A bionic toothless harmonic reducer assembly, driver and bionic hand

Abstract

The application provides a bionic toothless harmonic reducer assembly, which comprises a shell assembly, an eccentric assembly, a coupling output ring, a movable friction ring and a fixed friction ring; the fixed friction ring is fixedly connected with the shell assembly, the movable friction ring is in abutment with the fixed friction ring in a state free of external force, the movable friction ring is provided with a first friction inclined surface, the fixed friction ring is provided with a second friction inclined surface; the first friction inclined surface and the second friction inclined surface are in contact; the coupling output ring is coaxially arranged with the movable friction ring and is in transmission connection, the eccentric assembly is in abutment with the coupling output ring, and the movable friction ring is deformed in a convex shape. The application also provides a driver and a bionic hand. The bionic toothless harmonic driver provided by the application is driven by generating a drum hill deformation similar to a lunar eclipse, and when the load at the output end is large, the output flange can be reversed relative to the power assembly, thereby achieving self-protection and avoiding damage.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a biomimetic toothless harmonic reducer assembly, a driver, and a biomimetic hand. Background Technology

[0002] Bionic hands are crucial for humanoid robots, so developing specialized bionic hands has significant economic implications and promising application prospects. Currently, the driving methods for bionic hands in humanoid robots include: electric cylinder screw type, rope drive type, and linkage mechanism type.

[0003] The three drive methods mentioned above are complex in structure, making it difficult to directly install the actuators in the joint area between the fingers of the bionic hand. Furthermore, the electric cylinder screw drive method has the following disadvantages: due to the large deceleration, it can cause self-locking, cannot reverse drive, and all finger bending and extension movements require actuator input; forced reverse drive or encountering sudden large loads can damage the reducer or motor. The drawstring drive method has the following disadvantages: it is an indirect drive method, with significantly limited performance compared to direct drive methods. The linkage mechanism drive method has the following disadvantages: all finger joints extend and contract simultaneously with the designed movements, making object grasping similar to that of a conventional actuator. Summary of the Invention

[0004] To address at least one of the aforementioned technical problems, the present invention aims to provide a simple and highly reliable biomimetic gearless harmonic reducer assembly, driver, and biomimetic hand. Furthermore, this biomimetic gearless harmonic reducer assembly, driver, and biomimetic hand are simple to manufacture, have low cost, and offer higher load capacity and precision; their modular design facilitates large-scale production and application.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A biomimetic toothless harmonic driver is provided, comprising a housing assembly, an eccentric assembly, a coupling output ring, a dynamic friction ring, and a fixed friction ring; the fixed friction ring is fixedly connected to the housing assembly, the dynamic friction ring abuts against the fixed friction ring when no external force is applied, the dynamic friction ring is provided with a first friction inclined surface, and the fixed friction ring is provided with a second friction inclined surface; the first friction inclined surface and the second friction inclined surface are in contact; the coupling output ring is coaxially arranged with and drivenly connected to the dynamic friction ring, and the eccentric assembly abuts against the coupling output ring, causing the coupling output ring and the dynamic friction ring to undergo convex deformation.

[0006] Furthermore, the dynamic friction ring and the fixed friction ring are arranged coaxially.

[0007] Furthermore, the number of fixed friction rings is an integer greater than or equal to 2, the number of moving friction rings is one less than the number of fixed friction rings, and the fixed friction rings and the moving friction rings are arranged sequentially.

[0008] Furthermore, when there is one dynamic friction ring, a first friction inclined surface is provided on both sides of the dynamic friction ring, and the second friction inclined surfaces of the two fixed friction rings are arranged opposite to each other, forming a first friction engagement angle between the two first friction inclined surfaces; forming a second friction engagement angle between the two second friction inclined surfaces; the angle of the first friction engagement angle is any value greater than 0° and less than 90°; the angle of the second friction engagement angle is the same as the angle of the first friction engagement angle.

[0009] Furthermore, when there are two or more dynamic friction rings, at least one of the dynamic friction rings is a first group of dynamic friction rings, and the remaining dynamic friction rings are a second group of dynamic friction rings. The dynamic friction rings in the first group of dynamic friction rings are provided with a first friction inclined surface on both sides, and a first friction engagement angle is formed between the two first friction inclined surfaces. The second friction inclined surface is in contact with the first friction inclined surface. The dynamic friction rings in the second group of dynamic friction rings are provided with a first friction inclined surface on one side or have no first friction inclined surface on both sides. The angle of the first friction engagement angle is any value greater than 0° and less than 90°.

[0010] Furthermore, the eccentric component is an eccentric ring, and the eccentric ring is fitted with a bearing, or the eccentric component includes a support frame, a rotating shaft, and a roller; the support frame has a shaft hole at its center, and the roller is supported at the connecting end of the support frame through the rotating shaft and rotates with the support frame.

[0011] Furthermore, it also includes an output flange, which is drivenly connected to the coupling output ring.

[0012] Furthermore, a coupling post is provided on one end face of the coupling output ring, and the coupling post is connected to the through hole on the output flange for transmission; an external tooth is provided on the outer wall of the other side of the coupling output ring; the external tooth meshes with the internal tooth of the dynamic friction ring for transmission.

[0013] This application also provides a driver, including the above-described bionic gearless harmonic reducer assembly, and further including a power assembly, the power assembly including an output shaft, the output shaft being drively connected to the eccentric assembly.

[0014] This application also provides a bionic hand, including the aforementioned actuator, which is disposed between the finger joints of the bionic hand.

[0015] Compared with the prior art, the bionic gearless harmonic reducer assembly, driver, and bionic hand provided by this invention have the following advantages: The biomimetic gearless harmonic reducer assembly provided by the present invention drives the device by generating a drum-like deformation similar to a lunar eclipse. When the output load of the biomimetic gearless harmonic drive is large, the output flange can reverse relative to the power component, which plays a self-protection role and thus prevents the biomimetic gearless harmonic drive from being damaged.

[0016] The actuator provided by this invention can use a small-diameter motor, making it smaller in size than existing actuators, thus making it easier to place in a bionic hand, especially directly between the joints of the fingers. Simultaneously, a bionic toothless harmonic reducer assembly is used to achieve speed reduction output, improving the actuator's load capacity.

[0017] The bionic hand provided by this invention can directly drive the fingers via an actuator, which offers better performance compared to indirect driving methods. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the biomimetic toothless harmonic driver provided by the present invention; Figure 2 This is a schematic diagram of the internal structure of the biomimetic toothless harmonic driver provided by the present invention; Figure 3 This is a schematic diagram of the structure of the power assembly after the eccentric ring is installed, provided by the present invention; Figure 4 This is a schematic diagram of the power assembly provided by the present invention after the eccentric ring is installed, from another perspective. Figure 5 This is a partial structural schematic diagram of the biomimetic toothless harmonic reducer assembly provided by the present invention. Figure 6 This is a partial internal structure diagram of the biomimetic toothless harmonic reducer assembly provided by the present invention. Figure 7 This is a schematic diagram of the coupling output ring provided by the present invention; Figure 8 This is a schematic diagram of the dynamic friction ring provided by the present invention; The reference numerals in the attached figures are explained as follows: 1 Power assembly, 1-1 Output shaft, 2 Bionic gearless harmonic reducer assembly, 2-1 Bottom cover, 2-2 Housing, 2-3 Eccentric ring, 2-4 Bearing, 2-5 Fixed friction ring, 2-6 Dynamic friction ring, 2-61 First friction inclined surface, 2-62 Internal gear, 2-7 Coupled output ring, 2-71 Coupled post, 2-72 External gear, 2-8 Output flange, 2-9 Spring ring. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to specific embodiments. Please note that the embodiments described below are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. Where specific techniques or conditions are not specified in the embodiments, they shall be performed in accordance with the techniques or conditions described in the literature in the art or in accordance with the product manual.

[0020] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] The following will provide a detailed description of the biomimetic gearless harmonic reducer assembly, driver, and biomimetic hand of the present invention through specific embodiments: In this implementation, such as Figure 1-8 As shown, the bionic toothless harmonic drive provided in this embodiment includes components such as a power component 1 and a bionic toothless harmonic reducer component 2; the power component 1 outputs power to the outside for driving through the deceleration of the bionic toothless harmonic reducer component 2.

[0023] In this embodiment, the power assembly 1 includes an output shaft 1-1. The biomimetic gearless harmonic reducer assembly 2 includes a housing assembly, an eccentric assembly, a bearing 2-4, a fixed friction ring 2-5, a dynamic friction ring 2-6, a coupling output ring 2-7, an output flange 2-8, and a spring ring 2-9, among other components. The housing assembly includes a bottom cover 2-1 and a housing 2-2. In this embodiment, the eccentric assembly is an eccentric ring 2-3.

[0024] The bottom cover 2-1 is fixedly installed on the output end of the power assembly 1 with screws. The housing 2-2 is fixedly connected to the bottom cover 2-1, and the two cooperate to form an internal receiving space. The output shaft 1-1 extends into the receiving space, and an eccentric ring 2-3 is provided on the output shaft 1-1. A bearing 2-4 is provided on the outside of the eccentric ring, and the bearing 2-4 abuts against the inner wall of the coupling output ring 2-7. A plurality of coupling posts 2-71 are provided on one end face of the coupling output ring 2-7, and the plurality of coupling posts 2-71 are correspondingly engaged with a plurality of through holes of the output flange 2-8 for transmission connection. The output flange 2-8 can be rotatably supported on the housing 2-2 by the bearing. The output shaft 1-1 can extend into the central shaft hole of the output flange 2-8.

[0025] An external tooth 2-72 is also provided on the outer wall of the other side of the coupling output ring 2-7. The external tooth 2-72 of the coupling output ring 2-7 meshes with the internal tooth 2-62 of the dynamic friction ring 2-6. The dynamic friction ring 2-6 is annular, and a first friction inclined surface 2-61 is provided on both sides. Two fixed friction rings 2-5 are also fixedly provided in the accommodating space. The two fixed friction rings 2-5 can be fixedly connected to the housing 2-2. The connection method can be a common method in the art, and this application does not impose too many restrictions on it.

[0026] Each of the two fixed friction rings 2-5 is provided with a second friction inclined surface, which is arranged opposite to each other. The two second friction inclined surfaces are symmetrically arranged on both sides of the moving friction ring 2-6; the shape of the second friction inclined surface is adapted to the first friction inclined surface. A friction cavity is formed between the two second friction inclined surfaces; the moving friction ring 2-6 is disposed in the friction cavity. A second friction engagement angle is formed between the second friction inclined surfaces of the two fixed friction rings 2-5; a first friction engagement angle is formed between the first friction inclined surfaces on both sides of the moving friction ring 2-6, and the angle values ​​of the second friction engagement angle and the first friction engagement angle are the same.

[0027] When the moving friction ring 2-6 and the fixed friction ring 2-5 are coaxially arranged under no external force, the second friction slope of the moving friction ring 2-6 abuts against the first friction slope of the fixed friction ring 2-5, meaning the moving friction ring 2-6 is sandwiched between the two fixed friction rings 2-5. When the eccentric ring 2-3 and the bearing 2-4 are installed inside the coupling output ring 2-7, the eccentric ring 2-3, mounted on the output shaft 1-1, is eccentrically positioned relative to the output shaft. This causes a portion of the outer wall of the bearing 2-4 to have an interference fit with the coupling output ring 2-7. Specifically, the area where the coupling output ring 2-7 contacts the bearing 2-4, under stress, is pushed out with a bulge (protrusion) relative to the coupling output ring 2-7 when it is not under stress. Simultaneously, because the coupling output ring 2-7 and the moving friction ring 2-6 are coaxially abutting, the coupling output ring 2-7 causes the moving friction ring 2-6 to also develop a bulge. Therefore, the second friction slope of the moving friction ring 2-6 at the bulge location does not contact the first friction slope of the fixed friction ring 2-5. On the other side of the dynamic friction ring 2-6 opposite to the bulge part, due to the force, it tends to move towards the bulge side. However, due to the presence of the two fixed friction rings 2-5, the second friction slope of the dynamic friction ring 2-6 at the bulge part is in closer contact with the first friction slope of the fixed friction ring 2-5.

[0028] In summary, the insertion of the eccentric ring 2-3 causes the dynamic friction ring 2-6 and the coupling output ring 2-7 to exhibit bulging deformations similar to those of a lunar eclipse in their corresponding positions relative to an unloaded state. When the output shaft 1-1 drives the eccentric ring 2-3 to rotate, the positions of the bulges on the dynamic friction ring 2-6 and the coupling output ring 2-7 change continuously with the rotation of the eccentric ring 2-3 and the bearing 2-4. Due to the eccentric arrangement of the eccentric ring 2-3, it generates a tangential force at the contact bulge area between the bearing 2-4 and the coupling output ring 2-7 during rotation. The direction of the tangential force is perpendicular to the line connecting the bulge and the center of the output shaft 1-1. When the torque of the tangential force is greater than the frictional locking torque between the dynamic friction ring 2-6 and the fixed friction ring 2-5, the dynamic friction ring 2-6 will rotate relative to the fixed friction ring 2-5. When the shape of the drum is small, the rotation speed of the dynamic friction ring 2-6 is slower; when the shape of the drum is large, the rotation speed of the dynamic friction ring 2-6 is faster.

[0029] When the load at the output flange 2-8 is in the first range, i.e., the difference between the driving torque of the tangential component and the friction locking torque is greater than the load torque: the output shaft 1-1 of the power assembly 1 drives the eccentric ring 2-3 to rotate, causing the dynamic friction ring 2-6 to rotate in the same direction. Since the dynamic friction ring 2-6 and the coupling output ring 2-7 are driven by gear meshing, and the coupling output ring 2-7 is connected to the output flange 2-8 through the coupling column 2-71, the output shaft 1-1 of the power assembly 1 rotates, driving the output flange 2-8 to rotate, and the output flange 2-8 and the output shaft 1-1 rotate in the same direction.

[0030] When the load at the output flange 2-8 is in the second range, such that the difference between the driving torque of the tangential component and the friction locking torque is equal to the load torque, and the sum of the driving torque of the tangential component and the friction locking torque is greater than or equal to the load torque: the output shaft 1-1 of the power assembly 1 drives the eccentric ring 2-3 to rotate, and the position of the drum changes continuously with the rotation of the eccentric ring 2-3. However, the moving friction ring 2-6 cannot rotate relative to the fixed friction ring 2-5. That is, although there is power input at this time, the moving friction ring 2-6 cannot rotate, that is, the output flange 2-8 does not rotate.

[0031] When the load at the output flange 2-8 is in the third range, that is, when the sum of the driving torque of the tangential component and the friction locking torque is less than the load torque: the output shaft 1-1 of the power assembly 1 drives the eccentric ring 2-3 to rotate, and the position of the drum changes continuously with the rotation of the eccentric ring 2-3. However, the load torque is greater than the sum of the driving torque of the tangential component and the friction locking torque, so the moving friction ring 2-6 rotates in the opposite direction to the fixed friction ring 2-5, thereby realizing that when the output shaft 1-1 of the power assembly 1 rotates, the output flange 2-8 rotates in the opposite direction, and the rotation direction of the output flange 2-8 is opposite to that of the output shaft 1-1.

[0032] In this embodiment, the magnitude of the friction locking torque between the moving friction ring 2-6 and the fixed friction ring 2-5 can be achieved by adjusting the value of the second friction engagement angle. The second friction engagement angle can be set to any angle value in the range of greater than 0° and less than 90° according to the actual working conditions. After selecting a suitable friction engagement angle and power component 1 according to the actual working conditions, the friction locking torque and driving torque of the bionic toothless harmonic drive in this embodiment are determined. Depending on the load size, three states can be achieved: when the output shaft 1-1 rotates, the output flange 2-8 rotates in the same or opposite direction to the output shaft 1-1, and the output flange 2-8 remains stationary.

[0033] In this embodiment, the number of moving friction rings 2-6 and fixed friction rings 2-5 can be reasonably selected as needed. The number of fixed friction rings is an integer greater than or equal to 2, and the number of moving friction rings is one less than the number of fixed friction rings. The fixed friction rings and moving friction rings are arranged sequentially. For example, the number of moving friction rings 2-6 can be set to two, and the number of fixed friction rings 2-5 can be three. The fixed friction rings 2-5 and moving friction rings 2-6 are arranged sequentially, that is, two moving friction rings 2-6 are set among three fixed friction rings 2-5, forming two sets of friction drive pairs. The two sets of friction drive pairs have two sets of friction engagement angles. The values ​​of the two sets of friction engagement angles can be the same or different; and as long as one set of friction engagement angles is any value between 0° and 90°, the other set of friction engagement angles can be 0°. Of course, the fixed friction rings 2-5 and the moving friction rings 2-6 are arranged sequentially to form three or more friction drive pairs. That is, when there are two or more moving friction rings, at least one of them is the first group of moving friction rings, and the rest are the second group of moving friction rings. The moving friction rings in the first group have first friction inclined surfaces on both sides, and a first friction engagement angle is formed between the two first friction inclined surfaces. The second friction inclined surfaces of the fixed friction rings on both sides of the moving friction ring are arranged opposite each other, that is, the second friction inclined surfaces are in contact with the first friction inclined surfaces. At this time, the angle of the first friction engagement angle is any value greater than 0° and less than 90°. The moving friction rings in the second group have a first friction inclined surface on one side or no first friction inclined surfaces on either side; that is, the angle of the first friction engagement angle can be 0°.

[0034] When the bionic toothless harmonic actuator of this embodiment is applied to the bionic hand of a humanoid robot, under light loads, such as when the fingers freely bend, extend, or pick up an object, the power component 1 can drive the output flanges 2-8 to rotate in the same direction to complete the corresponding action. Under heavy loads, such as when the fingers of the bionic hand are pried open by external force or when the fingers of the bionic hand are subjected to a large impact, the output flanges 2-8 can reverse relative to the power component 1, thereby preventing damage to the bionic toothless harmonic reducer assembly 2 and / or the power component 1. The bionic toothless harmonic actuator plays a self-protection role.

[0035] In this embodiment, the bearing 2-4 in the biomimetic toothless harmonic driver plays a role in reducing wear; in another embodiment of this application, the bearing 2-4 may not be required, that is, the eccentric ring 2-3 can directly abut against the coupling output ring 2-7.

[0036] In this embodiment, the number of drums in the biomimetic toothless harmonic driver can be multiple. The more drums there are, the faster the rotational speed of the output flanges 2-8. This application does not impose excessive restrictions on this. For example, the eccentric ring can be replaced by an eccentric assembly, which includes a support frame, a rotating shaft, and rollers. The support frame has a shaft hole at its center, and the support frame is fixedly connected to the output shaft 1-1 through the shaft hole. The rollers are respectively supported at both ends of the support frame through the rotating shaft and rotate with the support frame. The support frame can be equipped with corresponding connection ends according to the number of drums, which will not be elaborated here.

[0037] In this embodiment, the power component 1 can be specifically selected as a motor. The structure, size, and power of the motor can be reasonably selected according to actual needs; this application does not impose too many restrictions on this.

[0038] The shapes of the bottom cover 2-1 and the shell 2-2 in this embodiment can be reasonably selected according to actual needs; the projection shape of the bottom cover 2-1 and the shell 2-2 towards the power component after assembly can be circular or square, and this application does not impose too many restrictions on this.

[0039] In this embodiment, the biomimetic toothless harmonic driver may also include spring rings 2-9, and the number of spring rings 2-9 is not limited. The spring rings 2-9 are disposed in the grooves on the outer wall of the dynamic friction ring 2-6. The spring rings 2-9 can enhance the elasticity of the dynamic friction ring 2-6 and stabilize the output speed of the dynamic friction ring 2-6.

[0040] In this embodiment, all components of the biomimetic gearless harmonic reducer assembly 2 can be made of metal or non-metal materials, and this application does not impose any restrictions on this.

[0041] The bionic gearless harmonic driver provided in this application allows for the selection of a small-diameter motor. Compared to existing drivers, the bionic gearless harmonic driver is smaller in size, making it easier to place in a bionic hand, especially allowing direct installation between the joints of the fingers. Simultaneously, the bionic gearless harmonic reducer assembly 2 achieves speed reduction output, improving the driver's load capacity.

[0042] The bionic toothless harmonic actuator provided in this application can directly drive the finger, and its performance is better than that of indirect driving methods.

[0043] The bionic gearless harmonic reducer component in the bionic gearless harmonic drive provided in this application drives the device by generating a drum-like deformation similar to a lunar eclipse. This allows the output flange to reverse relative to the power component when the output load of the bionic gearless harmonic drive is large, thus providing self-protection and preventing damage.

[0044] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0045] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and assemble the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A biomimetic gearless harmonic reducer assembly, characterized in that: The device includes a housing assembly, an eccentric assembly, a coupling output ring, a dynamic friction ring, and a fixed friction ring. The fixed friction ring is fixedly connected to the housing assembly. The dynamic friction ring abuts against the fixed friction ring when no external force is applied. The dynamic friction ring has a first friction inclined surface, and the fixed friction ring has a second friction inclined surface. The first and second friction inclined surfaces are in contact. The coupling output ring is coaxially arranged with and driven by the dynamic friction ring. The eccentric assembly abuts against the coupling output ring and causes the coupling output ring and the dynamic friction ring to undergo convex deformation.

2. The biomimetic gearless harmonic reducer assembly according to claim 1, characterized in that: The dynamic friction ring and the fixed friction ring are arranged coaxially.

3. The biomimetic gearless harmonic reducer assembly according to claim 2, characterized in that: The number of fixed friction rings is an integer greater than or equal to 2, and the number of moving friction rings is one less than the number of fixed friction rings. The fixed friction rings and the moving friction rings are arranged in sequence.

4. The biomimetic gearless harmonic reducer assembly according to claim 3, characterized in that: When there is one dynamic friction ring, a first friction inclined surface is provided on both sides of the dynamic friction ring, and the second friction inclined surfaces of the two fixed friction rings are arranged opposite to each other. A first friction engagement angle is formed between the two first friction inclined surfaces; a second friction engagement angle is formed between the two second friction inclined surfaces; the angle of the first friction engagement angle is any value greater than 0° and less than 90°; the angle of the second friction engagement angle is the same as the angle of the first friction engagement angle.

5. The biomimetic gearless harmonic reducer assembly according to claim 3, characterized in that: When there are two or more dynamic friction rings, at least one of the dynamic friction rings is a first group of dynamic friction rings, and the remaining dynamic friction rings are a second group of dynamic friction rings. The dynamic friction rings in the first group of dynamic friction rings are provided with a first friction inclined surface on both sides, and a first friction engagement angle is formed between the two first friction inclined surfaces. The second friction inclined surface is in contact with the first friction inclined surface. The dynamic friction rings in the second group of dynamic friction rings are provided with a first friction inclined surface on one side or have no first friction inclined surface on both sides. The angle of the first friction engagement angle is any value greater than 0° and less than 90°.

6. The biomimetic gearless harmonic reducer assembly according to claim 5, characterized in that: The eccentric component is an eccentric ring, and the eccentric ring is fitted with a bearing; or the eccentric component includes a support frame, a rotating shaft and a roller; the support frame has a shaft hole at its center, and the roller is supported at the connecting end of the support frame by the rotating shaft and rotates with the support frame.

7. The biomimetic gearless harmonic reducer assembly according to claim 6, characterized in that: It also includes an output flange, which is drivenly connected to the coupling output ring.

8. The biomimetic gearless harmonic reducer assembly according to claim 7, characterized in that: A coupling post is provided on one end face of the coupling output ring, and the coupling post is connected to the through hole on the output flange for transmission; an external tooth is provided on the outer wall of the other side of the coupling output ring; the external tooth meshes with the internal tooth of the dynamic friction ring for transmission.

9. A driver comprising the biomimetic gearless harmonic reducer assembly according to any one of claims 1-8, characterized in that: It also includes a power assembly, which includes an output shaft that is connected to the eccentric assembly in a transmission manner.

10. A bionic hand, comprising the actuator according to claim 9, characterized in that: The actuators are positioned between the finger joints of the bionic hand.

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