A five-finger manipulator and a robot

Abstract

The present invention relates to a five-finger manipulator, including a palm portion, one end of which is sequentially connected to a mechanical index finger, a mechanical middle finger, a mechanical ring finger and a mechanical little finger, the other end of which is connected to a base, a thumb portion is provided on one side of the palm portion, a mechanical thumb is installed on one end of the thumb portion, the other end of the thumb portion is connected to the base, the palm portion is provided with a first linear motor and a second linear motor, the base is provided with a third linear motor, the thumb portion is provided with a fourth linear motor, the first linear motor drives the mechanical ring finger and the mechanical little finger to flex and extend, the second linear motor drives the mechanical middle finger to flex and extend, the third linear motor drives the mechanical index finger to flex and extend, and the fourth linear motor drives the mechanical thumb to flex and extend. By respectively installing a plurality of linear motors on the palm portion, the thumb portion and the base, the manipulator will not be too wide, will be compact, can flexibly grasp various types of objects, and expand the application scenarios of the manipulator. The present invention also relates to a robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a five-finger manipulator and a robot. Background Art

[0002] As a core competitive advantage in promoting industrial development, robotics technology has received more and more attention. As the end effector of the robot, the dexterity, robustness and flexibility of the manipulator determine the intelligence level of the robot.

[0003] The manipulator consists of a manipulator palm and manipulator fingers. According to the number of manipulator fingers, it can be divided into two fingers, three fingers, four fingers, five fingers and multiple fingers. As the number of manipulator fingers increases, the manipulator becomes more flexible and can complete more complex grasping tasks.

[0004] The mechanical fingers of the prior art five-finger manipulator include a mechanical thumb, a mechanical index finger, a mechanical middle finger, a mechanical ring finger and a mechanical little finger. Five linear motors are usually arranged in the palm of the manipulator, each linear motor corresponds to a mechanical finger, and the linear motor drives the mechanical finger to flex and extend to stretch or grasp an object.

[0005] Due to the size of the linear motors, the robot must be set up very large to install all five linear motors in the palm of the robot. As a result, the width of the robot becomes too large, the size is bulky, the appearance is significantly different from the natural human hand, the flexibility is poor, and it is difficult to grasp more types of objects, which limits the application scenarios of the robot. Summary of the invention

[0006] In response to the technical problems existing in the prior art, one of the objects of the present invention is to provide a five-finger manipulator, which respectively installs four linear motors on the palm, thumb and base of the manipulator. The manipulator is not too wide and has a small size. It can flexibly grasp various types of objects, thereby expanding the application scenarios of the manipulator.

[0007] In view of the technical problems existing in the prior art, the second purpose of the present invention is to provide a robot with a flexible five-finger manipulator that can grasp various types of objects and is suitable for various application scenarios.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] A five-finger manipulator comprises a palm portion, one end of which is connected in sequence with a mechanical index finger, a mechanical middle finger, a mechanical ring finger and a mechanical little finger, the other end of which is connected to a base, a thumb portion is provided on one side of the palm portion, a mechanical thumb is installed on one end of the thumb portion, and the other end of the thumb portion is connected to the base, the palm portion is provided with a first linear motor and a second linear motor, the base is provided with a third linear motor, and the thumb portion is provided with a fourth linear motor, the first linear motor drives the flexion and extension of the mechanical ring finger and the mechanical little finger, the second linear motor drives the flexion and extension of the mechanical middle finger, the third linear motor drives the flexion and extension of the mechanical index finger, and the fourth linear motor drives the flexion and extension of the mechanical thumb.

[0010] Furthermore, a concave portion is provided on one side of the palm portion, and the thumb portion is arranged in the concave portion.

[0011] Furthermore, the mechanical little finger is provided with a little finger steel wire, the mechanical ring finger is provided with a ring finger steel wire, the mechanical middle finger is provided with a middle finger steel wire, the mechanical index finger is provided with an index finger steel wire, and the thumb is provided with a thumb steel wire. The two ends of the little finger steel wire are respectively connected to the mechanical little finger and the first linear motor, the two ends of the ring finger steel wire are respectively connected to the mechanical ring finger and the first linear motor, the two ends of the middle finger steel wire are respectively connected to the mechanical middle finger and the second linear motor, the two ends of the index finger steel wire are respectively connected to the mechanical index finger and the third linear motor, and the two ends of the thumb steel wire are respectively connected to the mechanical thumb and the fourth linear motor.

[0012] Furthermore, a steel wire channel is provided on the other side of the palm, the steel wire channel is provided between the mechanical index finger and the third linear motor, and the index finger steel wire is passed through the steel wire channel.

[0013] Furthermore, the palm is fixedly provided with a first ring, a second ring and a third ring, the pinky finger steel wire and the ring finger steel wire are both passed through the first ring, and the pinky finger steel wire and the ring finger steel wire respectively abut against the ring wall of the first ring, the middle finger steel wire is passed through the second ring, and the middle finger steel wire abuts against the ring wall of the second ring, and the index finger steel wire is passed through the third ring, and the index finger steel wire abuts against the ring wall of the third ring.

[0014] Furthermore, it also includes multiple polyurethane springs. The mechanical thumb is provided with two knuckles, and the mechanical index finger, mechanical middle finger, mechanical ring finger and mechanical little finger are respectively provided with three knuckles. The two knuckles of the mechanical thumb and the three knuckles of the mechanical index finger, mechanical middle finger, mechanical ring finger and mechanical little finger are respectively connected by polyurethane springs.

[0015] Furthermore, it also includes a plurality of torsion springs, and the palm is respectively connected with the mechanical index finger, the mechanical middle finger, the mechanical ring finger, and the mechanical little finger through the torsion springs.

[0016] Furthermore, four installation slots are provided in sequence at one end of the palm, and the four installation slots correspond to the mechanical index finger, mechanical middle finger, mechanical ring finger and mechanical little finger respectively. The mechanical index finger, mechanical middle finger, mechanical ring finger and mechanical little finger are installed in the four installation slots respectively.

[0017] Furthermore, the base is also provided with a rotary servo, which is arranged on one side of the third linear motor and is hinged to the thumb.

[0018] A robot includes a five-fingered manipulator.

[0019] In general, the present invention has the following advantages:

[0020] The five-finger manipulator of the embodiment of the present invention cleverly adds a base for installing the third linear motor at the rear end of the palm, which is equivalent to shortening the width of the palm by extending the length of the palm using the base, and the thumb and the palm are separated and established separately. Only two linear motors need to be installed on the palm, so that the width of the palm is not too large. The appearance is close to that of a natural human hand, the size is compact, and it can flexibly grasp various types of objects, including some smaller objects, thereby expanding the application scenarios of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front view of an embodiment of the present invention.

[0022] Figure 2 It is a rear view of an embodiment of the present invention.

[0023] Figure 3 It is a left view of an embodiment of the present invention.

[0024] Figure 4 The figure is a schematic diagram of the structure of the polyurethane spring and the torsion spring according to an embodiment of the present invention.

[0025] Figure 5 The figure is a schematic diagram of the three-dimensional structure of the palm and the back shell of the palm according to an embodiment of the present invention.

[0026] Figure 6 FIG. 4 is a top view of the palm portion of an embodiment of the present invention.

[0027] Figure 7 It is a schematic diagram of the three-dimensional structure of the base according to an embodiment of the present invention.

[0028] Figure 8 The figure is a schematic diagram of the three-dimensional structure of the palm portion, the palm back shell and the base according to an embodiment of the present invention.

[0029] Fig. 9 The figure is a schematic diagram of the installation of the palm portion, the palm back shell and the base according to an embodiment of the present invention.

[0030] Fig.10 Schematic diagram of the internal structure of the palm of an embodiment of the present invention.

[0031] Fig.11 Schematic diagram of the structure of the thumb portion of an embodiment of the present invention.

[0032] Fig.12 FIG. 4 is a structural schematic diagram of the thumb portion of an embodiment of the present invention from another perspective.

[0033] Fig.13 It is a schematic diagram of the installation of the thumb portion and the rotating connecting shaft according to an embodiment of the present invention.

[0034] Fig.14 The figure is a schematic diagram of the installation of the rotary connecting shaft, the connecting member and the rotary steering gear according to an embodiment of the present invention.

[0035] Description of reference numerals:

[0036] 1 - palm part, 11 - palm back shell, 12 - palm positioning hole, 13 - protrusion mounting hole, 14 - wire channel;

[0037] 2——thumb part, 21——thumb back cover, 211——back cover through hole;

[0038] 3 – base;

[0039] 41a - mechanical little finger, 41b - mechanical ring finger, 42 - mechanical middle finger, 43 - mechanical index finger, 44 - mechanical thumb;

[0040] 51 - first linear motor, 52 - second linear motor, 53 - third linear motor, 54 - fourth linear motor, 55 - rotary servo;

[0041] 61——first circular ring, 62——second circular ring, 63——third circular ring, 64——polyurethane spring, 65——torsion spring, 66——anti-slip pad;

[0042] 71a - little finger wire, 71b - ring finger wire, 72 - middle finger wire, 73 - index finger wire, 74 - thumb wire;

[0043] 8——rotating connecting shaft, 81——first through hole, 82——second through hole;

[0044] 9——connecting piece, 91——connecting through hole. DETAILED DESCRIPTION

[0045] The present invention will be described in further detail below.

[0046] like Figure 1 to Figure 3As shown, a five-finger manipulator includes a palm portion 1, one end of the palm portion 1 is connected with a mechanical index finger 43, a mechanical middle finger 42, a mechanical ring finger 41b and a mechanical little finger 41a in sequence, the other end of the palm portion 1 is connected with a base 3, a thumb portion 2 is provided on one side of the palm portion 1, a mechanical thumb 44 is installed at one end of the thumb portion 2, and the other end of the thumb portion 2 is connected to the base 3, the palm portion 1 is provided with a first linear motor 51 and a second linear motor 52, the base 3 is provided with a third linear motor 53, and the thumb portion 2 is provided with a fourth linear motor 54. The first linear motor 51 drives the mechanical ring finger 41b and the mechanical little finger 41a to flex and extend, the second linear motor 52 drives the mechanical middle finger 42 to flex and extend, the third linear motor 53 drives the mechanical index finger 43 to flex and extend, and the fourth linear motor 54 drives the mechanical thumb 44 to flex and extend.

[0047] Since the little finger contributes the least to the grasping behavior of the human hand, and the actions performed by the ring finger and the little finger are often the same, in order to make the overall size of the five-finger manipulator closer to the human hand, a first linear motor 51 is used to simultaneously drive the flexion and extension of the mechanical ring finger 41b and the mechanical little finger 41a, which can basically meet the needs of daily grasping of objects. It has a larger grasping range than the four-finger manipulator and saves the installation space of a linear motor for the palm 1.

[0048] The third linear motor 53 for driving the mechanical index finger 43 to flex and extend is set on the base 3, and the fourth linear motor 54 for driving the mechanical thumb 44 to flex and extend is set on the thumb 2, so that the third linear motor 53 and the fourth linear motor 54 do not occupy the internal space of the palm 1, saving a lot of installation space for the palm 1.

[0049] On this basis, the palm part 1 only needs to install the first linear motor 51 and the second linear motor 52, and the palm part 1 has sufficient installation space to meet the requirements of designing and adjusting the installation position.

[0050] The five-finger manipulator of the embodiment of the present invention cleverly adds a base 3 for installing a third linear motor 53 at the rear end of the palm 1, which is equivalent to shortening the width of the palm 1 by extending the length of the palm 1 using the base 3, and the thumb 2 is separated from the palm 1 and separately established. The palm 1 only needs to be installed with two linear motors, so that the width of the palm 1 is not too large, the appearance is closer to a natural human hand, the size is compact, and it can flexibly grasp various types of objects, including some smaller objects, thereby expanding the application scenarios of the manipulator.

[0051] The first linear motor 51, the second linear motor 52, the third linear motor 53 and the fourth linear motor 54 of the embodiment of the present invention are all ACTUONIX PQ-12, facing the same direction, and each has a stroke of 20 mm. The length of each mechanical finger and the size of the palm 1 refer to the standard size of an adult's hand, so that the overall appearance of the five-finger manipulator is closer to a human hand. The palm back shell 11 is designed to imitate the arc of the back of a human hand, and the cross section is a specific curve.

[0052] A concave portion is provided on one side of the palm portion 1, and the thumb portion 2 is arranged in the concave portion.

[0053] By arranging the thumb 2 in the recessed portion of the palm 1, the thickness of the palm 1 can be reduced, the cooperative working ability of the thumb 2 and the palm 1 is enhanced, and the grasping flexibility of the manipulator is increased.

[0054] Taking the thenar line of a human hand as a reference, the palm portion 1 and the thumb portion 2 of the present embodiment are respectively arranged on both sides of the thenar line of the robot hand.

[0055] The mechanical little finger 41a is provided with a little finger steel wire 71a, the mechanical ring finger 41b is provided with a ring finger steel wire 71b, the mechanical middle finger 42 is provided with a middle finger steel wire 72, the mechanical index finger 43 is provided with an index finger steel wire 73, and the thumb is provided with a thumb steel wire 74. The two ends of the little finger steel wire 71a are respectively connected to the mechanical little finger 41a and the first linear motor 51, the two ends of the ring finger steel wire 71b are respectively connected to the mechanical ring finger 41b and the first linear motor 51, the two ends of the middle finger steel wire 72 are respectively connected to the mechanical middle finger 42 and the second linear motor 52, the two ends of the index finger steel wire 73 are respectively connected to the mechanical index finger 43 and the third linear motor 53, and the two ends of the thumb steel wire 74 are respectively connected to the mechanical thumb 44 and the fourth linear motor 54.

[0056] The existing technology mainly uses rigid connecting rods and hinges to connect the robotic fingers and linear motors. The internal structure of the robot is complex, the overall weight is large, and the appearance and size are significantly different from natural human hands. The finger structure is not flexible enough to rotate, which leads to limitations in the objects that the robot can grasp. It is unable to grasp fragile and easily deformed objects and cannot be applied to more scenarios.

[0057] The palm portion 1 of the five-finger manipulator of the embodiment of the present invention is provided with a plurality of palm positioning holes 12, and each manipulator finger is provided with a finger positioning hole matching the palm positioning hole 12, and each manipulator finger is connected to the corresponding linear motor through a steel wire passing through the corresponding palm positioning hole 12 and the finger positioning hole, and the steel wire is fastened by a screw at the far end of each manipulator finger. The diameter of the steel wire is only 0.5 to 1 mm, and the weight is relatively light, which reduces the overall weight of the manipulator. The appearance and size of the manipulator are close to those of a natural human hand. The steel wire responds reliably and sensitively to the output of the linear motor. The structure of the manipulator finger connected by the steel wire rotates flexibly and can grasp various types of objects, including grasping fragile and deformable objects. The five-finger manipulator parts are 3D printed, and each connection is fastened with screws. It has the advantages of low cost, simple structure, and flexible movement. It can realize various grasping purposes with an edited control system, and can be applied to the end effector of a home collaborative robot, which is conducive to the popularization and application of the manipulator and has extremely high social significance.

[0058] A steel wire channel 14 is provided on the other side of the palm 1 . The steel wire channel 14 is provided between the mechanical index finger 43 and the third linear motor 53 . The index finger steel wire 73 is passed through the steel wire channel 14 .

[0059] Since the index finger wire 73 has a relatively small diameter, a wire channel 14 is provided on the other side of the palm 1, so that the index finger wire 73 is connected to the mechanical index finger 43 and the third linear motor 53 through the wire channel 14, respectively, thereby reducing the thickness of the palm 1 and increasing the flexibility of the manipulator. At the same time, the thumb 2 and the index finger wire 73 are respectively provided on both sides of the palm 1, so that the thumb 2 and the mechanical index finger 43 do not interfere with each other and have good coordination.

[0060] like Figure 6 , Fig.10 As shown, the palm 1 is fixedly provided with a first circular ring 61, a second circular ring 62 and a third circular ring 63, the pinky finger steel wire 71a and the ring finger steel wire 71b are both passed through the first circular ring 61, and the pinky finger steel wire 71a and the ring finger steel wire 71b respectively abut against the ring wall of the first circular ring 61, the middle finger steel wire 72 is passed through the second circular ring 62, and the middle finger steel wire 72 abuts against the ring wall of the second circular ring 62, and the index finger steel wire 73 is passed through the third circular ring 63, and the index finger steel wire 73 abuts against the ring wall of the third circular ring 63.

[0061] Since the mechanical pinky finger 41a and the mechanical ring finger 41b use a common first linear motor 51, the mechanical pinky finger 41a and the mechanical ring finger 41b are not completely aligned with the first linear motor 51. When the pinky finger wire 71a and the ring finger wire 71b are both inserted into the first circular ring 61, the pinky finger wire 71a and the ring finger wire 71b are respectively in contact with the ring wall of the first circular ring 61, and the pinky finger wire 71a and the ring finger wire 71b can slide on the arc-shaped ring wall, so that the first circular ring 61 can change the movement direction of the pinky finger wire 71a and the ring finger wire 71b. Through the pinky finger wire 71a and the ring finger wire 71b sliding on the ring wall of the first circular ring 61, the force applied by the first linear motor 51 to the pinky finger wire 71a and the ring finger wire 71b respectively changes the transmission direction, so that the first linear motor 51 can effectively control the flexion and extension of the mechanical pinky finger 41a and the mechanical ring finger 41b at the same time.

[0062] Similarly, the second circular ring 62 can change the movement direction of the middle finger steel wire 72. As the middle finger steel wire 72 slides on the ring wall of the second circular ring 62, the force applied to the middle finger steel wire 72 by the second linear motor 52 changes the transmission direction. Even if the mechanical middle finger 42 is not aligned with the second linear motor 52, the second linear motor 52 can effectively control the flexion and extension of the mechanical middle finger 42. The third circular ring 63 can change the movement direction of the index finger steel wire 73. As the index finger steel wire 73 slides on the ring wall of the third circular ring 63, the force applied to the index finger steel wire 73 by the third linear motor 53 changes the transmission direction. Even if the mechanical index finger 43 is not aligned with the third linear motor 53, the third linear motor 53 can effectively control the flexion and extension of the mechanical index finger 43.

[0063] The provision of the first ring 61, the second ring 62 and the third ring 63 further enhances the flexibility of the installation position of each linear motor in the manipulator, and provides an application basis for the manipulator to expand other functions in the future.

[0064] In this embodiment, the first circular ring 61, the second circular ring 62 and the third circular ring 63 are all M3 eye screws.

[0065] like Figure 1 , Figure 4 As shown, it also includes a plurality of polyurethane spring pieces 64. The mechanical thumb 44 is provided with two knuckles, and the mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a are respectively provided with three knuckles. The two knuckles of the mechanical thumb 44 and the three knuckles of the mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a are respectively connected by polyurethane spring pieces 64.

[0066] The mechanical thumb 44 includes two knuckles, the proximal knuckle and the distal knuckle. The mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a include three knuckles, the proximal knuckle, the middle knuckle and the distal knuckle respectively. The shapes of the knuckles are similar, and the length is based on the average value of the length data of each knuckle of the human hand measured in the experiment. The knuckles are connected by a polyurethane spring 64 as a connecting piece 9. The polyurethane spring 64 is a sheet material with a thickness of 2mm to 3mm. A hole for placing the polyurethane spring 64 is reserved at the knuckle connection, and the polyurethane spring 64 is fixed with screws after being placed.

[0067] The polyurethane spring piece 64 has high mechanical strength, oxidation stability and flexibility. The knuckles are connected by the polyurethane spring piece 64, which can meet the flexible grasping action requirements of the five-finger manipulator. When the tension of the linear motor disappears, the high resilience of the polyurethane spring piece 64 allows the knuckles of the robot fingers to automatically return to their original shape.

[0068] In this embodiment, a plastic anti-skid pad 66 is provided on the surface of each knuckle to make the gripping process of each mechanical finger more stable, thereby achieving more precise control.

[0069] like Figure 4 As shown, it also includes a plurality of torsion springs 65 , and the palm portion 1 is respectively connected to the mechanical index finger 43 , the mechanical middle finger 42 , the mechanical ring finger 41 b , and the mechanical little finger 41 a through the torsion springs 65 .

[0070] In this embodiment, the torsion spring 65 is installed in the mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b, and the mechanical little finger 41a, respectively. The palm 1 is provided with corresponding clamping positions (not shown in the figure), and the two ends of the torsion spring 65 are respectively clamped between the mechanical fingers and the corresponding clamping positions of the palm 1. The torsion spring 65 can provide the rebound force of each mechanical finger, and help realize the grasping and rebounding actions of each mechanical finger.

[0071] One end of the palm 1 is provided with four mounting grooves in sequence, which respectively correspond to the mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a. The mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a are respectively installed in the four mounting grooves.

[0072] By installing the mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a in four installation grooves respectively, the mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a will not intertwine with each other to form movement interference. At the same time, the installation grooves can protect the proximal knuckles of the mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a, making the proximal knuckles of the mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a not easily injured or damaged.

[0073] Specifically, five protrusions are provided at intervals at one end of the palm portion 1, and four mounting grooves are formed between the five protrusions. Figure 5 , Figure 6 , Figure 8 and Fig. 9 As shown, the sides of the five protrusions are each provided with a protrusion mounting hole 13, the proximal knuckles of the mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a are provided with finger mounting holes, and the five protrusions are connected to the proximal knuckles of the mechanical index finger 43, the mechanical middle finger 42, the mechanical ring finger 41b and the mechanical little finger 41a via a rotating shaft that passes through the protrusion mounting hole 13 and the finger mounting hole.

[0074] like Figure 7 , Fig.14 As shown, the base 3 is further provided with a rotary servo 55 , which is arranged on one side of the third linear motor 53 , and the rotary servo 55 is hinged to the thumb 2 .

[0075] When the rotary servo 55 rotates, it drives the thumb 2 to rotate, and then the thumb 2 drives the mechanical thumb 44 to rotate. When the rotary servo 55 drives the thumb 2 to rotate, the fourth linear motor 54 can simultaneously drive the mechanical thumb 44 to flex and extend, so that the mechanical thumb 44 can flex, extend and rotate at the same time, so that the mechanical thumb 44 can work in coordination with each mechanical finger of the palm 1 to achieve various more complex grasping actions.

[0076] In this embodiment, the rotary steering gear 55 is a Dynamixel XL-320. Figure 11 to Figure 14 As shown, the thumb 2 is connected to the rotary servo 55 through the rotary connecting shaft 8 and the connecting member 9. The thumb rear cover 21 is provided with two rear cover through holes 211, and the rotary connecting shaft 8 is provided with a first through hole 81 corresponding thereto. The thumb 2 is connected to the rotary connecting shaft 8 by screws passing through the rear cover through holes 211 and the first through holes 81. The bottom of the rotary connecting shaft 8 is provided with a groove, and the connecting member 9 is engaged with the groove. The side wall of the rotary connecting shaft 8 is provided with a second through hole 82, and the connecting member 9 is provided with a connecting through hole 91 corresponding thereto. The rotary connecting shaft 8 is connected to the connecting member 9 by screws passing through the second through hole 82 and the connecting through hole 91. The bottom of the connecting member 9 is provided with four protrusions, and the four protrusions are engaged in the four connecting holes of the rotary servo 55 to realize the connection with the rotary servo 55.

[0077] The base 3 can also be changed in appearance and expanded in function according to actual requirements, such as being used as a connecting component between a five-finger manipulator and a robotic arm.

[0078] A robot includes a five-finger manipulator that can flexibly grasp various types of objects and is suitable for various application scenarios.

[0079] The palm portion 1 of the robot's five-fingered manipulator has a width that is not too large, and its appearance is close to that of a natural human hand. It is compact and can flexibly grasp various types of objects including some small objects, thus expanding the application scenarios of the robot.

[0080] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A five-finger manipulator, characterized in that: It includes a palm part, one end of the palm part is connected with a mechanical index finger, a mechanical middle finger, a mechanical ring finger and a mechanical little finger in sequence, the other end of the palm part is connected with a base, a thumb part is provided on one side of the palm part, a mechanical thumb is installed on one end of the thumb part, and the other end of the thumb part is connected to the base, the palm part is provided with a first linear motor and a second linear motor, the base is provided with a third linear motor, and the thumb part is provided with a fourth linear motor, the first linear motor drives the flexion and extension of the mechanical ring finger and the mechanical little finger, the second linear motor drives the flexion and extension of the mechanical middle finger, the third linear motor drives the flexion and extension of the mechanical index finger, and the fourth linear motor drives the flexion and extension of the mechanical thumb; The mechanical little finger is provided with a little finger steel wire, the mechanical ring finger is provided with a ring finger steel wire, the mechanical middle finger is provided with a middle finger steel wire, the mechanical index finger is provided with an index finger steel wire, and the mechanical thumb is provided with a thumb steel wire. The two ends of the little finger steel wire are respectively connected to the mechanical little finger and the first linear motor, the two ends of the ring finger steel wire are respectively connected to the mechanical ring finger and the first linear motor, the two ends of the middle finger steel wire are respectively connected to the mechanical middle finger and the second linear motor, the two ends of the index finger steel wire are respectively connected to the mechanical index finger and the third linear motor, and the two ends of the thumb steel wire are respectively connected to the mechanical thumb and the fourth linear motor; A steel wire channel is provided on the other side of the palm, the steel wire channel is provided between the mechanical index finger and the third linear motor, and the index finger steel wire is passed through the steel wire channel; The palm is provided with a first ring, a second ring and a third ring. The little finger steel wire and the ring finger steel wire are both passed through the first ring, and the little finger steel wire and the ring finger steel wire are respectively abutted against the ring wall of the first ring. The middle finger steel wire is passed through the second ring, and the middle finger steel wire is abutted against the ring wall of the second ring. The index finger steel wire is passed through the third ring, and the index finger steel wire is abutted against the ring wall of the third ring. It also includes multiple polyurethane springs. The mechanical thumb is provided with two knuckles, and the mechanical index finger, mechanical middle finger, mechanical ring finger and mechanical little finger are respectively provided with three knuckles. The two knuckles of the mechanical thumb and the three knuckles of the mechanical index finger, mechanical middle finger, mechanical ring finger and mechanical little finger are respectively connected by polyurethane springs.

2. A five-finger manipulator according to claim 1, characterized in that: A concave portion is provided on one side of the palm portion, and the thumb portion is arranged in the concave portion.

3. A five-finger manipulator according to claim 1, characterized in that: It also includes multiple torsion springs, and the palm is respectively connected to the mechanical index finger, the mechanical middle finger, the mechanical ring finger, and the mechanical little finger through the torsion springs.

4. A five-finger manipulator according to claim 1, characterized in that: One end of the palm is provided with four mounting slots in sequence, and the four mounting slots correspond to the mechanical index finger, the mechanical middle finger, the mechanical ring finger and the mechanical little finger respectively. The mechanical index finger, the mechanical middle finger, the mechanical ring finger and the mechanical little finger are respectively installed in the four mounting slots.

5. A five-finger manipulator according to any one of claims 1 to 4, characterized in that: The base is also provided with a rotary servo, which is arranged on one side of the third linear motor and is hinged to the thumb.

6. A robot, characterized in that: It comprises a five-finger manipulator as described in any one of claims 1-5.

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