CN102806561A - Split shaft type dual-motor cooperative composite grabbing robot finger device - Google Patents

Abstract

A split-axis dual-motor cooperative compound grasping robot finger device belongs to the field of robot hand technology, including a base, two motors and a reducer, a middle finger segment, an end finger segment, a proximal joint axis, a distal joint axis, and two one-way Transmission mechanism, driving wheel, driven wheel, transmission parts and spring parts, etc. The device adopts two motors stored separately, two one-way transmission mechanisms, driving wheels, driven wheels, transmission parts, movable socketed middle finger segments and spring parts, etc., to comprehensively realize the first coupled grasping and the latter adaptive grasping Combined compound under-actuated grasping mode; there is not much interference between the various motion forms, the deformation of the spring is small during the coupling motion, the finger can naturally stay at any intermediate position of the coupling motion, and the energy consumption is small; the two motors are stored separately In the space between the base and the middle finger segment; two motors act synergistically on the two joints, so that the middle finger segment, especially the end finger segment, can provide greater gripping force; the structure is compact, the cost is low, and the control is easy.

Description

Split-axis dual-motor cooperative composite grasping robot finger device

technical field

The invention belongs to the technical field of robot hands, and in particular relates to a structural design of a split-axis dual-motor cooperative composite grasping robot finger device.

Background technique

The hand is one of the most important human organs. In the field of anthropomorphic robots, the robot hand is also a crucial link. Its structural design and function improvement are one of the key technologies in the field of robotics. On the one hand, the robot hand needs to complete complex actions such as grasping and handling, so it needs a more precise control mechanism; on the other hand, the anthropomorphic requirements of the robot hand determine its small size and light weight. Existing dexterous hands have enough joints and drives to perform precise movements, but are very complex and expensive. At present, there are still many technical problems in the field of robotic hands. The underdrive driver solves this contradiction to a certain extent.

The coupled underactuated finger adopts a coupled grasping mode in which multiple joints bend simultaneously, and one driver drives multiple joints to rotate simultaneously at a certain ratio. This mode is similar to the action of human hands grasping objects, with better anthropomorphism and more stable grasping process. The disadvantage of coupled fingers is that the action mode is relatively fixed and cannot adapt to objects of different shapes. Generally, objects are grasped by pinching. For large-sized objects, it is difficult to grasp and grasp, and the grasping effect is not good.

The adaptive underactuated finger adopts the action mode of adaptive grasping, and one joint is driven by one driver, and the remaining joints start to rotate after the finger comes into contact with the object. This kind of finger can change the grasping angle according to the different shapes of objects, so as to achieve the grasping and grasping mode, and the structure is simple and the control is stable. The disadvantages of adaptive underactuated fingers are: the fingers are in a fixed shape when not touching the object, and the anthropomorphic effect is poor; the driving force on the distal knuckle needs to be generated during the contact with the object, which may cause the proximal knuckle to be stressed If it is too large, it is not conducive to grasping; for small-sized objects, the pinching and grasping method cannot be realized, and the grasping effect is limited.

Aiming at the shortcomings of coupled fingers and adaptive underactuated fingers, a new composite underactuated grasping mode combining the two is proposed. After touching the object, the movement of the proximal knuckles is restricted by the object, and the distal knuckles continue to grasp the object in an adaptive mode until each knuckle fully touches the object.

There is an existing bevel gear flexible component composite grasping robot finger device, such as the Chinese invention patent CN102166753A, which mainly consists of a base, a motor, a reducer, a proximal joint shaft, a middle finger segment, a distal joint shaft, a terminal finger segment, and three Bevel gear, driving wheel, driven wheel, two transmission parts and spring part are formed. The device can realize the compound underactuated grasping process, but its disadvantages are: 1) only one motor is used, and the power of the motor is limited under the same volume at present, thus limiting the grasping force of the fingers; 2) since the motor is only placed on the base In the seat (palm), the relatively empty space in the middle finger section is not fully utilized, and the space utilization rate is low.

In terms of grasping force, fingers generally need to have a greater grasping force on objects. The power provided by human fingers is very large. For example, human hands can hold a can flat. At present, it is difficult for a robot finger with a size similar to a human finger to have a large output. The reason is that the power of the motor that can be hidden in the hand is often not large enough. This contradiction between size and power has always existed and influenced the development of robotic hands.

Contents of the invention

The purpose of the present invention is to aim at the deficiencies of the prior art, to provide a kind of double-motor synergy composite grasping robot finger device, this device can realize the composite grasping mode of first coupled grasping and rear self-adaptive grasping combination; fully The space of the palm and the space of the middle finger section are utilized; the terminal finger section can provide a large grasping force; the device has the advantages of simple structure, low cost, low energy consumption, and easy control.

Technical scheme of the present invention is as follows:

The split-axis dual-motor cooperative composite grasping robot finger device according to the present invention includes a base, a first motor, a first reducer, a driving wheel, a driven wheel, a middle finger section, an end finger section, a proximal joint shaft and a distal joint shaft. joint shaft; the proximal joint shaft is movably socketed in the base, the middle finger segment is movably socketed on the proximal joint shaft, and the distal joint shaft is movably socketed in the middle finger segment; the end finger segment is movable Sleeved on the far joint shaft; the proximal joint shaft and the far joint shaft are parallel; the output shaft of the first motor is connected to the input shaft of the first reducer; it is characterized in that: the split-axis dual-motor collaborative composite grabbing robot The finger device also includes a second motor, a second speed reducer, a first transmission mechanism, a second transmission mechanism, a first one-way transmission mechanism, a second one-way transmission mechanism and a spring; the first motor and the first speed reducer are all fixedly connected in the middle finger section, the second motor and the second reducer are fixedly connected on the base, the output shaft of the second motor is connected with the input shaft of the second reducer; the fixed sleeve of the driving wheel Connected to the far joint shaft; the driven wheel is fixedly sleeved on the proximal joint shaft; the driving wheel is directly connected to the driven wheel or connected through a transmission member, and the driving wheel rotates in the opposite direction to the driven wheel; The first one-way transmission mechanism is arranged on the transmission chain of the first speed reducer output shaft, the first transmission mechanism and the remote joint shaft; the second one-way transmission mechanism is arranged on the second speed reducer output shaft, the second transmission On the transmission chain of the mechanism and the near-joint shaft; the spring part adopts a tension spring, a compression spring or a torsion spring; the output shaft of the first speed reducer is connected with the far-joint shaft through the first transmission mechanism; the second The output shaft of the second speed reducer is connected with the near-joint shaft through the second transmission mechanism; the two ends of the spring member are respectively connected with the base and the near-joint shaft;

The split-axis dual-motor cooperative composite grasping robot finger device according to the present invention includes a base, a first motor, a first reducer, a driving wheel, a driven wheel, a middle finger section, an end finger section, a proximal joint shaft and a distal joint shaft. joint shaft; the proximal joint shaft is movably socketed in the base, the middle finger segment is movably socketed on the proximal joint shaft, and the distal joint shaft is movably socketed in the middle finger segment; the end finger segment is movable Sleeved on the far joint shaft; the proximal joint shaft and the far joint shaft are parallel; the output shaft of the first motor is connected to the input shaft of the first reducer; it is characterized in that: the split-axis dual-motor collaborative composite grabbing robot The finger device also includes a second motor, a second speed reducer, a first transmission mechanism, a second transmission mechanism, a first one-way transmission mechanism, a second one-way transmission mechanism and a spring; the first motor and the first speed reducer are all fixedly connected in the middle finger section, the second motor and the second reducer are fixedly connected on the base, the output shaft of the second motor is connected with the input shaft of the second reducer; The driving wheel is directly connected or connected through a transmission member, and the rotation direction of the driving wheel is opposite to that of the driven wheel; the first one-way transmission mechanism is arranged on the transmission chain of the output shaft of the first reducer, the first transmission mechanism and the remote joint shaft. above; the second one-way transmission mechanism is arranged on the transmission chain of the output shaft of the second reducer, the second transmission mechanism and the shaft near the joint; the spring element adopts a tension spring, a compression spring or a torsion spring; the The output shaft of the first speed reducer is connected with the far joint shaft through the first transmission mechanism; the output shaft of the second speed reducer is connected with the proximal joint shaft through the second transmission mechanism; The shaft is connected to the output shaft of the second reducer through the second transmission mechanism; the two ends of the spring member are respectively connected to the driving wheel and the distal joint shaft, and the driving wheel is movably sleeved on the distal joint shaft.

The split-shaft dual-motor synergistic compound grasping robot finger device of the present invention is characterized in that: the driving wheel and the driven wheel both use gears, and the driving wheel and the driven wheel are meshed.

The split-axis dual-motor cooperative composite grasping robot finger device according to the present invention is characterized in that: the transmission part adopts a transmission belt or a tendon rope, the driving wheel adopts a pulley or a rope pulley, and the driven wheel A pulley or a rope pulley is used; the transmission part, the driving wheel and the driven wheel can cooperate to form a transmission relationship; the transmission part is wound on the driving wheel and the driven wheel to form an "8" shape.

The split-axis dual-motor cooperative compound grasping robot finger device according to the present invention is characterized in that: the transmission part adopts a rack, and the driving wheel and the driven wheel both adopt gears; The driving wheel and the driven wheel mesh; let the meshing point of the rack and the driving wheel be A, the meshing point of the rack and the driven wheel be B, the center point of the driving wheel is O ₁ , the center point of the driven wheel is O ₂ , and the line segment O ₁ A, line segment AB, line segment BO ₂ and line segment O ₂ O ₁ form an "8" shape, the intersection of line segment AB and line segment O ₁ O ₂ is located between O ₁ and O ₂ , and the rack is embedded in the middle finger segment middle.

The split-axis dual-motor cooperative composite grasping robot finger device according to the present invention is characterized in that: the transmission part adopts a connecting rod, and the two ends of the connecting rod are respectively hinged with the driving wheel and the driven wheel; The hinge point of rod and driving wheel is C, the hinge point of connecting rod and driven wheel is D, the center point of driving wheel is O ₁ , the center point of driven wheel is O ₂ , line segment O ₁ C, line segment CD, line segment DO ₂ and the line segment O ₂ O ₁ form an "8" shape, and the intersection point of the line segment CD and the line segment O ₁ O ₂ is located between O ₁ and O ₂ .

The split-shaft dual-motor cooperative composite grasping robot finger device according to the present invention is characterized in that: the transmission part includes a first sub-transmission part and a second sub-transmission part; the first sub-transmission part is wound on The driving wheel and the driven wheel form an "S" shape, and the two ends of the first sub-transmission part are fixedly connected to the driving wheel and the driven wheel; the second sub-transmission part is wound on the driving wheel and the driven wheel to form a " Z" shape, the two ends of the second sub-transmission part are fixedly connected with the driving wheel and the driven wheel respectively, and the first sub-transmission part and the second sub-transmission part intersect to form an "8" shape; the first sub-transmission part adopts a transmission belt , tendon rope or chain, the second sub-transmission part adopts a transmission belt, tendon rope or chain, the described driving wheel adopts a pulley, a rope pulley or a sprocket, and the described driven wheel adopts a pulley, a rope pulley or a chain wheel; the first sub-transmission member, the second sub-transmission member, the driving wheel and the driven wheel can cooperate to form a transmission relationship.

The split-shaft dual-motor cooperative composite grasping robot finger device according to the present invention is characterized in that: the transmission member includes the first transmission gear, the second transmission gear, ..., the 2n-1 transmission gear, the 2n transmission gear, Transmission gear, the 1st transition shaft, the 2nd transition shaft, ..., the 2n-1 transition shaft and the 2n transition shaft; the driving wheel and the driven wheel all adopt gears; the driving wheel and the 1st transmission gear The kth transmission gear meshes with the k+1th transmission gear, and the 2nth transmission gear meshes with the driven wheel; all the transition shafts are respectively movably socketed in the middle finger segment, and all the transition shafts and the proximal joint shaft Parallel; the kth transmission gear is movably socketed on the kth transition shaft, and the 2nth transmission gear is movably socketed on the 2nth transition shaft, wherein k is 1, 2, ..., 2n-1, and n is a natural number.

The split-shaft double-motor cooperative composite grasping robot finger device according to the present invention is characterized in that: the first transmission mechanism includes a first bevel gear and a second bevel gear, and the first bevel gear is fixedly sleeved on the second bevel gear. On the output shaft of a reducer, the second bevel gear is fixedly sleeved on the distal joint shaft, and the first bevel gear meshes with the second bevel gear; the second transmission mechanism includes a third bevel gear and a fourth bevel gear gear, the third bevel gear is sleeved on the proximal joint shaft and connected with the proximal joint shaft, the fourth bevel gear is fixedly sleeved on the output shaft of the second reducer and connected with the output shaft of the second reducer, The third bevel gear meshes with the fourth bevel gear.

The split-shaft double-motor synergistic compound grasping robot finger device according to the present invention is characterized in that: the first one-way transmission mechanism adopts a torque limiter; the second one-way transmission mechanism adopts a torque limiter.

Compared with the prior art, the present invention has the following advantages and outstanding effects:

The device adopts two motors stored separately, two one-way transmission mechanisms, driving wheels, driven wheels, transmission parts, movable socketed middle finger segments and spring parts, etc., to comprehensively realize the first coupled grasping and the latter adaptive grasping Combined composite underactuated grasping mode; the device can be multi-jointly linked during the grasping process to produce a better anthropomorphic effect; it can also adapt to objects of different shapes and sizes, resulting in a better adaptive grasping effect; It can realize multiple grasping modes such as holding and pinching; there is not much interference between the various motion forms of the device, the deformation of the spring is small during the coupling motion, and the fingers can naturally stay at any intermediate position of the coupling motion, so the energy consumption Small; in this device, the drive is distributed: two motors are placed in the base and the middle finger section, making full use of the space in the palm and the middle finger section; the two motors work synergistically on the two joints, especially on the ends Joints, so that the middle finger segment, especially the end finger segment, can provide greater gripping force to achieve a better stable gripping purpose, so that the robot hand using this device has a wider range of gripping adaptability, and is suitable for non-structural Stable gripping in an unknown and complex environment; no internal interference and energy loss between the two motors; and the device has a compact, simple structure, low cost, and easy control.

Description of drawings

Fig. 1 is a perspective view of the first embodiment of the split-axis dual-motor cooperative composite grasping robot finger device of the present invention (excluding the front plate of the middle finger section).

Fig. 2 is a front appearance view of the embodiment shown in Fig. 1 .

Fig. 3 is a front appearance view of the embodiment shown in Fig. 1 (excluding the front panel of the middle finger section and the front panel of the base).

Fig. 4 is a left exterior view of the embodiment shown in Fig. 1 .

Fig. 5 is a side cross-sectional view of the embodiment shown in Fig. 1 .

Fig. 6 is a front appearance view of the second embodiment provided by the present invention (excluding the front panel of the middle finger segment and the front panel of the base).

Fig. 7, Fig. 8, Fig. 9 and Fig. 10 are schematic diagrams of the process of the embodiment shown in Fig. 1, which is firstly coupled, then adaptively under-actuated, and then end-applied to grasp and grasp an object.

Fig. 11 is a schematic diagram of the process of grasping an object by end displacement in the embodiment shown in Fig. 1 .

Fig. 12 is a schematic diagram of the driving wheel and the driven wheel of the third embodiment (using a one-stage gear transmission mechanism) provided by the present invention.

Fig. 13 is a schematic diagram of the driving wheel, the driven wheel and the transmission part of the fourth embodiment (using the flexible member mechanism) provided by the present invention.

Fig. 14 is a schematic diagram of the driving wheel, the driven wheel and the transmission member of the fifth embodiment (using the rack mechanism) provided by the present invention.

FIG. 15 is a schematic diagram of the positional relationship of several key points of the embodiment shown in FIG. 14 .

Fig. 16 is a schematic diagram of the driving wheel, the driven wheel and the transmission member of the sixth embodiment (using the link mechanism) provided by the present invention.

FIG. 17 is a schematic diagram of the positional relationship of several key points of the embodiment shown in FIG. 16 .

Fig. 18 is a schematic diagram of a driving wheel, a driven wheel and a plurality of transmission parts of the seventh embodiment (using a multi-stage gear mechanism) provided by the present invention.

Fig. 19 is a schematic diagram of the driving wheel, driven wheel and multiple transmission parts of the eighth embodiment (using a two-stage flexible member transmission mechanism) provided by the present invention.

Fig. 20 is a V-V sectional view of the embodiment shown in Fig. 19 .

Fig. 21 is a schematic diagram of a driving wheel, a driven wheel and a plurality of transmission parts of the ninth embodiment (using a two-stage transmission mechanism of flexible parts and gears) provided by the present invention.

Fig. 22 is a Q-Q sectional view of the embodiment shown in Fig. 21 .

Fig. 23 is a schematic diagram of the driving wheel, the driven wheel and multiple transmission parts of the tenth embodiment (using rack and rack two-stage transmission mechanism) provided by the present invention.

Fig. 24 is an N-N sectional view of the embodiment shown in Fig. 23 .

Fig. 25 is a schematic diagram of the driving wheel, the driven wheel and the transmission member of the eleventh embodiment (using bevel gear two-stage transmission mechanism) provided by the present invention.

26 and 27 are top views of the torque limiter.

Fig. 28 is a cross-sectional view of the torque limiter.

In Figures 1 to 28:

11-base, 12-middle segment, 13-end segment,

2-spring, 31-proximal joint shaft, 32-distal joint shaft,

41-driving wheel, 42-driven wheel, 43-transmission part,

44-the first sub-transmission part, 45-the second sub-transmission part,

51 - the first motor, 52 - the first reducer, 521 - the output shaft of the first reducer,

53 - the second motor, 54 - the second reducer, 541 - the output shaft of the second reducer,

61 - the first bevel gear, 62 - the second bevel gear, 63 - the third bevel gear,

64 - fourth bevel gear, 71 - torque limiter, 81 - first transmission gear,

82 - the second transmission gear, 83 - the first transition shaft, 84 - the second transition shaft,

91-intermediate shaft, 92-intermediate driving wheel, 93-intermediate driven wheel,

94 - the first intermediate transmission part, 95 - the second intermediate transmission part, 96 - double bevel gear,

10 - object,

900-torque limiter, 910-housing, 911-connection groove,

912-inclined surface, 920-rotating member, 921-groove,

930-rotary shaft, 940-ball, 950-cover,

960-recess, 970-compression spring, 980-coil spring,

981 - Curved section.

Detailed ways

The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple embodiments.

The first embodiment of the split-axis dual-motor cooperative composite grasping robot finger device designed by the present invention, as shown in Figure 1, Figure 2, Figure 3, Figure 4 and Figure 5, includes a base 11, a first motor 51 , the first reducer 52, the driving wheel 41, the driven wheel 42, the middle finger section 12, the end finger section 13, the proximal joint shaft 31 and the distal joint shaft 32; the proximal joint shaft 31 is movably socketed in the base 11, The middle finger section 12 is movably socketed on the proximal joint shaft 31, and the distal joint shaft 32 is movably socketed in the middle finger section 12; the end finger section 13 is movably socketed on the distal joint shaft 32; The near-joint shaft 31 is parallel to the far-joint shaft 32; the output shaft of the first motor 51 is connected to the input shaft of the first reducer 52; it is characterized in that: the split-axis dual-motor cooperative composite grasping robot finger device also includes a second Motor 53, second speed reducer 54, first transmission mechanism, second transmission mechanism, first one-way transmission mechanism, second one-way transmission mechanism and spring element 2; Described first motor 51 and first speed reducer 52 all Fixed in the middle finger section 12, the second motor 53 and the second reducer 54 are fixed on the base 11, the output shaft of the second motor 53 is connected with the input shaft of the second reducer 54; The driving wheel 41 is fixedly sleeved on the distal joint shaft 32; the driven wheel 42 is fixedly sleeved on the proximal joint shaft 31; the driving wheel 41 is directly connected to the driven wheel 42 or connected through a transmission member 43, and the driving The direction of rotation of wheel 41 is opposite to the direction of rotation of driven wheel 42; the first one-way transmission mechanism is arranged on the transmission chain of the output shaft of the first speed reducer 52, the first transmission mechanism and the remote joint shaft 32; The one-way transmission mechanism is arranged on the transmission chain of the output shaft of the second speed reducer 54, the second transmission mechanism and the near joint shaft 31; the spring member 2 adopts extension spring, stage clip or torsion spring; the first The output shaft of the speed reducer 52 is connected with the far joint shaft 32 through the first transmission mechanism; the output shaft of the second speed reducer 54 is connected with the proximal joint shaft 31 through the second transmission mechanism; the two ends of the spring member 2 are respectively Connect the base 11 and the proximal joint shaft 31. In this embodiment, the spring member 2 adopts a torsion spring, the first one-way transmission mechanism is arranged on the output shaft of the first reducer 52, and the second one-way The transmission mechanism is arranged on the output shaft of the second speed reducer 54 .

In the present invention, the transmission part 43 adopts a transmission belt or a tendon rope, the driving wheel 41 adopts a pulley or a sheave, and the driven wheel 42 adopts a pulley or a sheave; the transmission part 43, the driving The three of the wheel 41 and the driven wheel 42 can cooperate to form a transmission relationship; the transmission member 43 is wound on the driving wheel 41 and the driven wheel 42 and forms an "8" shape.

In this embodiment, the transmission part 43 adopts a transmission belt, the driving wheel 41 adopts a pulley, and the driven wheel 42 adopts a pulley; the transmission part 43, the driving wheel 41 and the driven wheel 42 are three It can cooperate to form a transmission relationship; the transmission member 43 is wound on the driving wheel 41 and the driven wheel 42 and forms an "8" shape.

In this embodiment, the first transmission mechanism includes a first bevel gear 61 and a second bevel gear 62, the first bevel gear 61 is fixedly sleeved on the output shaft of the first speed reducer 52, and the The second bevel gear 62 is fixedly sleeved on the distal joint shaft 32, the first bevel gear 61 meshes with the second bevel gear 62; the second transmission mechanism includes the third bevel gear 63 and the fourth bevel gear 64, so The third bevel gear 63 is sleeved on the joint-proximal shaft 31 and connected with the joint-proximal shaft 31, and the fourth bevel gear 64 is fixedly sleeved on the output shaft of the second reducer 54 and connected to the second reducer 54 The output shaft is connected, and the third bevel gear 63 is meshed with the fourth bevel gear 64.

In this embodiment, the first one-way transmission mechanism uses a torque limiter 900 ; the second one-way transmission mechanism uses a torque limiter 900 .

The second embodiment of the dual-motor cooperative compound grasping robot finger device designed by the present invention, as shown in Figure 6, includes a base 11, a first motor 51, a first speed reducer 52, a driving wheel 41, a driven wheel 42, The middle finger segment 12, the terminal finger segment 13, the proximal joint shaft 31 and the distal joint shaft 32; the proximal joint shaft 31 is movably socketed in the base 11, and the middle finger segment 12 is movably socketed on the proximal joint shaft 31 , the distal joint shaft 32 is movably socketed in the middle finger segment 12; the end finger segment 13 is movably socketed on the distal joint shaft 32; the proximal joint shaft 31 and the distal joint shaft 32 are parallel; the first motor 51 The output shaft of the output shaft is connected with the input shaft of the first speed reducer 52; it is characterized in that: the split-shaft double-motor cooperative compound grasping robot finger device also includes a second motor 53, a second speed reducer 54, a first transmission mechanism, a second Two transmission mechanisms, the first one-way transmission mechanism, the second one-way transmission mechanism and the spring member 2; the first motor 51 and the first speed reducer 52 are all fixedly connected in the middle finger section 12, and the second motor 53 and the second speed reducer 54 are fixed on the base 11, the output shaft of the second motor 53 is connected with the input shaft of the second speed reducer 54; the driving wheel 41 is directly connected with the driven wheel 42 or through the transmission member 43 Connected, the rotation direction of the driving wheel 41 is opposite to the rotation direction of the driven wheel 42; the first one-way transmission mechanism is arranged on the transmission chain of the output shaft of the first speed reducer 52, the first transmission mechanism and the remote joint shaft 32; The second one-way transmission mechanism is arranged on the transmission chain of the output shaft of the second speed reducer 54, the second transmission mechanism and the joint shaft 31; the spring part 2 adopts a tension spring, a compression spring or a torsion spring; The output shaft of the first speed reducer 52 is connected with the far joint shaft 32 through the first transmission mechanism; the output shaft of the second speed reducer 54 is connected with the proximal joint shaft 31 through the second transmission mechanism; the driven wheel 42 is movable Socketed on the proximal joint shaft 31 and connected to the output shaft of the second speed reducer 54 through the second transmission mechanism; the two ends of the spring member 5 are respectively connected to the driving wheel 41 and the distal joint shaft 32, and the driving wheel 41 It is movably socketed on the distal joint shaft 32. In this embodiment, the spring member 2 is a torsion spring, the first one-way transmission mechanism is arranged on the output shaft of the first reducer 52, and the second one-way The transmission mechanism is arranged on the output shaft of the second speed reducer 54 .

The third embodiment of the dual-motor cooperative composite grasping robot finger device designed by the present invention, as shown in Figure 12, the driving wheel 41 and the driven wheel 42 are gears, and the driving wheel 41 and the driven wheel 42 Mesh.

The fourth embodiment of the dual-motor cooperative composite grasping robot finger device designed by the present invention, as shown in Figure 13, the transmission part includes a first sub-transmission part 44 and a second sub-transmission part 45; the first sub-transmission part 45; A sub-transmission part 44 is wound on the driving wheel 41 and the driven wheel 42 and forms an "S" shape, and the two ends of the first sub-transmission part 44 are fixedly connected with the driving wheel 41 and the driven wheel 42 respectively; The part 45 is wound on the driving wheel 41 and the driven wheel 42 and forms a "Z" shape. The two ends of the second sub-transmission part 45 are fixedly connected with the driving wheel 41 and the driven wheel 42 respectively. The transmission member 45 intersects to form an "8" shape.

In the present invention, the first sub-transmission part adopts a transmission belt, tendon rope or chain, the second sub-transmission part adopts a transmission belt, tendon rope or chain, and the driving wheel adopts a pulley, a rope pulley or a sprocket , the driven wheel adopts a pulley, a rope pulley or a sprocket; the first sub-transmission member, the second sub-transmission member, the driving wheel and the driven wheel can cooperate to form a transmission relationship.

In this embodiment, the first sub-transmission member 44 adopts a tendon rope (steel rope), the second sub-transmission member 45 adopts a tendon rope (steel rope), and the driving wheel 41 adopts a sheave. The driven wheel 42 adopts a rope pulley; the first sub-transmission member 44, the second sub-transmission member 45, the driving wheel 41 and the driven wheel 42 can cooperate to form a transmission relationship.

The transmission part adopts a transmission belt or a tendon rope, the driving wheel adopts a pulley or a sheave, and the driven wheel adopts a pulley or a sheave; the transmission part, the driving wheel and the driven wheel can cooperate A transmission relationship is formed; the transmission member is wound on the driving wheel and the driven wheel and forms an "8" shape.

In this embodiment, the transmission member 43 adopts a tendon rope (wire rope), the driving wheel 41 adopts a rope pulley, and the driven wheel 42 adopts a rope pulley; the transmission member 43, the driving pulley 41 and the slave pulley The three driving wheels 42 can cooperate to form a transmission relationship; the transmission member 43 is wound on the driving wheel 41 and the driven wheel 42 and forms an "8" shape.

The fifth embodiment of the dual-motor cooperative composite grasping robot finger device designed by the present invention is shown in Figure 14 and Figure 15, the transmission part 43 adopts a rack, and the driving wheel 41 and the driven wheel 42 are both Adopt gear; Described rack meshes with driving wheel 41, driven wheel 42 respectively; Make the meshing point of rack and driving wheel 41 be A, the meshing point of tooth bar and driven wheel 42 be B, the central point of driving wheel 41 is O ₁ , the center point of the driven wheel 42 is O ₂ , the line segments O ₁ A, AB, BO ₂ and O ₂ O ₁ form an "8" shape, and the intersection of AB and O ₁ O ₂ is located between O ₁ and O ₂ , the rack is embedded in the middle finger segment.

The sixth embodiment of the dual-motor cooperative composite grasping robot finger device designed by the present invention is shown in Figure 16 and Figure 17, the transmission part 43 adopts a connecting rod, and the two ends of the connecting rod are respectively connected The wheel 41 and the driven wheel 42 are hinged; the hinge point of the connecting rod and the driving wheel 41 is C, the hinge point of the connecting rod and the driven wheel 42 is D, the center point of the driving wheel 41 is O ₁ , and the center point of the driven wheel 42 is O ₂ , line segments O ₁ C, CD, DO ₂ and O ₂ O ₁ form a "8" shape, and the intersection of CD and O ₁ O ₂ is located between O ₁ and O ₂ .

The seventh embodiment of the double-motor cooperative composite grasping robot finger device designed by the present invention is shown in Figure 18. The transmission parts include the first transmission gear, the second transmission gear, ..., the 2n-1 transmission Gear, the 2n transmission gear, the 1st transition shaft, the 2nd transition shaft, ..., the 2n-1 transition shaft and the 2n transition shaft; the driving wheel and the driven wheel all adopt gears; the driving wheel and The first transmission gear is meshed, the kth transmission gear is meshed with the k+1th transmission gear, and the 2nth transmission gear is meshed with the driven wheel; Parallel to the proximal joint axis; the kth transmission gear is movably socketed on the kth transition shaft, and the 2nth transmission gear is movably socketed on the 2nth transition shaft, where k is 1, 2, ..., 2n-1, n is a natural number.

In this embodiment, the transmission member includes a first transmission gear 81, a second transmission gear 82, a first transition shaft 83, and a second transition shaft 84; the driving wheel 41 and the driven wheel 42 are all gears; The driving wheel 41 is meshed with the first transmission gear 81, the first transmission gear 81 is meshed with the second transmission gear 82, and the second transmission gear 82 is meshed with the driven wheel 42; the first transition shaft 83 and the second transition shaft 84 are respectively movably socketed in the middle finger section 11 and parallel to the joint shaft 31; the 1st transmission gear 81 is movably socketed on the 1st transition shaft 83, and the 2nd transmission gear 82 is movably socketed on the 2nd transition shaft 84.

The eighth embodiment of the dual-motor cooperative composite grasping robot finger device designed by the present invention is shown in Figure 19 and Figure 20. The driving wheel 41 and the transmission wheel 42 are connected by a two-stage transmission mode. The transmission member includes intermediate shaft 91, intermediate driving wheel 92, intermediate driven wheel 93, first intermediate transmission member 94 and second intermediate transmission member 95; 91 is parallel to the proximal joint shaft 31; the intermediate driving wheel 92 and the intermediate driven wheel 93 are fixedly sleeved on the intermediate shaft 91; the driving wheel 41 and the intermediate driven wheel 93 are connected through the first intermediate transmission member 94, so The intermediate driving wheel 92 and the driven wheel 42 are connected through the second intermediate transmission member 95; the first intermediate transmission member and the second intermediate transmission member adopt a transmission belt or a tendon rope, and the driving wheel, the driven wheel, and the intermediate driving wheel The pulley and the intermediate driven wheel adopt a pulley or a rope pulley. The driving wheel, the intermediate driven wheel and the first intermediate transmission member can cooperate to form a transmission relationship. The intermediate driving wheel, the driven wheel and the second intermediate transmission member The three can cooperate to form a transmission relationship; in this embodiment, the first intermediate transmission member 94 and the second intermediate transmission member 95 use tendon ropes (wire ropes), and the driving wheel 41, driven wheel 42, and intermediate driving wheel 92 and the intermediate driven wheel 93 adopt pulleys; the first intermediate transmission member 94 is wound on the driving wheel 41 and the intermediate driven wheel 93 and forms an "O" shape; the second intermediate transmission member 95 is wound on the middle driving On the wheel 92 and the driven wheel 42, an "8" shape is formed.

The ninth embodiment of the dual-motor cooperative composite grasping robot finger device designed by the present invention is shown in Figure 21 and Figure 22. The driving wheel 41 and the transmission wheel 42 are connected by two-stage transmission. The transmission member includes an intermediate shaft 91, an intermediate driving wheel 92, an intermediate driven wheel 93 and a first intermediate transmission member 94; the intermediate shaft 91 is movably socketed in the middle finger section 11, and the intermediate shaft 91 is parallel to the proximal joint shaft 31 The intermediate driving wheel 92 and the intermediate driven wheel 93 are fixedly sleeved on the intermediate shaft 91; the intermediate driving wheel 41 and the intermediate driven wheel 93 are engaged, and the intermediate driving wheel 92 and the driven wheel 42 pass through the first The intermediate transmission part 94 is connected; the driving wheel 41 and the intermediate driven wheel 93 all adopt gears, the first intermediate transmission part adopts a transmission belt or a tendon rope, and the described driven wheel and the intermediate driving wheel adopt a pulley or a rope pulley , the intermediate driving wheel, the driven wheel and the first intermediate transmission member can cooperate to form a transmission relationship; in this embodiment, the first intermediate transmission member 94 adopts a tendon rope (wire rope), and the driven wheel 42 and the intermediate driving wheel 92 adopt pulleys; the first intermediate transmission member 94 is wound on the intermediate driving wheel 92 and the driven wheel 42 and forms an "O" shape.

The tenth embodiment of the dual-motor cooperative composite grasping robot finger device designed by the present invention is shown in Figure 23 and Figure 24. The drive wheel 41 and the drive wheel 42 are connected by a two-stage transmission mode. The transmission member includes intermediate shaft 91, intermediate driving wheel 92, intermediate driven wheel 93, first intermediate transmission member 94 and second intermediate transmission member 95; 91 is parallel to the proximal joint shaft 31; the middle driving wheel 92 and the middle driven wheel 93 are fixedly sleeved on the middle shaft 91; the driving wheel 41 and the middle driven wheel 93 are gears, and the first middle The transmission member 94 adopts a rack, and the first intermediate transmission member 94 meshes with the driving wheel 41 and the intermediate driven wheel 93 respectively, and the two meshing points are respectively located on both sides of the line connecting the center of the driving wheel 41 and the center of the intermediate driven wheel 93; The intermediate driving wheel 92 and the driven wheel 42 of the middle adopt gears, and the second intermediate transmission part 95 adopts a rack, and the second intermediate transmission part 95 is respectively meshed with the intermediate driving wheel 92 and the driven wheel 42, and the two meshing points are located at The same side of the line connecting the center of the driving wheel 41 and the center of the middle driven wheel 93; the racks are all embedded in the middle finger segment.

The eleventh embodiment of the double-motor cooperative composite grasping robot finger device designed by the present invention, as shown in Figure 25, the transmission part is a double bevel gear 96; the double bevel gear 96 is movably sleeved In the middle finger section, its centerline is located in the plane with the centerline of the proximal joint axis 31 and the centerline of the far joint axis 32, and the centerline of the double bevel gear 96 is perpendicular to the centerline of the proximal joint axis 31; Driving wheel 41 and driving wheel 42 all adopt bevel gears, and the bevel gear at one end of duplex bevel gear 96 is meshed with driving wheel 41 , and the bevel gear at the other end is meshed with driven wheel 42 .

Take the first embodiment shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 as an example to introduce the working principle of the device of the present invention, in conjunction with Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 26. Figure 27 and Figure 28 are described as follows:

The initial position of the device is shown in FIG. 7 , at this moment, the middle finger section 11 , the end finger section 12 and the base 1 are in a straight state. When using the robot hand of this embodiment to grab the object 10, the first motor 51 drives the output shaft of the first reducer 52 to rotate, and drives the first bevel gear 61 fixedly sleeved on the output shaft of the reducer 21 to rotate. The bevel gear 61 meshes with the second bevel gear 62 to drive the distal joint shaft 32 and the driving wheel 41 fixedly sleeved on the distal joint shaft 32 to rotate; due to the restraint effect of the spring member 5, the base 1 and the proximal joint shaft 31 seem to be fixed. Connected together, the first motor 51 will drive the middle finger section 11 where it is located to rotate by an angle θ.

Since the driving wheel 41 is fixedly connected to the distal joint shaft 32, the position of the distal joint shaft 32 relative to the proximal joint shaft 31 will change during the rotation of the middle finger segment 11. At this time, the driving wheel 41 drives the driven wheel 42 through the transmission member 43. Turn around the center line of the distal joint shaft 32 through the angle θ, and change the relative size of the driving wheel 41 and the driven wheel 42 to obtain different coupling effects; the rotation of the distal joint shaft 32 makes the terminal finger segment 12 affixed to it also rotate through the angle θ , so as to achieve the coupling effect; in this embodiment, the driving wheel 41 drives the driven wheel 42 through the transmission member 43 to rotate through the angle θ around the center line of the proximal joint axis 31, thereby realizing the coupling process and achieving a better anthropomorphic effect.

Assuming that both the middle finger section 11 and the end finger section 12 touch the object 10 after turning through the angle θ, the following two situations may occur at this time:

1) The middle finger segment 11 touches the object 10 first, as shown in FIG. 8 . At this time, the middle finger section 11 will not continue to rotate due to the obstruction of the object 10, the first motor 51 will continue to run, the spring member 5 will be deformed, and the pressure spring 970 in the torque limiter 900 of the second one-way transmission mechanism will also be deformed simultaneously. , so that the driven wheel 42 can continue to rotate independently of the base 1; the driving wheel 41 drives the driven wheel 42 to continue to rotate around the proximal joint axis 31 through the transmission member 43, so that the end finger segment continues to rotate at an angle of α until the end finger segment 12 is in contact with the object Surface contact; Since the end finger segment 12 is blocked by an object and cannot continue to rotate around the center line of the far joint shaft 32, the first motor 51 is controlled to stop, and the second motor 53 is started. By the second one-way transmission mechanism, the spring element 5 continues to deform, and at the same time, the pressure spring 970 in the torque limiter 900 of the first one-way transmission mechanism is also deformed, so that the joint-proximate shaft 31 rotates, so that the third bevel gear 63 fixedly sleeved on the joint-proximal shaft 31 rotates, Since the driven wheel 42 is affixed to the fourth bevel gear 64, the driving wheel 41 drives the driving wheel 41 to rotate in the opposite direction through the transmission member 43, thereby driving the end finger section 13 to rotate, filling possible gaps between the end finger section 13 and the object 10 gap, and at the same time achieve the effect of increasing the force at the end, thereby completing the grasping process and achieving the gripping effect, as shown in Figure 9; through the angle α.

2) The end finger segment 12 first contacts the object 10 while the middle finger segment 11 has not yet contacted the object 10 , as shown in FIG. 10 . At this time, the distal joint shaft 32 cannot continue to rotate, so that the proximal joint shaft 31 cannot rotate, thereby completing the grasping process and achieving the pinching effect.

As shown in Figure 11, when the object 10 needs to be hooked, the second motor 53 is started, and the spring member 5 is deformed through the second one-way transmission mechanism, and at the same time, the inner spring of the torque limiter 900 of the first one-way transmission mechanism is deformed, thereby Near the joint shaft 31 rotates, because the driven wheel 42 is fixedly connected on the near joint shaft 31 through the third bevel gear 63, the driven wheel 42 drives the driving wheel 41 to rotate reversely through the transmission part 43, thereby driving the end finger section 13 to rotate, reaching the hook. The purpose of taking objects.

The device adopts two motors stored separately, two one-way transmission mechanisms, driving wheels, driven wheels, transmission parts, movable socketed middle finger segments and spring parts, etc., to comprehensively realize the first coupled grasping and the latter adaptive grasping Combined composite underactuated grasping mode; the device can be multi-jointly linked during the grasping process to produce a better anthropomorphic effect; it can also adapt to objects of different shapes and sizes, resulting in a better adaptive grasping effect; It can realize multiple grasping modes such as holding and pinching; there is not much interference between the various motion forms of the device, the deformation of the spring is small during the coupling motion, and the fingers can naturally stay at any intermediate position of the coupling motion, so the energy consumption Small; in this device, the drive is distributed: two motors are placed in the base and the middle finger section, making full use of the space in the palm and the middle finger section; the two motors work synergistically on the two joints, especially on the ends Joints, so that the middle finger segment, especially the end finger segment, can provide greater gripping force to achieve a better stable gripping purpose, so that the robot hand using this device has a wider range of gripping adaptability, and is suitable for non-structural Stable gripping in an unknown and complex environment; no internal interference and energy loss between the two motors; and the device has a compact, simple structure, low cost, and easy control.

Claims (10)

1. the collaborative compound extracting robot finger apparatus of split shaft bi-motor comprises pedestal (11), first motor (51), first decelerator (52), driving wheel (41), driven pulley (42), middle finger section (12), the end section of finger (13), nearly joint shaft (31) and joint shaft (32) far away; Said nearly joint shaft (31) pivot bush unit is in pedestal (11), and said middle finger section (12) is actively socketed on the nearly joint shaft (31), and said joint shaft far away (32) pivot bush unit is in middle finger section (12); The said end section of finger (13) is actively socketed on the joint shaft far away (32); Said nearly joint shaft (31) is parallel with joint shaft (32) far away; The output shaft of first motor (51) links to each other with the power shaft of first decelerator (52); It is characterized in that: the collaborative compound extracting robot finger apparatus of this split shaft bi-motor also comprises second motor (53), second decelerator (54), first transmission mechanism, second transmission mechanism, first one-way driving mechanism, second one-way driving mechanism and spring spare (2); Said first motor (51) and first decelerator (52) all are fixed in the middle finger section (12); Said second motor (53) and second decelerator (54) all are fixed on the pedestal (11), and the output shaft of second motor (53) links to each other with the power shaft of second decelerator (54); Described driving wheel (41) is fixedly sleeved on joint shaft (32) far away; Described driven pulley (42) is fixedly sleeved on nearly joint shaft (31); Described driving wheel (41) directly links to each other with driven pulley (42) or links to each other driving wheel (41) rotation direction and driven pulley (42) direction of rotation through driving member (43); Said first one-way driving mechanism is arranged on first decelerator (52) output shaft, first transmission mechanism and joint shaft (32) the three's far away driving-chain; Said second one-way driving mechanism is arranged on second decelerator (54) output shaft, second transmission mechanism and nearly joint shaft (31) three's the driving-chain; Described spring spare (2) adopts extension spring, stage clip or torsion spring; The output shaft of said first decelerator (52) links to each other with joint shaft (32) far away through first transmission mechanism; The output shaft of said second decelerator (54) links to each other with nearly joint shaft (31) through second transmission mechanism; The two ends of described spring spare (2) connect pedestal (11) and nearly joint shaft (31) respectively.

2. the collaborative compound extracting robot finger apparatus of split shaft bi-motor comprises pedestal (11), first motor (51), first decelerator (52), driving wheel (41), driven pulley (42), middle finger section (12), the end section of finger (13), nearly joint shaft (31) and joint shaft (32) far away; Said nearly joint shaft (31) pivot bush unit is in pedestal (11), and said middle finger section (12) is actively socketed on the nearly joint shaft (31), and said joint shaft far away (32) pivot bush unit is in middle finger section (12); The said end section of finger (13) is actively socketed on the joint shaft far away (32); Said nearly joint shaft (31) is parallel with joint shaft (32) far away; The output shaft of first motor (51) links to each other with the power shaft of first decelerator (52); It is characterized in that: the collaborative compound extracting robot finger apparatus of this split shaft bi-motor also comprises second motor (53), second decelerator (54), first transmission mechanism, second transmission mechanism, first one-way driving mechanism, second one-way driving mechanism and spring spare (2); Said first motor (51) and first decelerator (52) all are fixed in the middle finger section (12); Said second motor (53) and second decelerator (54) all are fixed on the pedestal (11), and the output shaft of second motor (53) links to each other with the power shaft of second decelerator (54); Described driving wheel (41) directly links to each other with driven pulley (42) or links to each other driving wheel (41) rotation direction and driven pulley (42) direction of rotation through driving member (43); Said first one-way driving mechanism is arranged on first decelerator (52) output shaft, first transmission mechanism and joint shaft (32) the three's far away driving-chain; Said second one-way driving mechanism is arranged on second decelerator (54) output shaft, second transmission mechanism and nearly joint shaft (31) three's the driving-chain; Described spring spare (2) adopts extension spring, stage clip or torsion spring; The output shaft of said first decelerator (52) links to each other with joint shaft (32) far away through first transmission mechanism; The output shaft of said second decelerator (54) links to each other with nearly joint shaft (31) through second transmission mechanism; Described driven pulley (42) is actively socketed on nearly joint shaft (31) and upward and through second transmission mechanism links to each other with the output shaft of second decelerator (54); The two ends of said spring spare (5) connect driving wheel (41) and joint shaft (32) far away respectively, and described driving wheel (41) is actively socketed on the joint shaft far away (32).

3. according to claim 1 or claim 2 the collaborative compound extracting robot finger apparatus of split shaft bi-motor, it is characterized in that: described driving wheel (41), driven pulley (42) all adopt gear, and described driving wheel (41) is meshed with driven pulley (42).

4. according to claim 1 or claim 2 the collaborative compound extracting robot finger apparatus of split shaft bi-motor; It is characterized in that: described driving member (43) adopts driving-belt or tendon rope; Described driving wheel (41) adopts belt wheel or rope sheave, and described driven pulley (42) adopts belt wheel or rope sheave; Described driving member (43), driving wheel (41) and driven pulley (42) three can cooperate the formation drive connection; Described driving member (43) is wrapped in driving wheel (41) and the figure of eight is gone up and formed to driven pulley (42).

5. according to claim 1 or claim 2 the collaborative compound extracting robot finger apparatus of split shaft bi-motor, it is characterized in that: described driving member (43) adopts tooth bar, and described driving wheel (41) and driven pulley (42) all adopt gear; Described tooth bar meshes with driving wheel (41) and driven pulley (42) respectively; The meshing point that makes tooth bar and driving wheel (41) is A, and the meshing point of tooth bar and driven pulley (42) is B, and the central point of driving wheel (41) is O ₁, the central point of driven pulley (42) is O ₂, line segment O ₁A, line segment AB, line segment BO ₂With line segment O ₂O ₁Constitute the figure of eight, line segment AB and line segment O ₁O ₂Intersection point be positioned at O ₁And O ₂Between, described tooth bar is embedded in the middle finger section.

6. according to claim 1 or claim 2 the collaborative compound extracting robot finger apparatus of split shaft bi-motor, it is characterized in that: described driving member (43) adopts connecting rod, and the two ends of described connecting rod are hinged with driving wheel (41), driven pulley (42) respectively; The pin joint that makes connecting rod and driving wheel (41) is C, and the pin joint of connecting rod and driven pulley (42) is D, and the central point of driving wheel (41) is O ₁, the central point of driven pulley (42) is O ₂, line segment O ₁C, line segment CD, line segment DO ₂With line segment O ₂O ₁Constitute the figure of eight, line segment CD and line segment O ₁O ₂Intersection point be positioned at O ₁And O ₂Between.

7. according to claim 1 or claim 2 the collaborative compound extracting robot finger apparatus of split shaft bi-motor, it is characterized in that: described driving member comprises the first sub-driving member (44) and the second sub-driving member (45); The described first sub-driving member (44) is wrapped in driving wheel (41) and driven pulley (42) is gone up and formation " S " font, and the two ends of the first sub-driving member (44) are affixed with driving wheel (41) and driven pulley (42) respectively; The described second sub-driving member (45) is wrapped in driving wheel (41) and " Z " font is gone up and formed to driven pulley (42); The two ends of the second sub-driving member (45) are affixed with driving wheel (41) and driven pulley (42) respectively, and the first sub-driving member (44) and the second sub-driving member (45) are crossed as the figure of eight; The described first sub-driving member (44) adopts driving-belt, tendon rope or chain; The described second sub-driving member (45) adopts driving-belt, tendon rope or chain; Described driving wheel (41) adopts belt wheel, rope sheave or sprocket wheel, and described driven pulley (42) adopts belt wheel, rope sheave or sprocket wheel; The described first sub-driving member (44), the second sub-driving member (45), driving wheel (41) and driven pulley (42) four can cooperate the formation drive connection.

8. according to claim 1 or claim 2 the collaborative compound extracting robot finger apparatus of split shaft bi-motor is characterized in that: described driving member comprise the 1st travelling gear, the 2nd travelling gear ..., 2n-1 travelling gear, 2n travelling gear, the 1st transition axis, the 2nd transition axis ..., 2n-1 transition axis and 2n transition axis; Described driving wheel (41), driven pulley (42) all adopt gear; Described driving wheel (41) is meshed with the 1st travelling gear, and the k travelling gear is meshed with the k+1 travelling gear, and the 2n travelling gear is meshed with driven pulley (42); Pivot bush unit is in middle finger section (11) respectively for all transition axises, and all transition axises are parallel with nearly joint shaft (31); The k travelling gear is actively socketed on the k transition axis, and the 2n travelling gear is actively socketed on the 2n transition axis, wherein, k is 1,2 ..., 2n-1, n is a natural number.

9. according to claim 1 or claim 2 the collaborative compound extracting robot finger apparatus of split shaft bi-motor; It is characterized in that: said first transmission mechanism comprises first bevel gear (61) and second bevel gear (62); Said first bevel gear (61) is fixedly sleeved on the output shaft of first decelerator (52); Said second bevel gear (62) is fixedly sleeved on joint shaft (32) far away, and first bevel gear (61) is meshed with second bevel gear (62); Said second transmission mechanism comprises third hand tap gear (63) and the 4th bevel gear (64); Said third hand tap gear (63) is socketed in nearly joint shaft (31) and upward and with nearly joint shaft (31) links to each other; Said the 4th bevel gear (64) is fixedly sleeved to link to each other at the output shaft of second decelerator (54) and with the output shaft of second decelerator (54), and third hand tap gear (63) is meshed with the 4th bevel gear (64).

10. according to claim 1 or claim 2 the collaborative compound extracting robot finger apparatus of split shaft bi-motor, it is characterized in that: described first one-way driving mechanism adopts torque limiter (900) or freewheel clutch; Described second one-way driving mechanism adopts torque limiter (900) or freewheel clutch.

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