the input sleeve and the output sleeve are respectively fixed to the input through hole and the output a through hole such that the input wire and the output wire pass through the input sleeve and the output sleeve, respectively.
附图说明DRAWINGS
图1为具有两路运动输出的连续体基本差动单元的结构示意图；1 is a schematic structural view of a continuum basic differential unit having two motion outputs;
图2为图1的连续体基本差动单元在弯曲形态下的结构示意图；2 is a schematic structural view of the continuum basic differential unit of FIG. 1 in a curved configuration;
图3为由图1的基本差动单元串、并联组合而成的连续体差动机构的结构示意图；3 is a schematic structural view of a continuum differential mechanism composed of a basic differential unit string and a parallel combination of FIG. 1;
图4为图3的连续体差动机构在弯曲形态下的结构示意图；4 is a schematic structural view of the continuous body differential mechanism of FIG. 3 in a curved state;
图5为具有三路运动输出的连续体基本差动单元的结构示意图；Figure 5 is a schematic structural view of a continuum basic differential unit having a three-way motion output;
图6为图3的连续体基本差动单元在弯曲形态下的结构示意图；6 is a schematic structural view of the continuum basic differential unit of FIG. 3 in a curved configuration;
图7为由图4的基本差动单元串、并联组合而成的连续体差动机构的结构示意图；7 is a schematic structural view of a continuous body differential mechanism formed by the basic differential unit string and the parallel combination of FIG. 4;
图8为图7的连续体差动机构在弯曲形态下的结构示意图；Figure 8 is a schematic view showing the structure of the continuous body differential mechanism of Figure 7 in a curved form;
图9为基于连续体差动机构的两指机械手的结构示意图；9 is a schematic structural view of a two-finger manipulator based on a continuous body differential mechanism;
图10为基于连续体差动机构的三指机械手的结构示意图；以及10 is a schematic structural view of a three-finger manipulator based on a continuous body differential mechanism;
图11为图10的三指机械手所采用的手指的结构示意图。FIG. 11 is a schematic structural view of a finger employed by the three-finger robot of FIG. 10. FIG.
具体实施方式detailed description
以下将结合附图对本发明的较佳实施例进行详细说明，以便更清楚理解本发明的目的、特点和优点。应理解的是，附图所示的实施例并不是对本发明范围的限制，而只是为了说明本发明技术方案的实质精神。The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiment shown in the drawings is not intended to limit the scope of the invention, but only to illustrate the spirit of the invention.
本文中，术语“丝”指的是长度方向的尺寸远大于横截面尺寸的构件，也称为“杆或细杆”或“管或细管”，其可承受推拉力，可弹性变形，可为实心或者空心。As used herein, the term "wire" refers to a member having a dimension in the length direction that is much larger than the cross-sectional dimension, also referred to as a "rod or thin rod" or "tube or tubule", which can withstand the push-pull force and is elastically deformable. Solid or hollow.
本文中，输入丝穿过输入通孔既包括输入丝直接穿过输入通孔，也包括输入丝穿过设置于输入通孔上的诸如套管而间接地穿过输入通孔。Herein, the input wire passes through the input through hole to include both the input wire directly through the input through hole and the input wire through the input through hole through a portion such as a sleeve disposed on the input through hole.
本文中，输出丝穿过输出通孔既包括输出丝直接穿过输出通孔，也包括输出丝穿过设置于输出通孔上的诸如套管而间接地穿过输出通孔。Herein, the output wire passing through the output through hole includes both the output wire directly passing through the output through hole, and the output wire passing through the output through hole through a sleeve such as a sleeve disposed on the output through hole.
本文中，连续体差动机构可以由多个基本差动单元构成，其中一个基本差动单元的输出丝可以作为另一个基本差动单元的输入丝。Herein, the continuum differential mechanism may be composed of a plurality of basic differential units, wherein the output wire of one of the basic differential units may serve as an input wire for another substantially differential unit.
图1-8示出根据本发明的连续体差动机构的多种实施方式。如图所示，本发 明的连续体差动机构的基本差动单元包括基座1、7、13、19，末端盘5、18，以及输入丝2、14和输出丝3、4、9、10、11、12、15、16、17、21、22、23、24、25、26。基座上设输入通孔101、131和输出通孔102、103、132、133、134。末端盘与基座之间间隔预定距离。输入丝的一端固定于末端盘，另一端穿过输入通孔，且输出丝的一端固定于末端盘，另一端穿过输出通孔。一变型例中，基本差动单元还设有输入套管和输出套管，输入套管和输出套管分别固定于输入通孔和输出通孔，从而输入丝和输出丝分别穿过输入套管和输出套管。Figures 1-8 illustrate various embodiments of a continuum differential mechanism in accordance with the present invention. As shown in the figure, this issue The basic differential unit of the continuum differential mechanism comprises a base 1, 7, 13, 19, end discs 5, 18, and input wires 2, 14 and output wires 3, 4, 9, 10, 11, 12, 15, 16, 17, 21, 22, 23, 24, 25, 26. Input vias 101, 131 and output vias 102, 103, 132, 133, 134 are provided on the pedestal. The end disc is spaced apart from the base by a predetermined distance. One end of the input wire is fixed to the end disc, and the other end passes through the input through hole, and one end of the output wire is fixed to the end disc, and the other end passes through the output through hole. In a variant, the basic differential unit is further provided with an input sleeve and an output sleeve, the input sleeve and the output sleeve being respectively fixed to the input through hole and the output through hole, so that the input wire and the output wire pass through the input sleeve respectively And output sleeve.
输入丝和/或输出丝可为弹性杆或弹性管。较佳地，输入丝和/或输出丝为弹性合金丝。输入丝和输出丝的材料可以为镍钛合金、不锈钢等。The input wire and/or the output wire can be an elastic rod or an elastic tube. Preferably, the input wire and/or the output wire are elastic alloy wires. The material of the input wire and the output wire may be nickel titanium alloy, stainless steel or the like.
输入丝与输入通孔之间的配合以及输出丝与输出通孔之间的配合均为间隙配合。由于输入输出丝在形成差动运动的过程中都会产生弯转变形，将占用比直径更大的空间；若不使用间隙配合，输入输出丝弯转后将与管壁产生较大摩擦阻力，影响差分运动的形成。The fit between the input wire and the input through hole and the fit between the output wire and the output through hole are clearance fits. Since the input and output wires will bend and deform during the process of forming the differential motion, it will occupy more space than the diameter; if the clearance fit is not used, the input and output wires will have a large frictional resistance with the pipe wall after bending, affecting The formation of differential motion.
较佳地，末端盘与基座之间的距离为输出丝与输入丝之间距离的0.25至4倍。更佳地，末端盘与基座之间的距离为输出丝与输入丝之间距离的0.5至2倍。最佳地，末端盘与基座之间的距离为输出丝与输入丝之间距离的0.5至1倍。Preferably, the distance between the end disc and the base is 0.25 to 4 times the distance between the output wire and the input wire. More preferably, the distance between the end disc and the base is 0.5 to 2 times the distance between the output wire and the input wire. Most preferably, the distance between the end disc and the base is 0.5 to 1 times the distance between the output wire and the input wire.
在应用时，基座固定不动。连续体差动机构的输入丝可在电机或人力驱动下前后移动，并带动输出丝运动，从而将一路运动输入分成了两路或多路运动输出。在各路运动输出的负载不均衡的情况下，输入丝和输出丝会向相应方向弯曲，使得多根输出丝自适应地具有不同的输出量。The base is fixed during application. The input wire of the continuous body differential mechanism can be moved back and forth under the driving of the motor or the human power, and drives the output wire to move, so that one motion input is divided into two or multiple motion outputs. In the case where the load of each motion output is unbalanced, the input and output wires are bent in the corresponding directions, so that the plurality of output wires adaptively have different outputs.
进一步地，输出丝上的运动输出可以作为另外一个连续体差动机构的基本差动单元的输入，通过多个基本差动单元的串联、并联，理论上可以将一路运动输入转化为任意数量的运动输出，从而可以满足各种差动运动的需求。Further, the motion output on the output wire can be used as the input of the basic differential unit of another continuous body differential mechanism. By serially and parallelly connecting a plurality of basic differential units, it is theoretically possible to convert one motion input into any number of The motion output can meet the needs of various differential motions.
实施例一 Embodiment 1
图1示出具有两路运动输出的基本差动单元。本实施例中，一个基本差动单元本身构成了一个连续体差动机构。其它实施例中，多个基本差动单元可一起构成一个连续差动机构，下文将更详细描述。如图1所示，该基本差动单元主要包括基座1，弹性合金丝2、3、4和末端盘5，其中弹性合金丝2为输入丝，弹性合金丝3、4为输出丝。基座1上有三个孔，其中一个为输入孔101，另两 个为输出孔102、103，分别供弹性合金丝2、3、4穿过。末端盘5与弹性合金丝2、3、4的一端固连。Figure 1 shows a basic differential unit with two motion outputs. In this embodiment, a basic differential unit itself constitutes a continuous body differential mechanism. In other embodiments, the plurality of basic differential units may together form a continuous differential mechanism, as will be described in more detail below. As shown in FIG. 1, the basic differential unit mainly comprises a base 1, an elastic alloy wire 2, 3, 4 and an end plate 5, wherein the elastic alloy wire 2 is an input wire, and the elastic alloy wires 3, 4 are output wires. There are three holes on the base 1, one of which is the input hole 101, and the other two The output holes 102, 103 are respectively passed through the elastic alloy wires 2, 3, 4. The end disc 5 is fixed to one end of the elastic alloy wires 2, 3, 4.
在拉或推动弹性合金丝2时，弹性合金丝3和4在末端盘的带动下在基座1上的孔内滑动。当3或4末端承受不同大小的负载时，弹性合金丝2、3、4会发生相应的弯曲，使得合金丝3、4末端输出不同长度的位移，同时也输出大小不同的推力或拉力。当输出弹性合金丝3、4中有一根在外界约束下停止运动时，另一根仍可以继续运动，从而实现两个输出端的差动运动。图2示出图1的连续体差动机构在弯曲形态下的结构示意图。When the elastic alloy wire 2 is pulled or pushed, the elastic alloy wires 3 and 4 slide in the holes in the base 1 by the end disc. When the 3 or 4 end is subjected to different loads, the elastic alloy wires 2, 3, 4 will be correspondingly bent, so that the ends of the alloy wires 3 and 4 output different lengths of displacement, and also output different magnitudes of thrust or pulling force. When one of the output elastic alloy wires 3, 4 stops moving under external constraints, the other can continue to move, thereby achieving differential motion of the two outputs. 2 is a schematic view showing the structure of the continuous body differential mechanism of FIG. 1 in a curved configuration.
实施例二 Embodiment 2
图3为由图1的基本差动单元串、并联组合而成的连续体差动机构的结构示意图。如图3所示，该连续体差动机构由三个基本差动单元100、200、300组成，其中三个基本差动单元共用一个基座7。在该组合的连续体差动机构中，串联是指某个基本差动单元的输出端连接到另一个基本差动单元的输入端，这两个基本差动单元之间是串联的关系；并联是指一个基本差动单元的输出端同时连接有两个或多个基本差动单元的输入端，这两个或多个基本差动单元之间是并联的关系。在本实施例中，基本差动单元100与基本差动单元200、基本差动单元100与基本差动单元300分别是串联的关系，基本差动单元200和300则是并联关系。3 is a schematic view showing the structure of a continuum differential mechanism composed of a series of basic differential units of FIG. 1 and a parallel combination. As shown in FIG. 3, the continuum differential mechanism is composed of three basic differential units 100, 200, 300, wherein three basic differential units share a pedestal 7. In the combined continuum differential mechanism, the series connection means that the output end of a certain basic differential unit is connected to the input end of another basic differential unit, and the two basic differential units are in series relationship; It means that the output of one basic differential unit is connected to the input of two or more basic differential units at the same time, and the two or more basic differential units are in parallel relationship. In the present embodiment, the basic differential unit 100 and the basic differential unit 200, the basic differential unit 100 and the basic differential unit 300 are respectively in a series relationship, and the basic differential units 200 and 300 are in a parallel relationship.
本实施例中弹性合金丝8是整个差动机构的输入丝。通过拉或推动合金丝8，首先使基本差动单元100产生移动和变形，然后基本差动单元100驱动基本差动单元200和300分别产生运动和变形，基本差动单元200和300的末端盘上固连的弹性合金丝9～12则产生相应地位移。基本差动单元100的末端盘上相应位置有镂空的槽，使基本差动单元100和输出丝9～12在工作时互不干涉。图4示出该连续体差动机构的弯曲形态。The elastic alloy wire 8 in this embodiment is the input wire of the entire differential mechanism. By pulling or pushing the alloy wire 8, the basic differential unit 100 is first moved and deformed, and then the basic differential unit 100 drives the basic differential units 200 and 300 to generate motion and deformation, respectively, and the end discs of the basic differential units 200 and 300. The upper fixed elastic alloy wires 9 to 12 are correspondingly displaced. The corresponding position on the end disc of the basic differential unit 100 has a hollow slot, so that the basic differential unit 100 and the output wires 9 to 12 do not interfere with each other during operation. Fig. 4 shows a curved form of the continuous body differential mechanism.
实施例三Embodiment 3
图5示出具有三路运动输出的基本差动单元。本实施例中，一个基本差动单元本身构成了一个连续体差动机构。其它实施例中，多个基本差动单元可一起构成一个连续差动机构，下文将更详细描述。如图5所示，该基本差动单元 主要包括基座13，弹性合金丝14、15、16、17和末端盘18，其中弹性合金丝14为输入丝，弹性合金丝15、16、17为输出丝。基座13上有四个孔，中部的孔供弹性合金丝14穿过，外侧的三个孔分别供弹性合金丝15、16、17穿过。末端盘18与合金丝14、15、16、17的一端固连。Figure 5 shows a basic differential unit with a three-way motion output. In this embodiment, a basic differential unit itself constitutes a continuous body differential mechanism. In other embodiments, the plurality of basic differential units may together form a continuous differential mechanism, as will be described in more detail below. As shown in FIG. 5, the basic differential unit Mainly comprising a base 13, elastic alloy wires 14, 15, 16, 17 and an end disc 18, wherein the elastic alloy wire 14 is an input wire, and the elastic alloy wires 15, 16, 17 are output wires. The base 13 has four holes, the middle hole for the elastic alloy wire 14 to pass through, and the outer three holes for the elastic alloy wires 15, 16, 17 to pass therethrough. The end disc 18 is fixed to one end of the alloy wires 14, 15, 16, 17.
在拉或推动弹性合金丝14时，弹性合金丝15、16、17在末端盘的带动下在基座上孔内滑动。当弹性合金丝15、16、17末端承受不同大小的负载时，弹性合金丝14、15、16、17会发生相应的弯曲，使得弹性合金丝15、16、17末端输出不同长度的位移，同时也输出大小不同的推力或拉力。当弹性合金丝15、16、17中有一根在外界约束下停止运动时，另两根运动仍可以继续运动；当有两根在外界约束下停止运动时，另一根运动仍可以继续运动，从而实现三个输出端的差动运动。图6示出图5的连续体差动机构的弯曲形态。When the elastic alloy wire 14 is pulled or pushed, the elastic alloy wires 15, 16, 17 slide in the holes in the base by the end disk. When the ends of the elastic alloy wires 15, 16, 17 are subjected to different loads, the elastic alloy wires 14, 15, 16, 17 are correspondingly bent, so that the ends of the elastic alloy wires 15, 16, 17 output different lengths of displacement, while It also outputs thrust or tension of different sizes. When one of the elastic alloy wires 15, 16, 17 stops moving under the constraint of the outside world, the other two movements can continue to move; when two of them stop moving under the constraint of the outside, the other motion can continue to move. Thereby a differential movement of the three outputs is achieved. Fig. 6 shows a curved form of the continuous body differential mechanism of Fig. 5.
实施例四 Embodiment 4
图7为由图5的基本差动单元串、并联组合而成的连续体差动机构的结构示意图。如图7所示，该连续体差动机构主要由基座19，三个基本差动单元400、500、600组成，其中这三个基本差动单元共用一个基座19。基本差动单元400与500、基本差动单元400与600分别是串联的关系，基本差动单元500和600则是并联关系。Fig. 7 is a schematic structural view of a continuous body differential mechanism which is composed of a basic differential unit string of Fig. 5 and a parallel combination. As shown in FIG. 7, the continuum differential mechanism is mainly composed of a base 19, three basic differential units 400, 500, 600, wherein the three basic differential units share a base 19. The basic differential units 400 and 500, the basic differential units 400 and 600 are in a series relationship, and the basic differential units 500 and 600 are in a parallel relationship.
本实施例中弹性合金丝19是整个机构的输入丝。通过拉或推动合金丝19，首先使基本差动单元400产生移动和变形，然后基本差动单元400驱动基本差动单元500和600分别产生运动和变形，基本差动单元500和600的末端盘上固连的弹性合金丝21～26则产生相应地位移。图8示出该连续体差动机构的弯曲形态。The elastic alloy wire 19 in this embodiment is the input wire of the entire mechanism. By pulling or pushing the alloy wire 19, the basic differential unit 400 is first moved and deformed, and then the basic differential unit 400 drives the basic differential units 500 and 600 to generate motion and deformation, respectively, and the end discs of the basic differential units 500 and 600. The upper fixed elastic alloy wires 21 to 26 are correspondingly displaced. Fig. 8 shows a curved form of the continuous body differential mechanism.
需要指出的是，本发明的连续体差动机构可以由任何合适数量的基本差动单元构成。例如，除了上述的实施例外，连续体差动机构也可包括两个基本差动单元(图未示)，所述两个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和多根输出丝(例如两根或三根输出丝)，其中所述两个基本差动单元中的一个基本差动单元的一根输出丝用作另一个基本差动单元的输入丝。 It is noted that the continuum differential mechanism of the present invention can be constructed from any suitable number of substantially differential units. For example, in addition to the above-described embodiments, the continuum differential mechanism may also include two basic differential units (not shown), the two basic differential units sharing one pedestal and each basic differential unit including one An input wire and a plurality of output wires (e.g., two or three output wires), wherein one output wire of one of the two substantially differential units serves as an input wire for the other substantially differential unit.
应用例一Application example one
图9为基于本发明的连续体差动机构的两指机械手的一实施例的结构示意图。如图9所示，机械手的两个手指在一个连续体差动机构1000的驱动下展开和弯曲。该两指机械手包括连续体差动机构1000，手指座37，两根手指1001、1002以及底座27。每根手指铰接于手指座37，手指座37固定于底座27。Figure 9 is a schematic view showing the structure of an embodiment of a two-finger manipulator based on the continuous body differential mechanism of the present invention. As shown in Fig. 9, the two fingers of the robot are unfolded and bent under the driving of a continuous body differential mechanism 1000. The two-finger robot includes a continuous body differential mechanism 1000, a finger holder 37, two fingers 1001, 1002, and a base 27. Each finger is hinged to the finger holder 37, and the finger holder 37 is fixed to the base 27.
本实施例中，连续体差动机构1000与图1所示的连续体差动机构相同，主要包括基座28、弹性合金丝29、30、31和末端盘32，其中弹性合金丝29为输入丝，弹性合金丝30、31为输出丝，在此不再详述。In this embodiment, the continuous body differential mechanism 1000 is the same as the continuous body differential mechanism shown in FIG. 1, and mainly includes a base 28, elastic alloy wires 29, 30, 31 and an end disk 32, wherein the elastic alloy wire 29 is an input. The filaments, the elastic alloy wires 30, 31 are output wires and will not be described in detail herein.
本实施例中，每根手指包括驱动杆40、连杆42、第一指节35和第二指节38。第一指节35的一端铰接于手指座37，第一指节35的另一端铰接于第二指节38。驱动杆40的一端铰接于手指座37，驱动杆40的另一端铰接于连杆42的一端。连杆42的另一端铰接于第二指节38。输出丝30的穿过输出通孔的一端固定于驱动杆40。较佳地，输出丝30的穿过输出通孔的一端固定于驱动杆40的中部。In this embodiment, each finger includes a drive rod 40, a link 42, a first knuckle 35, and a second knuckle 38. One end of the first knuckle 35 is hinged to the finger holder 37, and the other end of the first knuckle 35 is hinged to the second knuckle 38. One end of the drive rod 40 is hinged to the finger holder 37, and the other end of the drive rod 40 is hinged to one end of the link 42. The other end of the link 42 is hinged to the second knuckle 38. One end of the output wire 30 that passes through the output through hole is fixed to the drive rod 40. Preferably, one end of the output wire 30 passing through the output through hole is fixed to the middle of the drive rod 40.
具体来说，弹性合金丝30和31分别通过一个销钉33和34连接到两个手指。两个手指具有对称的结构，都由两个指节组成。以其中一个手指为例，第一指节35通过销钉36连接到手指座37上，第二指节38通过销钉39连接到第一指节35末端。输出丝30通过一个销钉33连接到这个手指的驱动杆40上，销钉33可在连杆40的孔内自由转动。连杆40一端通过销钉36连接到手指座37上，另一端通过销钉41连接有连杆42，连杆42另一端通过销钉43连接到第二指节38。Specifically, the elastic alloy wires 30 and 31 are connected to two fingers by a pin 33 and 34, respectively. Both fingers have a symmetrical structure and are composed of two knuckles. Taking one of the fingers as an example, the first knuckle 35 is connected to the finger holder 37 by a pin 36, and the second knuckle 38 is connected to the end of the first knuckle 35 by a pin 39. The output wire 30 is coupled to the drive rod 40 of this finger by a pin 33 which is free to rotate within the bore of the link 40. One end of the link 40 is connected to the finger holder 37 by a pin 36, and the other end is connected to the link 42 by a pin 41, and the other end of the link 42 is connected to the second knuckle 38 by a pin 43.
本实施例的主要工作原理是：当推拉弹性合金丝29前后推拉时，末端盘32同时前后移动，带动输出丝30、31前后移动，从而驱动第一指节35和第二指节36弯曲和展开。当其中某一根手指受到约束停止运动时，连续体差动机构发生相应弯曲，另一侧的输出丝仍在继续移动，直到这一侧的手指也接触到物体然后停止运动。The main working principle of the embodiment is that when the push-pull elastic alloy wire 29 is pushed back and forth, the end disc 32 moves forward and backward at the same time, and the output wires 30, 31 are moved back and forth, thereby driving the first knuckle 35 and the second knuckle 36 to bend and Expand. When one of the fingers is constrained to stop moving, the continuum differential mechanism is correspondingly bent, and the output wire on the other side continues to move until the finger on this side also contacts the object and then stops moving.
应用例二Application Example 2
图9为基于本发明的连续体差动机构的三指机械手2000的一实施例的结构示意图。机械手的三个手指在一个连续体差动机构800的驱动下展开和弯曲。 如图9所示，三指机械手2000包括连续体差动机构800以及手掌53和三根手指54、55、56。三根手指均铰接于手掌53并分别与三根输出丝46、47和48连接。手掌53固定于连续体机构800的基座44上。本实施例中，手掌53通过三根立柱50、51和52固定到基座44上。Fig. 9 is a schematic view showing the configuration of an embodiment of a three-finger robot 2000 based on the continuous body differential mechanism of the present invention. The three fingers of the robot are unfolded and bent under the drive of a continuous body differential mechanism 800. As shown in FIG. 9, the three-finger robot 2000 includes a continuous body differential mechanism 800 and a palm 53 and three fingers 54, 55, 56. Three fingers are hinged to the palm 53 and are connected to the three output wires 46, 47 and 48, respectively. The palm 53 is fixed to the base 44 of the continuum mechanism 800. In the present embodiment, the palm 53 is fixed to the base 44 by three uprights 50, 51 and 52.
本实施例中，连续体差动机构800与图5所示的连续体差动机构相同，主要包括基座44，弹性合金丝45、46、47、48和末端盘49，其中弹性合金丝45为输入丝，弹性合金丝46、47和48为输出丝，在此不再详述。In this embodiment, the continuous body differential mechanism 800 is the same as the continuous body differential mechanism shown in FIG. 5, and mainly includes a base 44, elastic alloy wires 45, 46, 47, 48 and an end disk 49, wherein the elastic alloy wire 45 For the input wire, the elastic alloy wires 46, 47 and 48 are output wires and will not be described in detail herein.
本实施例中，三个手指具有同样的结构，都由两个指节组成。如图11所示，每根手指包括第一指节57、第二指节59、第一连杆62和第二连杆64，其中，第一指节57的一端铰接于手掌53。第一指节57的另一端铰接于第二指节59。第一连杆62的一端铰接于输出丝之一(例如，输出丝46，其用于驱动手指54，另一端铰接于第二连杆64的一端。第二连杆64的另一端铰接于第二指节59。In this embodiment, the three fingers have the same structure and are composed of two knuckles. As shown in FIG. 11, each finger includes a first knuckle 57, a second knuckle 59, a first link 62, and a second link 64, wherein one end of the first knuckle 57 is hinged to the palm 53. The other end of the first knuckle 57 is hinged to the second knuckle 59. One end of the first link 62 is hinged to one of the output wires (eg, the output wire 46 for driving the finger 54 and the other end hinged to one end of the second link 64. The other end of the second link 64 is hinged to the Two knuckles 59.
具体地，以其中一个手指54为例，如图11所示，第一指节57通过销钉58连接到手掌53上。第二指节59通过销钉60连接到第一指节57末端。输出弹性合金丝46与销钉61固连，销钉61安装在连杆62上，可在第一连杆62的孔内自由转动。第一连杆62另一端通过销钉63连接有第二连杆64。第二连杆64另一端通过销钉65连接到第二指节59。Specifically, taking one of the fingers 54 as an example, as shown in FIG. 11, the first knuckle 57 is connected to the palm 53 by a pin 58. The second knuckle 59 is connected to the end of the first knuckle 57 by a pin 60. The output elastic alloy wire 46 is fixed to the pin 61, and the pin 61 is mounted on the link 62 so as to be freely rotatable in the hole of the first link 62. The other end of the first link 62 is connected to the second link 64 via a pin 63. The other end of the second link 64 is connected to the second knuckle 59 by a pin 65.
本实施例的主要工作原理是：当推拉弹性合金丝45上下移动时，末端盘49同时上下移动并带动输出丝46、47和48上下移动，从而驱动三个手指的第一指节和第二指节弯曲和展开。当其中某一根手指受到约束停止运动时，连续体差动机构仍可以继续运动，使连续体差动机构800发生相应弯曲，未受阻的两根输出丝仍可继续移动，从而驱动相应的两根手指继续运动，直到最终所有手指都接触到物体停止运动为止。The main working principle of this embodiment is: when the push-pull elastic alloy wire 45 moves up and down, the end plate 49 moves up and down at the same time and drives the output wires 46, 47 and 48 to move up and down, thereby driving the first knuckles and the second of the three fingers. The knuckles are bent and unfolded. When one of the fingers is restrained and stops moving, the continuous body differential mechanism can continue to move, so that the continuous body differential mechanism 800 is correspondingly bent, and the two unobstructed output wires can continue to move, thereby driving the corresponding two. The root finger continues to move until all the fingers are finally touching the object to stop moving.
本发明的连续体差动机构可将一路输入转换成任意多路的运动输出，并且结构简单，具有很好的自适应能力。The continuum differential mechanism of the invention can convert one input into any multi-path motion output, and has a simple structure and good adaptability.
以上已详细描述了本发明的较佳实施例，但应理解到，在阅读了本发明的上述讲授内容之后，本领域技术人员可以对本发明作各种改动或修改。这些等价形式同样落于本申请所附权利要求书所限定的范围。 The preferred embodiments of the present invention have been described in detail hereinabove, and it is understood that various modifications and changes may be made by those skilled in the art. These equivalent forms are also within the scope defined by the claims appended hereto.

Claims (20)

  1. 一种连续体差动机构，其特征在于，所述连续体差动机构包括一个或多个基本差动单元，所述基本差动单元包括：A continuum differential mechanism, characterized in that the continuum differential mechanism comprises one or more basic differential units, the basic differential unit comprising:
    基座，所述基座上设输入通孔和输出通孔；a base, the base is provided with an input through hole and an output through hole;
    末端盘，所述末端盘与所述基座之间间隔预定距离；以及An end disc, the end disc being spaced apart from the base by a predetermined distance;
    输入丝和输出丝，所述输入丝的一端固定于所述末端盘，另一端穿过所述输入通孔，且所述输出丝的一端固定于所述末端盘，另一端穿过所述输出通孔。An input wire and an output wire, one end of the input wire being fixed to the end disk, the other end passing through the input through hole, and one end of the output wire is fixed to the end disk, and the other end is passed through the output Through hole.
  2. 根据权利要求1所述的连续体差动机构，其特征在于，所述基本差动单元包括一根输入丝和两根输出丝，所述两根输出丝分别位于所述输入丝两侧；或者，所述基本差动单元包括一根输入丝和三根输出丝。The continuum differential mechanism of claim 1 wherein said substantially differential unit comprises an input wire and two output wires, said two output wires being respectively located on either side of said input wire; The basic differential unit includes an input wire and three output wires.
  3. 根据权利要求1所述的连续体差动机构，其特征在于，所述连续体差动机构包括两个基本差动单元，所述两个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和多根输出丝，其中所述两个基本差动单元中的一个基本差动单元的一根输出丝用作另一个基本差动单元的输入丝。The continuum differential mechanism of claim 1 wherein said continuum differential mechanism comprises two substantially differential units, said two basic differential units sharing a base and each substantially differential The unit includes an input wire and a plurality of output wires, wherein one output wire of one of the two substantially differential units serves as an input wire for the other substantially differential unit.
  4. 根据权利要求1所述的连续体差动机构，其特征在于，所述连续体差动机构包括两个基本差动单元，所述两个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和两根输出丝，其中所述两个基本差动单元中的一个基本差动单元的一根输出丝用作另一个基本差动单元的输入丝。The continuum differential mechanism of claim 1 wherein said continuum differential mechanism comprises two substantially differential units, said two basic differential units sharing a base and each substantially differential The unit comprises an input wire and two output wires, wherein one of the two substantially differential units has one output wire for the input wire of the other substantially differential unit.
  5. 根据权利要求1所述的连续体差动机构，其特征在于，所述连续体差动机构包括三个基本差动单元，所述三个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和多根输出丝，其中所述三个基本差动单元中的一个基本差动单元的两根输出丝分别用作另外两个基本差动单元的输入丝。The continuum differential mechanism of claim 1 wherein said continuum differential mechanism comprises three substantially differential units, said three basic differential units sharing a base and each substantially differential The unit includes an input wire and a plurality of output wires, wherein the two output wires of one of the three basic differential units serve as input wires for the other two substantially differential units, respectively.
  6. 根据权利要求1所述的连续体差动机构，其特征在于，所述连续体差动机构包括三个基本差动单元，所述三个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和两根输出丝，其中所述三个基本差动单元中的第一个基本差动单元的两根输出丝分别用作另外两个基本差动单元的输入丝。The continuum differential mechanism of claim 1 wherein said continuum differential mechanism comprises three substantially differential units, said three basic differential units sharing a base and each substantially differential The unit comprises an input wire and two output wires, wherein the two output wires of the first one of the three basic differential units serve as input wires for the other two substantially differential units, respectively.
  7. 根据权利要求1所述的连续体差动机构，其特征在于，所述连续体差动机构包括三个基本差动单元，所述三个基本差动单元共用一个基座且每个基本差动单元包含一根输入丝和多根输出丝，其中，第一个基本差动单元包括两根输出丝，第二和第三个基本差动单元包括三根输出丝，所述第一个基本差动单 元的两根输出丝分别用作第二和第三个基本差动单元的输入丝。The continuum differential mechanism of claim 1 wherein said continuum differential mechanism comprises three substantially differential units, said three basic differential units sharing a base and each substantially differential The unit includes an input wire and a plurality of output wires, wherein the first basic differential unit includes two output wires, and the second and third basic differential units include three output wires, the first basic differential Single The two output wires of the element are used as the input wires of the second and third basic differential units, respectively.
  8. 根据权利要求1-7任一项所述的连续体差动机构，其特征在于，所述输入丝和/或所述输出丝是可承受推拉力、可弹性变形的细杆或细管。The continuum differential mechanism according to any one of claims 1 to 7, wherein the input wire and/or the output wire are thin rods or thin tubes that can withstand the push-pull force and are elastically deformable.
  9. 根据权利要求1-7任一项所述的连续体差动机构，其特征在于，所述输入丝与所述输入通孔之间的配合以及所述输出丝与所述输出通孔之间的配合均为间隙配合。The continuum differential mechanism according to any one of claims 1 to 7, wherein a fit between the input wire and the input through hole and between the output wire and the output through hole The fit is a clearance fit.
  10. 根据权利要求1-7任一项所述的连续体差动机构，其特征在于，所述连续体差动机构还设有输入套管和输出套管，所述输入套管和所述输出套管分别固定于所述输入通孔和所述输出通孔，从而所述输入丝和所述输出丝分别穿过所述输入套管和所述输出套管。The continuum differential mechanism according to any one of claims 1 to 7, wherein the continuous body differential mechanism is further provided with an input sleeve and an output sleeve, the input sleeve and the output sleeve Tubes are respectively secured to the input through holes and the output through holes such that the input wires and the output wires pass through the input sleeve and the output sleeve, respectively.
  11. 一种两指机械手，其特征在于，所述两指机械手包括：A two-finger manipulator characterized in that the two-finger manipulator comprises:
    连续体差动机构，所述连续体差动机构包括：a continuous body differential mechanism, the continuous body differential mechanism comprising:
    基座，所述基座上设输入通孔和输出通孔；a base, the base is provided with an input through hole and an output through hole;
    末端盘，所述末端盘与所述基座之间间隔预定距离；以及An end disc, the end disc being spaced apart from the base by a predetermined distance;
    输入丝和输出丝，所述输入丝的一端固定于所述末端盘，另一端穿过所述输入通孔，且所述输出丝的一端固定于所述末端盘，另一端穿过所述输出通孔；An input wire and an output wire, one end of the input wire being fixed to the end disk, the other end passing through the input through hole, and one end of the output wire is fixed to the end disk, and the other end is passed through the output Through hole
    手指座和两根手指，每根手指铰接于所述手指座并包括驱动杆、连杆、第一指节和第二指节，其中a finger holder and two fingers, each finger being hinged to the finger holder and including a drive rod, a connecting rod, a first knuckle and a second knuckle, wherein
    所述第一指节的一端铰接于所述手指座，所述第一指节的另一端铰接于所述第二指节；One end of the first knuckle is hinged to the finger seat, and the other end of the first knuckle is hinged to the second knuckle;
    所述驱动杆的一端铰接于所述手指座，所述驱动杆的另一端铰接于所述连杆的一端，所述连杆的另一端铰接于所述第二指节；以及One end of the drive rod is hinged to the finger holder, the other end of the drive rod is hinged to one end of the link, and the other end of the link is hinged to the second knuckle;
    所述输出丝的穿过所述输出通孔的一端固定于所述驱动杆；以及One end of the output wire passing through the output through hole is fixed to the drive rod;
    底座，所述基座和所述手指座固定于所述底座。The base, the base and the finger holder are fixed to the base.
  12. 根据权利要求11所述的两指机械手，其特征在于，所述手指座的一端、所述第一指节的所述一端以及所述驱动杆的所述一端通过销钉相互铰接。The two-finger manipulator according to claim 11, wherein one end of the finger holder, the one end of the first knuckle, and the one end of the drive lever are hinged to each other by a pin.
  13. 根据权利要求11-12任一项所述的两指机械手，其特征在于，所述输入丝和/或所述输出丝是可承受推拉力、可弹性变形的细杆或细管。A two-finger robot according to any one of claims 11 to 12, wherein the input wire and/or the output wire are thin rods or thin tubes that can withstand the push-pull force and are elastically deformable.
  14. 根据权利要求11-12任一项所述的两指机械手，其特征在于，所述输入 丝与所述输入通孔之间的配合以及所述输出丝与所述输出通孔之间的配合均为间隙配合。A two-finger robot according to any one of claims 11-12, wherein said input The fit between the wire and the input through hole and the fit between the output wire and the output through hole are gap fit.
  15. 根据权利要求11-12任一项所述的两指机械手，其特征在于，所述连续体差动机构还设有输入套管和输出套管，所述输入套管和所述输出套管分别固定于所述输入通孔和所述输出通孔，从而所述输入丝和所述输出丝分别穿过所述输入套管和所述输出套管。The two-finger manipulator according to any one of claims 11 to 12, wherein the continuous body differential mechanism is further provided with an input sleeve and an output sleeve, and the input sleeve and the output sleeve are respectively Fixed to the input through hole and the output through hole such that the input wire and the output wire pass through the input sleeve and the output sleeve, respectively.
  16. 一种三指机械手，其特征在于，所述三指机械手包括：A three-finger manipulator characterized in that the three-finger manipulator comprises:
    连续体差动机构，所述连续体差动机构包括：a continuous body differential mechanism, the continuous body differential mechanism comprising:
    基座，所述基座上设输入通孔和输出通孔；a base, the base is provided with an input through hole and an output through hole;
    末端盘，所述末端盘与所述基座之间间隔预定距离；以及An end disc, the end disc being spaced apart from the base by a predetermined distance;
    输入丝和输出丝，所述输入丝的一端固定于所述末端盘，另一端穿过所述输入通孔，且所述输出丝的一端固定于所述末端盘，另一端穿过所述输出通孔；以及An input wire and an output wire, one end of the input wire being fixed to the end disk, the other end passing through the input through hole, and one end of the output wire is fixed to the end disk, and the other end is passed through the output Through hole;
    手掌和三根手指，所述三根手指铰接于所述手掌并分别与三根所述输出丝连接，所述手掌固定于所述基座上。A palm and three fingers are hinged to the palm and are respectively connected to three of the output wires, the palm being fixed to the base.
  17. 根据权利要求16所述的三指机械手，每根手指包括第一指节、第二指节、第一连杆和第二连杆，其中，A three-finger manipulator according to claim 16, wherein each finger comprises a first knuckle, a second knuckle, a first link and a second link, wherein
    所述第一指节的一端铰接于所述手掌，所述第一指节的另一端铰接于所述第二指节；以及One end of the first knuckle is hinged to the palm, and the other end of the first knuckle is hinged to the second knuckle;
    所述第一连杆的一端铰接于所述输出丝，另一端铰接于第二连杆的一端，所述第二连杆的另一端铰接于所述第二指节。One end of the first link is hinged to the output wire, the other end is hinged to one end of the second link, and the other end of the second link is hinged to the second knuckle.
  18. 根据权利要求16-17任一项所述的三指机械手，其特征在于，所述输入丝和/或所述输出丝是可承受推拉力、可弹性变形的细杆或细管。A three-finger manipulator according to any one of claims 16-17, wherein the input wire and/or the output wire are thin rods or thin tubes that can withstand the push-pull force and are elastically deformable.
  19. 根据权利要求16-17任一项所述的三指机械手，其特征在于，所述输入丝与所述输入通孔之间的配合以及所述输出丝与所述输出通孔之间的配合均为间隙配合。The three-finger manipulator according to any one of claims 16-17, wherein a fit between the input wire and the input through hole and a cooperation between the output wire and the output through hole are both For clearance fit.
  20. 根据权利要求16-17任一项所述的三指机械手，其特征在于，所述连续体差动机构还设有输入套管和输出套管，所述输入套管和所述输出套管分别固定于所述输入通孔和所述输出通孔，从而所述输入丝和所述输出丝分别穿过所述输入套管和所述输出套管。 The three-finger manipulator according to any one of claims 16-17, wherein the continuous body differential mechanism is further provided with an input sleeve and an output sleeve, and the input sleeve and the output sleeve are respectively Fixed to the input through hole and the output through hole such that the input wire and the output wire pass through the input sleeve and the output sleeve, respectively.
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