Double-input and multiple-output synergy device based on differential planetary gear

Abstract

The invention discloses a double-input and multi-output collaborative device based on differential planetary gears and relates to a collaborative device. The double-input and multi-output collaborative device based on the differential planetary gears aims at solving the problems that an existing collaborative artificial hand driving mechanism is huge and cannot be integrated on a palm, only movement collaboration of four finger metacarpophalangeal joints can be achieved, and movement between all joints of all fingers needs to be independently subjected to collaborative or coupling driving. The double-input and multi-output collaborative device based on the differential planetary gears comprises a first differential planetary gear mechanism, a second differential planetary gear mechanism and a differential planetary gear transmission gear assembly; a first input shaft gear of the first differential planetary gear mechanism and a second gear holder gear of the second differential planetary gear mechanism are both in tooth engagement with the differential planetary gear transmission gear assembly. The double-input and multi-output collaborative device based on the differential planetary gears is used for the mechanical field.

Description

technical field

[0001] The invention relates to a coordination device, in particular to a dual-input multi-output coordination device based on a differential planetary gear. Background technique

[0002] Neuroscience studies on the synergy of human grasping have found that although human hands can grasp and manipulate different types of objects with different grasping postures in daily life, these different grasping postures can be achieved through a small number of features. The postures are linearly combined, and the reproduction error can be controlled within an acceptable range. On this basis, different types of humanoid prosthetic hands using posture coordination theory have been developed successively in the field of robotics. These prosthetic hands use the contribution rate of less-input feature poses as independent variables to linearly combine to reproduce the various grasping poses of human hands. This form of less input and more output determines that the differ...

Examples

specific Embodiment approach 1

[0013] Specific implementation mode one: combine Figure 1-Figure 4 Describe this embodiment, the dual-input multiple-output synergy device based on differential planetary gears in this embodiment includes a first differential planetary gear mechanism 1, a second differential planetary gear mechanism 2 and a differential planetary gear transmission gear assembly 3. The first differential planetary gear mechanism 1 includes the first output shaft end bearing 1-1, the first carrier gear 1-3, the first carrier fixed gear 1-2, the first output shaft 1-4, the first Planetary gear assembly, first output shaft connecting rod 1-10, first input shaft gear 1-19, first input shaft 1-20, two first input shaft end sliding bearings 1-11, two first output shafts The middle bearing 1-13 and two first input shaft middle bearings 1-18, the second differential planetary gear mechanism 2 includes the second input shaft end bearing 2-1, the second input shaft sleeve 2-2, the second input shaft Sh...

specific Embodiment approach 2

[0014] Specific implementation mode two: combination Figure 1-Figure 4 Describe this embodiment, the dual-input multi-output synergy device based on the differential planetary gear described in this embodiment, the differential planetary gear transmission gear assembly 3 includes a differential planetary gear transmission gear 3-1, a differential planetary gear transmission shaft 3-2 and the differential planetary gear transmission bearing 3-3, one end of the differential planetary gear transmission shaft 3-2 is installed on the differential planetary gear transmission bearing 3-3, and the other end of the differential planetary gear transmission shaft 3-2 It is installed on the differential planetary gear transmission gear 3-1, and the differential planetary gear transmission gear 3-1 meshes with the first input shaft gear 1-19 and the second carrier gear 2-19 respectively. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0015] Specific implementation mode three: combination Figure 1-Figure 4Describe this embodiment, the dual-input multiple-output synergy device based on differential planetary gears in this embodiment, the first planetary gear assembly includes a first planetary carrier 1-9, a first sun gear 1-14, a first gear Carrier 1-15, first ring gear 1-16, first ring gear carrier 1-17 and three first planetary gear assemblies, the second planetary gear assembly includes second planetary carrier 2-9, second sun gear 2 -14, the second gear carrier 2-15, the second ring gear 2-16, the second ring gear carrier 2-17 and three second planetary gear assemblies, the first gear carrier 1-15 and the first ring gear carrier 1-17 are relatively installed on both ends of the first ring gear 1-16, the first sun gear 1-14 is set on the output end of the first input shaft 1-20, and the three first planetary gear assemblies are arranged along the circumferential direction Evenly distributed on the oute...

technical field

[0001] The invention relates to a coordination device, in particular to a dual-input multi-output coordination device based on a differential planetary gear. Background technique

[0002] Neuroscience studies on the synergy of human grasping have found that although human hands can grasp and manipulate different types of objects with different grasping postures in daily life, these different grasping postures can be achieved through a small number of features. The postures are linearly combined, and the reproduction error can be controlled within an acceptable range. On this basis, different types of humanoid prosthetic hands using posture coordination theory have been developed successively in the field of robotics. These prosthetic hands use the contribution rate of less-input feature poses as independent variables to linearly combine to reproduce the various grasping poses of human hands. This form of less input and more output determines that the differ...

Examples

specific Embodiment approach 1

[0013] Specific implementation mode one: combine Figure 1-Figure 4 Describe this embodiment, the dual-input multiple-output synergy device based on differential planetary gears in this embodiment includes a first differential planetary gear mechanism 1, a second differential planetary gear mechanism 2 and a differential planetary gear transmission gear assembly 3. The first differential planetary gear mechanism 1 includes the first output shaft end bearing 1-1, the first carrier gear 1-3, the first carrier fixed gear 1-2, the first output shaft 1-4, the first Planetary gear assembly, first output shaft connecting rod 1-10, first input shaft gear 1-19, first input shaft 1-20, two first input shaft end sliding bearings 1-11, two first output shafts The middle bearing 1-13 and two first input shaft middle bearings 1-18, the second differential planetary gear mechanism 2 includes the second input shaft end bearing 2-1, the second input shaft sleeve 2-2, the second input shaft Sh...

specific Embodiment approach 2

[0014] Specific implementation mode two: combination Figure 1-Figure 4 Describe this embodiment, the dual-input multi-output synergy device based on the differential planetary gear described in this embodiment, the differential planetary gear transmission gear assembly 3 includes a differential planetary gear transmission gear 3-1, a differential planetary gear transmission shaft 3-2 and the differential planetary gear transmission bearing 3-3, one end of the differential planetary gear transmission shaft 3-2 is installed on the differential planetary gear transmission bearing 3-3, and the other end of the differential planetary gear transmission shaft 3-2 It is installed on the differential planetary gear transmission gear 3-1, and the differential planetary gear transmission gear 3-1 meshes with the first input shaft gear 1-19 and the second carrier gear 2-19 respectively. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0015] Specific implementation mode three: combination Figure 1-Figure 4Describe this embodiment, the dual-input multiple-output synergy device based on differential planetary gears in this embodiment, the first planetary gear assembly includes a first planetary carrier 1-9, a first sun gear 1-14, a first gear Carrier 1-15, first ring gear 1-16, first ring gear carrier 1-17 and three first planetary gear assemblies, the second planetary gear assembly includes second planetary carrier 2-9, second sun gear 2 -14, the second gear carrier 2-15, the second ring gear 2-16, the second ring gear carrier 2-17 and three second planetary gear assemblies, the first gear carrier 1-15 and the first ring gear carrier 1-17 are relatively installed on both ends of the first ring gear 1-16, the first sun gear 1-14 is set on the output end of the first input shaft 1-20, and the three first planetary gear assemblies are arranged along the circumferential direction Evenly distributed on the oute...

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