Space end effector adaptive manipulator and its transmission and control method

Abstract

The application discloses a kind of space end effector adaptive fingers and its transmission and control method, belong to spaceflight control machinery field, the manipulator tool is sequentially included from top to bottom: finger part, motor layer, drive layer, flange layer;The finger part includes: first mobile finger, second mobile finger, fixed finger;The first mobile finger, second mobile finger, fixed finger all have three knuckles, from top to bottom are far knuckle, middle knuckle and near knuckle, there is a recess on each knuckle for embedding sensor;The structure of first mobile finger, second mobile finger, fixed finger is same;The application realizes multiple finger actions by different contact and cooperation between multiple motor systems, can control a small amount of motor system and drive device to carry out rotating drive two fingers to carry out fixed shaft relative rotation, and single finger alone carries out gripping action and restores multiple actions such as etc.;And the application guarantees efficiency while making space utilization reach maximum.

Description

Technical Field

[0001] This invention belongs to the field of aerospace control machinery and relates to a transmission and control method for an adaptive finger of a space end effector. It is a product specifically designed for the end effector requirements of space stations, specifically an adaptive finger of a space end effector and its transmission and control method. Background Technology

[0002] Space robotic arms can reduce the risks of extravehicular activities for astronauts and improve the efficiency of space exploration, showing broad application prospects. In recent years, with the development of robotics technology, space robotic arms have gradually become a hot research area in the field of space technology. The end effector (manipulator), as an indispensable part of the robotic arm system, is of paramount importance.

[0003] As the modern space environment and space station requirements become increasingly complex, the development of highly versatile, intelligent, precise, and space-efficient robotic arm systems has become a goal pursued by countries around the world. Summary of the Invention

[0004] This invention addresses the complex requirements of modern space stations by disclosing a transmission and control method for an adaptive finger in a space end effector, effectively overcoming the shortcomings of existing technologies. It achieves various finger movements through different connections and coordination between multiple motor systems.

[0005] The specific implementation scheme of this invention is as follows:

[0006] An adaptive finger for a spatial end effector, characterized in that the robotic hand tool comprises, from top to bottom: a finger portion, a motor layer, a drive layer, and a flange layer;

[0007] The finger portion includes: a first movable finger, a second movable finger, and a fixed finger; each of the first movable finger, the second movable finger, and the fixed finger has three phalanges, from top to bottom: the distal phalange, the middle phalange, and the proximal phalange, and each phalange has a groove for embedding a sensor;

[0008] The first movable finger consists of three phalanges from bottom to top: the proximal phalange of the first movable finger, the middle phalange of the first movable finger, and the distal phalange of the first movable finger.

[0009] Behind the first movable finger, from bottom to top, are the first movable finger first link, the first movable finger second link, the first movable finger first spring, the first movable finger third link, the first movable finger fourth link, and the first movable finger second spring;

[0010] The first movable finger proximal joint is connected to the first pinion via the first movable finger first connecting shaft; the first movable finger middle joint is connected to the first movable finger proximal joint via the first movable finger second connecting shaft; the first movable finger distal joint is connected to the first movable finger middle joint via the first movable finger third connecting shaft; at the same time, the third connecting rod is not only connected to the first movable finger second connecting rod and the first movable finger fourth connecting rod, but also connected to the first movable finger second connecting shaft; the first movable finger first connecting rod is fixed on the first movable finger first connecting shaft via a keyway and rotates synchronously with the shaft.

[0011] The upper end of the first spring of the first movable finger is fixed to the middle phalanx, and the lower end of the first spring of the first movable finger is fixed to the proximal phalanx of the first movable finger. The upper end of the second spring of the first movable finger is fixed to the distal phalanx of the first movable finger, and the lower end is fixed to the middle phalanx of the first movable finger. The specific movement of a single finger is as follows: after the first pinion is driven, it drives the first connecting shaft of the first movable finger to rotate. The first connecting rod of the first movable finger is fixed to the first connecting shaft of the first movable finger through the keyway and rotates synchronously with the first connecting shaft of the first movable finger. The second connecting rod, the third connecting rod, and the fourth connecting rod of the first movable finger rotate relative to each other through the pins between the various parts under the drive of the first connecting rod of the first movable finger. The adaptive grip of the three phalanxes is realized through the above linkage transmission. The above drive completes the underactuated work of a single finger.

[0012] The first movable finger, the second movable finger, and the fixed finger have the same structure; the second movable finger of the present invention includes the middle joint of the second movable finger, the distal joint of the second movable finger, the first link of the second movable finger, the second link of the second movable finger, the third link of the second movable finger, the fourth link of the second movable finger, the first spring of the second movable finger, the second spring of the second movable finger, the first shaft of the second movable finger, the second shaft of the second movable finger, and the third shaft of the second movable finger.

[0013] The fixed finger of this invention includes a fixed finger proximal phalanx, a fixed finger middle phalanx, a fixed finger distal phalanx, a fixed finger first link, a fixed finger second link, a fixed finger third link, a fixed finger fourth link, a fixed finger first spring, a fixed finger second spring, a fixed finger first shaft, a fixed finger second shaft, and a fixed finger third shaft. The specific structural connections and driving method are the same as those of the first movable finger.

[0014] Furthermore, the motor layer includes:

[0015] The components include: a first motor system housing, a first encoder, a first motor driving the first movable finger, a first reducer, a first worm gear, a first large gear, and a first small gear;

[0016] The second motor system housing, the second encoder, the second motor driving the second movable finger, the second reducer, the second worm gear, the second large gear, and the second small gear;

[0017] The third motor system housing, the third encoder, the third motor with fixed drive fingers, the third reducer, the third worm gear, the third large gear, and the third small gear;

[0018] The fourth encoder, the fourth motor controlling the overall rotation of the robotic arm, and the fourth reducer; the fifth encoder, the fifth motor controlling the synchronous relative rotation of the two movable fingers, the fifth reducer, and the fifth worm gear;

[0019] The three systems controlling individual finger motors integrate motors, encoders, reducers, worm gears, large gears, and small gears; the system controlling the overall rotation of the robotic arm integrates motors, reducers, and encoders; and the system controlling the synchronous relative rotation of two movable fingers integrates motors, reducers, and worm gears.

[0020] Furthermore, a first motor, a first reducer, and a first worm gear are sequentially connected above the first encoder. A first large gear is connected to the shaft of the first worm gear and meshes with a first small gear. The first small gear is connected to the first movable finger via a first coupling. The first motor drives the first large gear and the first small gear to mesh and transmit power through the reduction speed of the first reducer and the first worm gear, thereby achieving adaptive gripping of the first movable finger. Similarly, a second motor, a second reducer, and a second worm gear are sequentially connected above the second encoder. A second large gear is connected to the shaft of the second worm gear and meshes with a second small gear. The wheel is connected to the first shaft of the second movable finger. The second motor drives the second large gear and the second small gear to mesh and transmit power through the deceleration of the second reducer and the deceleration of the second worm gear, thereby realizing the adaptive grip of the second movable finger. Similarly, the third motor, the third reducer, and the third worm gear are connected in sequence above the third encoder. The third large gear is connected to the shaft of the third worm gear and meshes with the third small gear. The third small gear is connected to the first shaft of the fixed finger. The third motor drives the third large gear and the third small gear to mesh and transmit power through the deceleration of the third reducer and the deceleration of the third worm gear, thereby realizing the adaptive grip of the fixed finger.

[0021] The fourth encoder is the encoder that controls the entire robotic arm motor system. The fourth motor and the fourth reducer are connected in sequence below. The fourth motor reduces the speed and increases the torque through the fourth reducer, which drives the meshing transmission of the external gear and the internal gear of the drive layer. The internal gear is fixedly connected to the outer shell of the drive layer. The entire robotic arm frame is also fixedly connected to the outer shell of the drive layer, thereby enabling the fourth motor to realize the rotation of the entire robotic arm tool.

[0022] The fifth worm gear is a worm gear that controls the two movable fingers to decelerate and rotate synchronously. It is fixed on the outer shell of the drive layer and connected to the fifth reducer and the fifth motor in sequence. The fifth encoder and the fifth motor drive the coupling to drive the second pulley to rotate through the deceleration of the fifth reducer and the deceleration of the fifth worm gear, which in turn drives the shaft below the two movable fingers to rotate, so as to realize the synchronous rotation of the two movable fingers.

[0023] Furthermore, the drive layer includes: a coupling, a first pulley, a second pulley, a third pulley, a conveyor belt, a first gear, a second gear, a second gear shaft, a first bearing, a second bearing, a third bearing, a fourth bearing, a fifth bearing, an external gear, an internal gear, and three pulleys. The first, second, and third pulleys are connected by a synchronous belt, which is positioned between the first and third pulleys and wraps around the second pulley. The second pulley synchronously drives the first and third pulleys to rotate. A first gear is fixedly connected above the third pulley, and a second gear is fixedly connected to the second gear shaft. This combination of belt drive and gear drive ensures that the two movable fingers rotate synchronously in opposite directions.

[0024] When the fifth motor is decelerated by the fifth reducer and then decelerated and turned by the fifth worm gear, it drives the second pulley through the coupling. The second pulley drives the first pulley and the third pulley to rotate synchronously through the synchronous belt, realizing the rotation of the first movable finger. The rotation of the third pulley realizes the rotation of the first gear, which in turn meshes with the second gear and drives the rotation of the second movable finger, thus realizing the synchronous rotation of the two movable fingers.

[0025] The motor system controlling the entire robotic arm has a fourth encoder at its upper end and a fourth reducer at its lower end. The output shaft of the reducer is connected to an external gear, which drives an internal gear through gear meshing. The internal gear is fixedly connected to the drive layer shell. The drive shell, motor layer shell, and flange layer shell are fixedly connected by a first fastener and a third fastener, respectively, thereby controlling the entire robotic arm's motor system to achieve rotation control of the entire finger. The devices inside the motor layer are enclosed by the motor layer shell; the devices inside the drive layer are enclosed by the drive layer shell; the devices inside the flange layer are enclosed by the flange layer shell; the motor layer shell is fixed to the drive layer shell by the first fastener; the drive layer shell is divided into upper and lower layers and fixed by a second fastener; the flange layer shell is fixed to the drive layer shell by a third fastener.

[0026] Furthermore, the flange layer includes a rotating bearing, a robotic arm flange, and inner and outer gear disc baffles of the drive layer; the robotic arm flange is fixedly connected to the inner ring of the rotating bearing, and the outer shell of the flange layer is fixedly connected to the outer ring of the bearing; when the motor system controlling the entire robotic arm is working, the entire robotic arm can rotate around the robotic arm flange to achieve the rotation of the entire robotic arm.

[0027] Furthermore, the connection method of a single finger is consistent with the connection of the proximal phalanx of the first movable finger; the proximal phalanx of the first movable finger is connected to the first pinion via the first pivot of the first movable finger, the first pinion meshes with the first large gear, the first large gear is fixed to the first worm gear, the first motor controls the first worm gear through the first reducer, the worm gear decelerates and changes direction to make the first large gear rotate, and at the same time the first pinion meshes with the first large gear in reverse, realizing adaptive gripping control of the first movable finger.

[0028] Furthermore, the connection method of a single finger is consistent with the connection of the proximal phalanx of the second movable finger; correspondingly, the proximal phalanx of the second movable finger is connected to the second pinion via the first pivot of the second movable finger, the second pinion meshes with the second large gear, the second large gear is fixed to the second worm gear, the second motor controls the second worm gear through the second reducer, the worm gear decelerates and changes direction to make the second large gear rotate, and at the same time the second pinion meshes with the second large gear in reverse, so as to realize adaptive gripping control of the second movable finger;

[0029] The connection method of a single finger is consistent with the connection of the proximal phalanx of the fixed finger; the proximal phalanx of the fixed finger is connected to the third pinion via the first rotating shaft of the fixed finger, the third pinion meshes with the third large gear, the third large gear is fixedly connected to the third worm gear, the third motor controls the third worm gear through the third reducer, the worm gear decelerates and changes direction to make the third large gear rotate, and at the same time the third pinion meshes with the third large gear in reverse, realizing adaptive grip control of the fixed finger.

[0030] Furthermore, in the drive layer, the fifth worm gear is concentrically fixed to the coupling, the first pulley, the second pulley, the third pulley, the first gear, the second gear, the second gear shaft, the first bearing, the second bearing, the third bearing, the fourth bearing, the fifth bearing, the external gear, the internal gear, and the conveyor belt; the external gear meshes with the internal gear of the drive layer.

[0031] The coupling is first fixed to the shaft where the second pulley is located and rotates synchronously with the second pulley. The second pulley drives the first pulley to rotate through the synchronous belt. The housing of the first motor system is fixed to the shaft where the first pulley is located and rotates synchronously with the first pulley. This process realizes the overall rotation of the first movable finger. During this process, the fourth and fifth bearings play the role of reducing rotational friction.

[0032] The second gear, second gear shaft, and second bearing are connected sequentially from top to bottom; the first bearing, first gear, third pulley, and third bearing are connected sequentially from top to bottom. After the third pulley is driven by the second pulley, the first gear and the third pulley rotate coaxially, thereby meshing with the second gear and causing the second gear shaft to rotate in the opposite direction relative to the third pulley. The housing of the second motor system is fixed to the second gear shaft, thus enabling the second movable finger to rotate. However, the third pulley and the first pulley rotate in the same direction, so the second gear shaft rotates in the opposite direction relative to the first pulley. Therefore, the second movable finger rotates synchronously in the opposite direction relative to the first movable finger. During this process, the first bearing, second bearing, and third bearing play a role in reducing rotational friction.

[0033] The second bearing inner ring, the second gear shaft, the second gear, and the second motor system housing are sequentially fixed from bottom to top, and the second bearing outer ring is fixedly connected to the drive layer housing. The third bearing inner ring, the third pulley inner shaft, and the first bearing inner ring are fixedly connected, the first bearing outer ring is fixedly connected to the motor layer housing, and the third bearing outer ring is fixedly connected to the drive layer housing. The fifth bearing inner ring, the second pulley, and the coupling are sequentially fixed from bottom to top, and the fifth bearing outer ring is fixedly connected to the drive layer housing. The fourth bearing inner ring, the first pulley, and the first motor system housing are sequentially fixed from bottom to top, and the fourth bearing outer ring is fixedly connected to the drive layer housing. Each set of encoders driving the fingers, namely the first encoder, the second encoder, and the third encoder; the first motor, the second motor, and the third motor; the first reducer, the second reducer, and the third reducer; and the first worm gear, the second worm gear, and the third worm gear are all fixedly connected to the first motor system housing, the second motor system housing, and the third motor system housing.

[0034] A method for the transmission and control of an adaptive finger in a spatial end effector, characterized by comprising the following:

[0035] The control method for fixed fingers is as follows:

[0036] The third motor driving the fixed finger is started. After receiving the information, the third encoder transmits it to the third motor. The motor speed is reduced and the motor torque is increased by the third reducer. The speed is reduced by the third worm gear and the direction of rotation is changed to make the third large gear rotate. The third large gear meshes with the third small gear, so that the third small gear reverses relative to the third large gear to control the rotation of the first connecting shaft of the first movable finger. Then, the fixed finger first connecting rod, fixed finger second connecting rod, fixed finger first spring, fixed finger third connecting rod, fixed finger fourth connecting rod and fixed finger second spring on the back of the finger complete the under-drive of a single finger.

[0037] A method for the transmission and control of an adaptive finger in a spatial end effector, characterized by comprising the following:

[0038] The control method for the first and second active fingers is the same as that for the fixed finger;

[0039] Control of the relative rotation of the first and second active fingers:

[0040] The fifth motor, which controls the relative rotation of the two movable fingers, is started. After receiving information, the fifth encoder transmits it to the fifth motor, and the fifth worm gear starts to rotate. The coupling is concentrically fixed to the fifth worm gear, driving the coupling to rotate. The second pulley is concentrically fixed below the coupling, driving the first and third pulleys on both sides through the synchronous belt.

[0041] The first pulley is concentrically fixed to the housing of the first motor system, and the first gear fixed above the third pulley meshes with the second gear. Since the first, second, and third pulleys are connected by a transmission belt, their rotation directions are the same. During this process, the first gear fixed to the third pulley also rotates in the same direction as the other three, so the second gear meshing with it rotates in the opposite direction relative to them. The second gear is concentrically fixed to the housing of the second motor system. Therefore, during the above process, after the fifth motor controlling the relative rotation of the two movable fingers is started, the first movable finger will rotate by an angle according to the motor's drive, while the second movable finger will rotate in the opposite direction at the same time. This enables the three fingers to grasp different objects, achieving: parallel gripping, i.e., the two movable fingers are perpendicular to the fixed finger; adaptive gripping, i.e., the two movable fingers are parallel to the fixed finger at the same time; and hexagonal nut tightening, i.e., the three fingers are arranged at 120 degrees.

[0042] Rotation control of the entire robotic arm:

[0043] The fourth motor is started. After the fourth encoder receives the information, it transmits it to the fourth motor, which then reduces the speed through the fourth reducer. The output shaft of the fourth reducer is fixed to the external gear, which meshes with the internal gear to drive the drive layer shell, thereby driving the entire finger to rotate around the flange of the monkey robotic arm through the rotating bearing.

[0044] Compared with the prior art, the outstanding advantages of this invention are as follows:

[0045] This invention can control a small number of motor systems and drive devices to perform various actions, such as rotating two fingers relative to each other along a fixed axis and performing a grasping action and returning to its original position with a single finger. Furthermore, this invention utilizes minimal space, correctly placing the motors and drive systems to maximize space utilization while ensuring efficiency. The invention uses springs to return the finger joints to their original position after the grasping action is completed. Attached Figure Description

[0046] Figure 1 This is an overall external front view of an adaptive finger spatial end effector according to the present invention;

[0047] Figure 2This is an overall external top view of an adaptive finger spatial end effector according to the present invention;

[0048] Figure 3 This is an overall external isometric view of an adaptive finger spatial end effector according to the present invention;

[0049] Figure 4 This is a partially enlarged schematic diagram of the lower part of an adaptive finger spatial end effector according to the present invention;

[0050] Figure 5 This is a partial enlarged schematic diagram of the bottom of an adaptive finger spatial end effector according to the present invention;

[0051] Figure 6 This is a partially enlarged schematic diagram of the finger portion of an adaptive finger spatial end effector according to the present invention;

[0052] Wherein, 1-First movable finger; 101-Proximal joint of first movable finger; 102-Middle joint of first movable finger; 103-Distal joint of first movable finger; 112-First link of first movable finger; 104-Second link of first movable finger; 113-Third link of first movable finger; 105-Fourth link of first movable finger; 106-First spring of first movable finger; 107-Second spring of first movable finger; 108-First connecting shaft of first movable finger; 109-Second connecting shaft of first movable finger; 110-Third connecting shaft of first movable finger; 111-First pinion; 2-Second movable finger; 201-Proximal joint of second movable finger; 202-Middle joint of second movable finger; 203-Distal joint of second movable finger; 212-First link of second movable finger; 204 - Second movable finger, second link; 213 - Second movable finger, third link; 205 - Second movable finger, fourth link; 206 - Second movable finger, first spring; 207 - Second movable finger, second spring; 208 - Second movable finger, first connecting shaft; 209 - Second movable finger, second connecting shaft; 210 - Second movable finger, third connecting shaft; 211 - Second pinion; 3 - Fixed finger; 301 - Fixed finger, proximal phalanx; 302 - Fixed finger, middle phalanx; 303 - Fixed finger, distal phalanx; 312 - Fixed finger, first link; 304 - Fixed finger, second link; 313 - Fixed finger, third link; 305 - Fixed finger, fourth link; 306 - Fixed finger, first spring; 307 - Fixed finger, second spring; 308 - Fixed finger, first connecting shaft; 309 - Fixed second coupling; 310 - Fixed third coupling; 311 - Third pinion; 4 - Motor housing; 5 - Drive housing; 6 - Flange housing; 701 - First motor system housing; 702 - First encoder; 703 - First motor; 704 - First reducer; 705 - First worm gear; 706 - First large gear; 801 - Second motor system housing; 802 - Second encoder; 803 - Second motor; 804 - Second reducer; 805 - Second worm gear; 806 - Second large gear; 901 - Third motor system housing; 902 - Third encoder; 903 - Third motor; 904 - Third reducer; 905 - Third worm gear; 906 - Third large gear; 100 1-Fourth encoder; 1002-Fourth motor; 1003-Fourth reducer; 1101-Fifth encoder; 1102-Fifth motor; 1103-Fifth reducer; 1104-Fifth worm gear; 12-Coupling; 1301-First pulley; 1302-Second pulley; 1303-Third pulley; 1304-Second gear shaft; 1305-First gear; 1306-Second gear; 1307-First bearing; 1308-Second bearing; 1309-Third bearing; 1310-Fourth bearing; 1311-Fifth bearing; 14-External gear; 15-Internal gear; 16-Rotating bearing; 17-Monkey robot arm flange; 18-Drive layer internal and external gear disc baffle; 20-First fastener;21-Reserved space for operating the second fastener; 22-Second fastener; 23-Third fastener; 24-Finger layer; 25-Motor layer; 26-Drive layer; 27-Flange layer. Detailed Implementation

[0053] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the following examples provide a more detailed description of the invention. It should be noted that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0054] like Figures 1-6 As shown, the robotic arm tool of the present invention comprises, from top to bottom: a finger portion 24, a motor layer 25, a drive layer 26, and a flange layer 27.

[0055] The finger portion 24 includes: a first movable finger 1, a second movable finger 2, and a fixed finger 3; each of the first movable finger 1, the second movable finger 2, and the fixed finger 3 has three phalanges, from top to bottom: distal phalange, middle phalange, and proximal phalange, and each phalange has a groove for embedding a sensor; the first movable finger 1, the second movable finger 2, and the fixed finger 3 have the same structure; in the first movable finger 1: the three phalanges from bottom to top are: proximal phalange 101, middle phalange 102, and distal phalange 103. The first movable finger 1, the second movable finger 2, and the fixed finger 3 have the same structure; the second movable finger 2 of the present invention includes the middle phalanx 202 of the second movable finger, the distal phalanx 203 of the second movable finger, the first connecting rod 212 of the second movable finger, the second connecting rod 204 of the second movable finger, the third connecting rod 213 of the second movable finger, the fourth connecting rod 205 of the second movable finger, the first spring 206 of the second movable finger, the second spring 207 of the second movable finger, the first connecting shaft 208 of the second movable finger, the second connecting shaft 209 of the second movable finger, and the third connecting shaft 210 of the second movable finger.

[0056] The fixed finger 3 of the present invention includes a fixed proximal phalanx 301, a fixed middle phalanx 302, a fixed distal phalanx 303, a fixed first link 312, a fixed second link 304, a fixed third link 313, a fixed fourth link 305, a fixed first spring 306, a fixed second spring 307, a fixed first shaft 308, a fixed second shaft 309, and a fixed third shaft 310. The specific structural connections and driving method are the same as those of the first movable finger 1.

[0057] Taking the connection relationship of the first activity (1) as an example:

[0058] Behind the first movable finger 1, from bottom to top, are the first movable finger first link 112, the first movable finger second link 104, the first movable finger first spring 106, the first movable finger third link 113, the first movable finger fourth link 105, and the first movable finger second spring 107.

[0059] The first movable finger proximal segment 101 is connected to the first pinion 111 via the first movable finger first connecting shaft 108. The first movable finger middle segment 102 is connected to the first movable finger proximal segment 101 via the first movable finger second connecting shaft 109. The first movable finger distal segment 103 is connected to the first movable finger middle segment 102 via the first movable finger third connecting shaft 110. At the same time, the third connecting rod 113 is not only connected to the first movable finger second connecting rod 104 and the first movable finger fourth connecting rod 105, but also connected to the first movable finger second connecting shaft 109. The first movable finger first connecting rod 112 is fixed on the first movable finger first connecting shaft 108 via a keyway and rotates synchronously with the shaft.

[0060] The upper end of the first spring 106 of the first movable finger is fixed on the middle phalanx 102, and the lower end of the first spring 106 of the first movable finger is fixed on the proximal phalanx 101 of the first movable finger. The upper end of the second spring 107 of the first movable finger is fixed on the distal phalanx 103 of the first movable finger, and the lower end is fixed on the middle phalanx 102 of the first movable finger. The specific movement of a single finger is as follows: after the first pinion 111 is driven, it drives the first connecting shaft 108 of the first movable finger to rotate. The first connecting rod 112 of the first movable finger is fixed on the first connecting shaft 108 of the first movable finger through the keyway and rotates synchronously with the first connecting shaft 108 of the first movable finger. The second connecting rod 104, the third connecting rod 113, and the fourth connecting rod 105 of the first movable finger rotate relative to each other under the drive of the first connecting rod 112 of the first movable finger. The adaptive grip of the three phalanxes is realized through the above linkage transmission. The above drive completes the underactuated work of a single finger.

[0061] like Figure 4As shown, the motor layer 25 includes: a first motor system housing 701, a first encoder 702, a first motor 703 driving the first movable finger 1, a first reducer 704, a first worm gear 705, a first large gear 706, and a first small gear 111; a second motor system housing 801, a second encoder 802, a second motor 803 driving the second movable finger 2, a second reducer 804, a second worm gear 805, a second large gear 806, and a second small gear 211; a third motor system housing 901, a third encoder 902, a third motor 903 driving the fixed finger 3, a third reducer 904, a third worm gear 905, a third large gear 906, and a third small gear 311; a fourth encoder 1001, a fourth motor 1002 controlling the overall rotation of the robotic arm, and a fourth reducer 1003; and a fifth encoder 1101, a fifth motor 1102 controlling the synchronous relative rotation of the two movable fingers, a fifth reducer 1103, and a fifth worm gear 1104. The three systems controlling individual finger motors integrate motors, encoders, reducers, worm gears, large gears, and small gears; the system controlling the overall rotation of the robotic arm integrates motors, reducers, and encoders; and the system controlling the synchronous relative rotation of two movable fingers integrates motors, reducers, and worm gears.

[0062] The first encoder 702 is sequentially connected to a first motor 703, a first reducer 704, and a first worm gear 705. A first large gear 706 is connected to the shaft of the first worm gear 705 and meshes with a first small gear 111. The first small gear 111 is connected to the first connecting shaft 108 of the first movable finger. The first motor 703 drives the first large gear 706 to mesh with the first small gear 111 through the reduction speed of the first reducer 704 and the first worm gear 705, thereby realizing the adaptive grip of the first movable finger 1. Similarly, the second encoder 802 is sequentially connected to a second motor 803, a second reducer 804, and a second worm gear 805. A second large gear 806 is connected to the shaft of the second worm gear 805 and meshes with a second small gear 211. 1. The second movable finger 2 is connected to the first rotating shaft 208. The second motor 803 drives the second large gear 806 to mesh with the second small gear 211 through the deceleration of the second reducer 804 and the deceleration of the second worm gear 805, thereby realizing the adaptive grip of the second movable finger 2. Similarly, the third encoder 902 is connected to the third motor 903, the third reducer 904, and the third worm gear 905 in sequence. The third large gear 906 is connected to the shaft of the third worm gear 905 and meshes with the third small gear 311. The third small gear 311 is connected to the first rotating shaft 308 of the fixed finger. The third motor 903 drives the third large gear 906 to mesh with the third small gear 311 through the deceleration of the third reducer 904 and the deceleration of the third worm gear 905, thereby realizing the adaptive grip of the fixed finger 3.

[0063] The fourth encoder 1001 is the encoder that controls the entire robotic arm motor system. The fourth motor 1002 and the fourth reducer 1003 are connected in sequence below. The fourth motor 1002 reduces the speed and increases the torque through the fourth reducer 1003, which drives the meshing transmission of the external gear 14 and the internal gear 15 of the drive layer. The internal gear 15 is fixedly connected to the drive layer shell 5. The entire robotic arm frame is also fixedly connected to the drive layer shell 5, thereby enabling the fourth motor 1002 to realize the rotation of the entire robotic arm tool.

[0064] The fifth worm gear 1004 is a worm gear that controls the deceleration and synchronous rotation of the two movable fingers. It is fixed on the drive layer housing 5 and is connected in sequence to the fifth reducer 1103 and the fifth motor 1102. The fifth encoder 1101 and the fifth motor 1102 drive the coupling 12 to drive the second pulley 1302 to rotate through the deceleration of the fifth reducer 1103 and the deceleration of the fifth worm gear 1104. This can drive the shaft below the two movable fingers to rotate, thereby realizing the synchronous rotation of the two movable fingers.

[0065] The drive layer of the present invention includes: a coupling 12, a first pulley 1301, a second pulley 1302, a third pulley 1303, a conveyor belt, a first gear 1305, a second gear 1306, a second gear shaft 1304, a first bearing 1307, a second bearing 1308, a third bearing 1309, a fourth bearing 1310, a fifth bearing 1311, an external gear 14, an internal gear 15, and three pulleys, namely the first pulley 1301, the second pulley 1302, and the third pulley 1303. 303 is connected by a synchronous belt, which connects the first pulley 1301 and the third pulley 1303 and wraps around the second pulley 1302. The second pulley 1302 synchronously drives the first pulley 1301 and the third pulley 1303 to rotate synchronously. The first gear 1305 is fixedly connected above the third pulley 1303, and the second gear 1306 is fixedly connected to the second gear shaft 1304. The combination of belt drive and gear drive makes the two movable fingers rotate synchronously but in opposite directions.

[0066] When the fifth motor 1102 is reduced in speed by the fifth reducer 1103 and then reduced in speed and direction by the fifth worm gear 1104, it drives the second pulley 1302 through the coupling 12. The second pulley 1302 drives the first pulley 1301 and the third pulley 1303 to rotate synchronously through the synchronous belt, thereby realizing the rotation of the first movable finger 1. The rotation of the third pulley 1303 realizes the rotation of the first gear 1305, which in turn meshes with the second gear 1306 and drives the rotation of the second movable finger 2, thereby realizing the synchronous rotation of the two movable fingers.

[0067] The motor system controlling the entire robotic arm has a fourth encoder 1001 at its upper end and a fourth reducer 1003 at its lower end. The output shaft of the reducer is connected to an external gear 14. The external gear 14 drives an internal gear 15 through gear meshing. The internal gear 15 is fixedly connected to the drive layer shell 5. The drive shell 5, the motor layer shell 4, and the flange layer shell 6 are fixedly connected by a first fastener 20, a second fastener 22, and a third fastener 23, respectively, thereby controlling the entire robotic arm's motor system to achieve rotation control of the entire finger. The device inside the motor layer is enclosed by the motor layer shell 4; the device inside the drive layer is enclosed by the drive layer shell 5; the device inside the flange layer is enclosed by the flange layer shell 6; the motor layer shell 4 is fixed to the drive layer shell 5 by the first fastener 20; the drive layer shell 5 is divided into upper and lower layers and fixed by the second fastener 22; the flange layer shell 6 is fixed to the drive layer shell 5 by the third fastener 23.

[0068] The flange layer 27 of the present invention includes a rotating bearing 16, a robotic arm flange 17, and a drive layer inner and outer gear disc baffle 18; the robotic arm flange 17 is fixedly connected to the inner ring of the rotating bearing 16, and the flange layer outer shell 6 is fixedly connected to the outer ring of the bearing 16; when the motor system controlling the entire robotic arm is working, the entire robotic arm can rotate around the robotic arm flange 17 to achieve the rotation of the entire robotic arm.

[0069] The connection method of a single finger is consistent with the connection of the proximal phalanx 101 of the first movable finger; the proximal phalanx 101 of the first movable finger is connected to the first pinion 111 through the first pivot 108 of the first movable finger, the first pinion 111 meshes with the first gear 706, the first gear 706 is fixed to the first worm gear 705, the first motor 703 controls the first worm gear 705 through the first reducer 704, the worm gear reduces speed and changes direction to make the first gear 706 rotate, at the same time the first pinion 111 meshes with the first gear 706 and reverses, so as to realize the adaptive gripping control of the first movable finger.

[0070] The connection method of a single finger is consistent with the connection of the second movable finger proximal joint 201; correspondingly, the second movable finger proximal joint 201 is connected to the second pinion 211 through the second movable finger first rotating shaft 208, the second pinion 211 meshes with the second large gear 806, the second large gear 806 is fixed to the second worm gear 805, the second motor 803 controls the second worm gear 805 through the second reducer 804, the worm gear reduces speed and changes direction to make the second large gear 806 rotate, at the same time the second pinion 211 meshes with the second large gear 806 and reverses, to realize adaptive gripping control of the second movable finger 2;

[0071] The connection method of a single finger is consistent in the connection of the proximal phalanx 301 of the fixed finger; the proximal phalanx 301 of the fixed finger is connected to the third pinion 311 through the first rotating shaft 308 of the fixed finger, the third pinion 311 meshes with the third large gear 906, the third large gear 906 is fixedly connected to the third worm gear 905, the third motor 903 controls the third worm gear 905 through the third reducer 904, the worm gear reduces speed and changes direction to make the third large gear 906 rotate, at the same time the third pinion 311 meshes with the third large gear 906 and reverses, realizing adaptive gripping control of the fixed finger 3.

[0072] In the drive layer, the fifth worm gear 1104 is concentrically fixed to the coupling 12, the first pulley 1301, the second pulley 1302, the third pulley 1303, the first gear 1305, the second gear 1306, the second gear shaft 1304, the first bearing 1307, the second bearing 1308, the third bearing 1309, the fourth bearing 1310, the fifth bearing 1311, the external gear 14, the internal gear 15, and the conveyor belt; the external gear 14 meshes with the internal gear 15 of the drive layer.

[0073] The coupling 12 is first fixed to the shaft where the second pulley 1302 is located and rotates synchronously with the second pulley 1302. The second pulley 1302 drives the first pulley 1301 to rotate through the synchronous belt. The housing 701 of the first motor system is fixed to the shaft where the first pulley 1301 is located and rotates synchronously with the first pulley 1301. This process realizes the overall rotation of the first movable finger 1. During this process, the fourth bearing 1310 and the fifth bearing 1311 play the role of reducing rotational friction.

[0074] The second gear 1306, the second gear shaft 1304, and the second bearing 1308 are connected sequentially from top to bottom; the first bearing 1307, the first gear 1305, the third pulley 1303, and the third bearing 1309 are connected sequentially from top to bottom. After the third pulley 1303 is driven by the second pulley 1302, the first gear 1305 and the third pulley 1303 rotate coaxially, thereby meshing with the second gear 1306, which drives the second gear shaft 1304 to rotate in the opposite direction relative to the third pulley 1303. The second motor system housing 801 is fixed on the second gear shaft 1304, so the second movable finger 2 can rotate. However, the third pulley 1303 and the first pulley 1301 rotate in the same direction, so the second gear shaft 1304 rotates in the opposite direction relative to the first pulley 1301. Therefore, the second movable finger rotates synchronously in the opposite direction relative to the first movable finger. During the process, the first bearing 1307, the second bearing 1308, and the third bearing 1309 play a role in reducing rotational friction.

[0075] The inner ring of the second bearing 1308, the second gear shaft 1304, the second gear 1306, and the second motor system housing 801 are sequentially fixed from bottom to top. The outer ring of the second bearing 1308 is fixedly connected to the drive layer housing 5. The inner ring of the third bearing 1309 and the inner shaft of the third pulley 1303 are fixedly connected to the inner ring of the first bearing 1307. The outer ring of the first bearing 1307 is fixedly connected to the motor layer housing 4. The outer ring of the third bearing 1309 is fixedly connected to the drive layer housing 5. The inner ring of the fifth bearing 1311, the second pulley 1302, and the coupling 12 are sequentially fixed from bottom to top. The outer ring of the fifth bearing 1311 is fixedly connected to the drive layer housing 5. The inner ring of the fourth bearing 1310, the first pulley 1301, and the first motor system housing 701 are fixedly connected from bottom to top. The outer ring of the fourth bearing 1310 is fixedly connected to the drive layer housing 5. Each set of encoders that drive the fingers, namely the first encoder 702, the second encoder 802, the third encoder 902; the first motor 703, the second motor 803, the third motor 903; the first reducer 704, the second reducer 804, the third reducer 904; the first worm gear 705, the second worm gear 805, and the third worm gear 905, are all fixedly connected to the first motor system housing 701, the second motor system housing 801, and the third motor system housing 901.

[0076] A method for the transmission and control of an adaptive finger in a spatial end effector, characterized by comprising the following:

[0077] The control method for fixed finger 3 is as follows:

[0078] The third motor 903, which drives the fixed finger 3, is started. The third encoder 902 receives the information and transmits it to the third motor 903. The speed of the motor is reduced and the torque of the motor is increased by the third reducer 904. The speed is reduced by the third worm gear 905 and the direction of rotation is changed to make the third large gear 906 rotate. The third large gear 906 meshes with the third small gear 311, so that the third small gear 311 reverses relative to the third large gear 906 to control the rotation of the first connecting shaft of the first movable finger. Then, the fixed finger first connecting rod 312, fixed finger second connecting rod 304, fixed finger first spring 306, fixed finger third connecting rod 313, fixed finger fourth connecting rod 305 and fixed finger second spring 307 on the back of the finger complete the under-drive of a single finger.

[0079] A method for the transmission and control of an adaptive finger in a spatial end effector, characterized by comprising the following:

[0080] The control method for the first active finger 1 and the second active finger 2 is the same as that for the fixed finger 3;

[0081] Control of the relative rotation of the first movable finger 1 and the second movable finger 2:

[0082] The fifth motor 1102, which controls the relative rotation of the two movable fingers, is started. The fifth encoder 1101 receives information and transmits it to the fifth motor 1102, causing the fifth worm gear 1104 to start rotating. The coupling 12 is concentrically fixed to the fifth worm gear 1104, driving the coupling 12 to rotate. The second pulley 1302 is concentrically fixed below the coupling, driving the first pulley 1301 and the third pulley 1303 on both sides through the synchronous belt.

[0083] The first pulley 1301 is concentrically fixed to the housing 701 of the first motor system. The first gear 1305 fixed above the third pulley 1303 meshes with the second gear 1306. Since the first pulley 1301, the second pulley 1302, and the third pulley 1303 are connected by a transmission belt, their rotation directions are the same. During this process, the first gear 1305 fixed to the third pulley 1303 also rotates in the same direction as the other three pulleys. Therefore, the second gear 1306 meshing with it rotates in the opposite direction relative to them. The second gear 1306 is concentrically fixed to the housing 801 of the second motor system. Therefore, in the above process, after the fifth motor 1102, which controls the relative rotation of the two movable fingers, is started, the first movable finger 1 will rotate by an angle according to the drive of the motor, while the second movable finger 2 will rotate in the opposite direction at the same time, realizing the gripping of three fingers on different objects. It can achieve: parallel gripping, that is, the two movable fingers are perpendicular to the fixed finger; adaptive gripping, that is, the two movable fingers are parallel to the fixed finger at the same time; and hexagonal nut tightening, that is, the three fingers are arranged at 120 degrees.

[0084] Rotation control of the entire robotic arm:

[0085] The fourth motor 1002 is started. After the fourth encoder 1001 receives the information, it is transmitted to the fourth motor 1002 and decelerated by the fourth reducer 1003. The output shaft of the fourth reducer 1003 is fixed to the external gear 14, which meshes with the internal gear 15 to drive the drive layer shell 5, thereby driving the entire finger to rotate around the monkey robotic arm flange 17 through the rotating bearing 16.

[0086] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of the present invention, and these improvements should also be considered within the scope of protection of the present invention.

Claims

1. A spatial end effector with an adaptive finger, characterized in that, The robotic arm tool includes, from top to bottom, the following components: finger part (24), motor layer (25), drive layer (26), and flange layer (27). The finger portion (24) includes: a first movable finger (1), a second movable finger (2), and a fixed finger (3); the first movable finger (1), the second movable finger (2), and the fixed finger (3) each have three phalanges, from top to bottom: the distal phalange, the middle phalange, and the proximal phalange, and each phalange has a groove for embedding a sensor; the first movable finger (1), the second movable finger (2), and the fixed finger (3) have the same structure; In the first active finger (1): the three phalanges from bottom to top are: the proximal phalange (101) of the first active finger, the middle phalange (102) of the first active finger, and the distal phalange (103) of the first active finger; Behind the first movable finger (1), from bottom to top, are the first movable finger first link (112), the first movable finger second link (104), the first movable finger first spring (106), the first movable finger third link (113), the first movable finger fourth link (105), and the first movable finger second spring (107). The first movable finger proximal segment (101) is connected to the first pinion (111) through the first movable finger first connecting shaft (108), the first movable finger middle segment (102) is connected to the first movable finger proximal segment (101) through the first movable finger second connecting shaft (109), the first movable finger distal segment (103) is connected to the first movable finger middle segment (102) through the first movable finger third connecting shaft (110), and the third connecting rod (113) is not only connected to the first movable finger second connecting rod (104) and the first movable finger fourth connecting rod (105), but also connected to the first movable finger second connecting shaft (109). The first movable finger first connecting rod (112) is fixed on the first movable finger first connecting shaft (108) through a keyway and rotates synchronously with the shaft. The upper end of the first spring (106) of the first movable finger is fixed to the middle phalanx (102), and the lower end of the first spring (106) of the first movable finger is fixed to the proximal phalanx (101) of the first movable finger. The upper end of the second spring (107) of the first movable finger is fixed to the distal phalanx (103) of the first movable finger, and the lower end is fixed to the middle phalanx (102) of the first movable finger. The specific movement of a single finger is as follows: after being driven, the first pinion (111) drives the first connecting shaft (108) of the first movable finger to rotate, and the first connecting shaft of the first movable finger rotates. The rod (112) is fixed on the first connecting shaft (108) of the first movable finger through the keyway and rotates synchronously with the first connecting shaft (108) of the first movable finger. The second connecting rod (104), the third connecting rod (113) and the fourth connecting rod (105) of the first movable finger rotate relative to each other through the pins between the parts driven by the first connecting rod (112) of the first movable finger. The adaptive grip of the three finger joints is realized through the above connecting rod transmission. The above drive completes the under-drive work of a single finger. The drive layer includes: a coupling (12), a first pulley (1301), a second pulley (1302), a third pulley (1303), a conveyor belt, a first gear (1305), a second gear (1306), a second gear shaft (1304), a first bearing (1307), a second bearing (1308), a third bearing (1309), a fourth bearing (1310), a fifth bearing (1311), an external gear (14), an internal gear (15), and three pulleys, namely the first pulley (1301), the second pulley (1302), the third pulley (1303), the fourth gear (1305), the fifth gear (1306), the sixth gear (1307), the seventh gear (1308), the eighth gear (1309), the ninth gear (1300), the eleventh ... The three pulleys (1303) are connected by a synchronous belt. The synchronous belt is connected between the first pulley (1301) and the third pulley (1303) and wraps around the second pulley (1302). The second pulley (1302) synchronously drives the first pulley (1301) and the third pulley (1303) to rotate synchronously. The first gear (1305) is fixedly connected above the third pulley (1303), and the second gear (1306) is fixedly connected to the shaft (1304) of the second gear. The combination of belt drive and gear drive makes the two movable fingers rotate synchronously and in opposite directions. When the fifth motor (1102) is decelerated by the fifth reducer (1103), and then decelerated and turned by the fifth worm gear (1104), it drives the second pulley (1302) through the coupling (12). The second pulley (1302) drives the first pulley (1301) and the third pulley (1303) to rotate synchronously through the synchronous belt, realizing the rotation of the first movable finger (1). The rotation of the third pulley (1303) realizes the rotation of the first gear (1305), which in turn meshes with the second gear (1306) and drives the rotation of the second movable finger (2), thereby realizing the synchronous turning of the two movable fingers. The motor system controlling the entire manipulator has a fourth encoder (1001) at the upper end of the fourth motor (1002) and a fourth reducer (1003) at the lower end. The output shaft of the reducer is connected to the external gear (14). The external gear (14) drives the internal gear (15) through gear meshing. The internal gear (15) is fixedly connected to the drive layer shell (5). The drive shell (5), the motor layer shell (4), and the flange layer shell (6) are fixedly connected by the first fastener (20), the second fastener (22), and the third fastener (23), respectively, thereby controlling the motor of the entire manipulator. The system achieves rotation control of the entire finger; the device inside the motor layer is enclosed by the motor layer shell (4); the device inside the drive layer is enclosed by the drive layer shell (5); the device inside the flange layer is enclosed by the flange layer shell (6); the motor layer shell (4) is fixed to the drive layer shell (5) by the first fastener (20); the drive layer shell (5) is fixed in two layers by the second fastener (22); the flange layer shell (6) is fixed to the drive layer shell (5) by the third fastener (23); the control method for fixing the finger (3) is as follows: The third motor (903) that drives the fixed finger (3) is started. After receiving the information, the third encoder (902) transmits it to the third motor (903). The speed of the motor is reduced by the third reducer (904), and the torque of the motor is increased. The speed is reduced by the third worm gear (905) and the direction of rotation is changed to make the third large gear (906) rotate. The third large gear (906) meshes with the third small gear (311), so that the third small gear (311) reverses relative to the third large gear (906) to control the rotation of the first connecting shaft of the first movable finger. Then, the fixed finger first connecting rod (312), fixed finger second connecting rod (304), fixed finger first spring (306), fixed finger third connecting rod (313), fixed finger fourth connecting rod (305) and fixed finger second spring (307) on the back of the finger complete the underdrive of a single finger.

2. The adaptive finger of a spatial end effector according to claim 1, characterized in that, The motor layer (25) includes: The system includes a first motor system housing (701), a first encoder (702), a first motor (703) driving the first movable finger (1), a first reducer (704), a first worm gear (705), a first large gear (706), and a first small gear (111). The second motor system housing (801), the second encoder (802), the second motor (803) driving the second movable finger (2), the second reducer (804), the second worm gear (805), the second large gear (806), and the second small gear (211); The third motor system housing (901), the third encoder (902), the third motor (903) driving the fixed finger (3), the third reducer (904), the third worm gear (905), the third large gear (906), and the third small gear (311); The fourth encoder (1001), the fourth motor (1002) controlling the overall rotation of the robotic arm, and the fourth reducer (1003); the fifth encoder (1101), the fifth motor (1102) controlling the synchronous relative rotation of the two movable fingers, the fifth reducer (1103), and the fifth worm gear (1104). The three systems controlling individual finger motors integrate motors, encoders, reducers, worm gears, large gears, and small gears; the system controlling the overall rotation of the robotic arm integrates motors, reducers, and encoders; and the system controlling the synchronous relative rotation of two movable fingers integrates motors, reducers, and worm gears.

3. The adaptive finger of a spatial end effector according to claim 2, characterized in that, The first encoder (702) is connected in sequence to the top of the first motor (703), the first reducer (704), and the first worm gear (705). The first large gear (706) is connected to the shaft of the first worm gear (705) and meshes with the first small gear (111). The first small gear (111) is connected to the first connecting shaft (108) of the first movable finger. The first motor (703) drives the first large gear (706) and the first small gear (111) to mesh and transmit power through the reduction of the first reducer (704) and the reduction of the first worm gear (705) and to achieve adaptive gripping of the first movable finger (1). Similarly, the second encoder (802) is connected in sequence to the top of the second motor (803), the second reducer (804), and the second worm gear (805). The second large gear (806) is connected to the shaft of the second worm gear (805) and meshes with the second small gear (211). The second motor (803) is connected to the first rotating shaft (208) of the second movable finger. The second motor (803) drives the second large gear (806) and the second small gear (211) to mesh and transmit power through the deceleration of the second reducer (804) and the deceleration of the second worm gear (805), thereby realizing the adaptive grip of the second movable finger (2). Similarly, the third motor (903), the third reducer (904), and the third worm gear (905) are connected in sequence above the third encoder (902). The third large gear (906) is connected to the shaft of the third worm gear (905) and meshes with the third small gear (311). The third small gear (311) is connected to the first rotating shaft (308) of the fixed finger. The third motor (903) drives the third large gear (906) and the third small gear (311) to mesh and transmit power through the deceleration of the third reducer (904) and the deceleration of the third worm gear (905), thereby realizing the adaptive grip of the fixed finger (3). The fourth encoder (1001) is the encoder that controls the entire robot motor system. The fourth motor (1002) and the fourth reducer (1003) are connected in sequence below. The fourth motor (1002) reduces the speed and increases the torque through the fourth reducer (1003) to drive the meshing transmission of the external gear (14) and internal gear (15) of the drive layer. The internal gear (15) is fixedly connected to the drive layer shell (5). The entire robot frame is also fixedly connected to the drive layer shell (5). Thus, the fourth motor (1002) realizes the rotation of the entire robot tool. The fifth worm gear (1104) is a worm gear that controls the deceleration and synchronous rotation of the two movable fingers. It is fixed on the outer shell (5) of the drive layer and is connected in sequence to the fifth reducer (1103) and the fifth motor (1102). The fifth encoder (1101) and the fifth motor (1102) drive the coupling (12) to drive the second pulley (1302) to rotate through the deceleration of the fifth reducer (1103) and the deceleration of the fifth worm gear (1104), thereby driving the shaft below the two movable fingers to rotate and realize the synchronous rotation of the two movable fingers.

4. The adaptive finger of a spatial end effector according to claim 1, characterized in that, The flange layer (27) includes a rotating bearing (16), a monkey robot arm flange (17), and a drive layer inner and outer gear disc baffle (18). The monkey robot arm flange (17) is fixedly connected to the inner ring of the rotating bearing (16), and the flange layer outer shell (6) is fixedly connected to the outer ring of the bearing (16). When the motor system controlling the entire robot arm is working, the entire robot arm can rotate around the monkey robot arm flange (17) to achieve the rotation of the entire robot arm.

5. The adaptive finger of a spatial end effector according to claim 1, characterized in that, The connection method of a single finger is consistent with the connection of the proximal phalanx (101) of the first movable finger; the proximal phalanx (101) of the first movable finger is connected to the first pinion (111) through the first pivot (108) of the first movable finger, the first pinion (111) meshes with the first gear (706), the first gear (706) is fixedly connected to the first worm gear (705), the first motor (703) controls the first worm gear (705) through the first reducer (704), the worm gear reduces speed and changes direction to make the first gear (706) rotate, and at the same time the first pinion (111) meshes with the first gear (706) and reverses, so as to realize the adaptive gripping control of the first movable finger.

6. The adaptive finger of a spatial end effector according to claim 1, characterized in that, The connection method of a single finger is consistent with the connection of the second movable finger proximal joint (201); correspondingly, the second movable finger proximal joint (201) is connected to the second pinion (211) through the second movable finger first rotating shaft (208), the second pinion (211) meshes with the second large gear (806), the second large gear (806) is fixedly connected to the second worm gear (805), the second motor (803) controls the second worm gear (805) through the second reducer (804), and the second large gear (806) rotates by reducing speed and changing direction through the worm gear, while the second pinion (211) meshes with the second large gear (806) and reverses, so as to realize the adaptive gripping control of the second movable finger (2); The connection method of a single finger is consistent with the connection of the proximal phalanx (301) of the fixed finger; the proximal phalanx (301) of the fixed finger is connected to the third pinion (311) through the first rotating shaft (308) of the fixed finger, the third pinion (311) meshes with the third large gear (906), the third large gear (906) is fixedly connected to the third worm gear (905), the third motor (903) controls the third worm gear (905) through the third reducer (904), the worm gear reduces speed and changes direction to make the third large gear (906) rotate, and at the same time the third pinion (311) meshes with the third large gear (906) and reverses, so as to realize the adaptive gripping control of the fixed finger (3).

7. The adaptive finger of a spatial end effector according to claim 5, characterized in that, In the driving layer, the fifth worm gear (1104) is concentrically fixed to the coupling (12), and the external gear (14) meshes with the internal gear (15) of the driving layer; the coupling (12) is first fixed to the shaft where the second pulley (1302) is located and rotates synchronously with the second pulley (1302). The second pulley (1302) drives the first pulley (1301) to rotate through the synchronous belt. The housing (701) of the first motor system is fixed on the shaft where the first pulley (1301) is located and rotates synchronously with the first pulley (1301). This process realizes the overall rotation of the first movable finger (1). During this process, the fourth bearing (1310) and the fifth bearing (1311) play the role of reducing rotational friction. The second gear (1306), the second gear shaft (1304), and the second bearing (1308) are connected sequentially from top to bottom; the first bearing (1307), the first gear (1305), the third pulley (1303), and the third bearing (1309) are connected sequentially from top to bottom. After the third pulley (1303) is driven by the second pulley (1302), the first gear (1305) and the third pulley (1303) rotate coaxially, thereby meshing with the second gear (1306) and driving the second gear shaft (1304) to rotate relative to each other. The third pulley (1303) rotates in the opposite direction, and the housing (801) of the second motor system is fixed on the second gear shaft (1304), so the second movable finger (2) rotates. However, the third pulley (1303) and the first pulley (1301) rotate in the same direction, so the second gear shaft (1304) rotates in the opposite direction relative to the first pulley (1301). Therefore, the second movable finger rotates synchronously in the opposite direction relative to the first movable finger. During the process, the first bearing (1307), the second bearing (1308), and the third bearing (1309) play the role of reducing rotational friction. The inner ring of the second bearing (1308), the second gear shaft (1304), the second gear (1306), and the second motor system housing (801) are sequentially fixed from bottom to top. The outer ring of the second bearing (1308) is fixedly connected to the drive layer housing (5). The inner ring of the third bearing (1309), the inner shaft of the third pulley (1303), and the inner ring of the first bearing (1307) are fixedly connected. The outer ring of the first bearing (1307) is fixedly connected to the motor layer housing (4). The outer ring of the third bearing (1309) is fixedly connected to the drive layer housing (5). The inner ring of the fifth bearing (1311), the second pulley (1302), and the coupling (12) are sequentially fixed from bottom to top. The outer ring of the fifth bearing (1311) is fixedly connected to the drive layer housing (5). The fourth... The inner ring of the bearing (1310), the first pulley (1301) and the first motor system housing (701) are fixedly connected from bottom to top. The outer ring of the fourth bearing (1310) is fixedly connected to the drive layer housing (5). Each set of encoders for driving the fingers, namely the first encoder (702), the second encoder (802), the third encoder (902); the first motor (703), the second motor (803), the third motor (903); the first reducer (704), the second reducer (804), the third reducer (904); the first worm gear (705), the second worm gear (805), the third worm gear (905) are all fixedly connected to the first motor system housing (701), the second motor system housing (801), and the third motor system housing (901).

8. The method for transmission and control of an adaptive finger in a spatial end effector according to claim 1, characterized in that, Specifically, it includes the following: The control method for the first active finger (1) and the second active finger (2) is the same as that for the fixed finger (3); Control of the relative rotation of the first active finger (1) and the second active finger (2): The fifth motor (1102) that controls the relative rotation of the two movable fingers is started. After receiving the information, the fifth encoder (1101) transmits it to the fifth motor (1102), and the fifth worm gear (1104) starts to rotate. The coupling (12) is concentrically fixed to the fifth worm gear (1104), driving the coupling (12) to rotate. The second pulley (1302) is concentrically fixed to the bottom of the coupling, driving the first pulley (1301) and the third pulley (1303) on both sides through the synchronous belt. The first pulley (1301) is concentrically fixed to the housing (701) of the first motor system. The first gear (1305) fixed above the third pulley (1303) meshes with the second gear (1306). Since the first pulley (1301), the second pulley (1302), and the third pulley (1303) are connected by a transmission belt, their rotation directions are the same. During this process, the first gear (1305) fixed to the third pulley (1303) also rotates in the same direction as the other three pulleys. Therefore, the second gear (1306) meshing with it rotates in the opposite direction to the others. The second gear (1306) is concentrically fixed to the housing (801) of the second motor system. Therefore, in the above process, after the fifth motor (1102) that controls the relative rotation of the two movable fingers is started, the first movable finger (1) will rotate by an angle according to the drive of the motor, while the second movable finger (2) will rotate in the opposite direction at the same time, realizing the gripping of three fingers on different objects. It can achieve: parallel gripping, that is, the two movable fingers are perpendicular to the fixed finger; achieve: adaptive gripping, that is, the two movable fingers are parallel to the fixed finger at the same time; achieve: hexagonal nut screwing, that is, the three fingers are arranged at 120 degrees. Rotation control of the entire robotic arm: The fourth motor (1002) is started. After receiving the information, the fourth encoder (1001) transmits it to the fourth motor (1002), which then reduces the speed through the fourth reducer (1003). The output shaft of the fourth reducer (1003) is fixed to the external gear (14), which meshes with the internal gear (15) to drive the drive layer shell (5), thereby driving the entire finger to rotate around the monkey robot arm flange (17) through the rotating bearing (16).

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