Manipulator

Abstract

The present application discloses a manipulator, which relates to the technical field of instrument equipment. Among them, the manipulator includes: a driving component and a gear reduction mechanism. The driving component includes a first driving motor, and the driving end of the first driving motor is provided with gear teeth. Among them, the first driving motor is a high torque density output motor; the gear reduction mechanism includes a first reduction gear, the gear teeth of the first reduction gear are meshed with the gear teeth of the first driving motor, and a first link mechanism is provided at one end of the first reduction gear away from the first driving motor. The first driving motor is used to drive the first link mechanism to move, and the first reduction gear is used to reduce the rotation speed of the first driving motor and transmit it to the first link mechanism. The present application can improve the back-driving ability and transmission efficiency of the driving system, and realize speed reduction and torque increase while maintaining good back-driving ability, so that the manipulator can perform fast and elegant operations in a complex collision contact environment.

Description

Technical Field

[0001] This application relates to the technical field of instrument and equipment, and particularly relates to a manipulator. Background Art

[0002] A manipulator, as the last link and the executing component for the robot to interact with the environment, is mainly used to grasp and transfer a specified item to a specified position. The manipulator plays a very important role in improving the ability of the robot to complete tasks and improving the operation level.

[0003] In a robot drive, a suitable reduction ratio is usually selected according to the task requirements, so as to achieve a certain compromise or balance between speed and torque. However, the reducer will inevitably introduce friction and energy loss, introduce backlash and increase the inertia, thus reducing the transmission efficiency, accuracy and reverse driving ability of the system. In the related art, in order to meet the joint torque requirements, most robot systems usually require reduction ratios of dozens or even hundreds, and often use harmonic / cycloidal gears or even multi-stage planetary gears, but this will greatly reduce the transmission efficiency and reverse driving ability of the system, and greatly limit the physical interaction ability between humans and machines and between the robot and the environment. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems existing in the prior art. For this purpose, this application provides a manipulator, which can improve the reverse driving ability and transmission efficiency of the drive system, and achieve speed reduction and torque increase while maintaining good reverse driving ability, so that the manipulator can perform fast and elegant operations in a complex collision and contact environment.

[0005] This application provides a manipulator, including:

[0006] A drive assembly, including a first drive motor, and the drive end of the first drive motor is provided with gear teeth, wherein the first drive motor is a high torque density output motor;

[0007] A gear reduction mechanism, including a first reduction gear, and the outer side of the first reduction gear is respectively provided with gear teeth and a first link mechanism. The gear teeth of the first reduction gear are meshed with the gear teeth of the first drive motor, and the first reduction gear is used to reduce the rotation speed of the first drive motor and transmit it to the first link mechanism; wherein, the diameter of the first reduction gear is larger than the diameter of the drive end of the first drive motor.

[0008] The robotic arm according to the embodiment of the first aspect of the present application has at least the following beneficial effects: By controlling the start of the first drive motor with high torque density output, the teeth on the drive end of the first drive motor mesh with the teeth of the first reduction gear and rotate, and the first reduction gear decelerates the rotation speed of the first drive motor and transmits it to the first link mechanism to drive the first link mechanism to move. Compared with the related art, in the present application, the teeth of the first drive motor with high torque density output mesh with the teeth of the first reduction gear and drive the first link mechanism to move, which can achieve precise force perception, has the transparency of force transmission, can improve the back-driving ability and transmission efficiency of the drive system, and realizes speed reduction and torque increase while maintaining good back-driving ability, enabling the robotic arm to perform fast and elegant operations in a complex collision and contact environment.

[0009] According to some embodiments of the present application, the drive assembly further includes a second drive motor, the drive end of the second drive motor is provided with teeth, the gear reduction mechanism includes a second reduction gear, the outer side of the second reduction gear is respectively provided with teeth and a second link mechanism, and the teeth of the second reduction gear mesh with the teeth of the second drive motor; the first reduction gear and the second reduction gear are coaxially arranged facing each other, and the first reduction gear is arranged close to the first drive motor, and the second reduction gear is arranged close to the second drive motor, wherein the second drive motor is a motor with high torque density output, and the diameter of the second reduction gear is larger than the diameter of the drive end of the second drive motor.

[0010] According to some embodiments of the present application, the drive mode between the first drive motor and the second drive motor is parallel drive.

[0011] According to some embodiments of the present application, both the first drive motor and the second drive motor measure torque through a current loop.

[0012] According to some embodiments of the present application, the robotic arm further includes a housing, the drive ends of the first drive motor and the second drive motor respectively pass through the inner walls on both sides of the inner cavity of the housing, and the first drive motor and the second drive motor are arranged facing each other, and the first reduction gear and the second reduction gear are arranged facing each other on both sides of the inner wall of the housing.

[0013] According to some embodiments of the present application, on the outer side wall of the housing corresponding to the first drive motor, there is a first fixed plate member corresponding to the first reduction gear, and on the outer side wall of the housing corresponding to the second drive motor, there is a second fixed plate member corresponding to the second reduction gear. The first reduction gear and the second reduction gear are arranged between the first fixed plate member and the second fixed plate member, and the first reduction gear is arranged close to the first fixed plate member, and the second reduction gear is arranged close to the second fixed plate member.

[0014] According to some embodiments of the present application, the manipulator further includes a connecting shaft. The first fixed plate member, the second fixed plate member, the first reduction gear, and the second reduction gear are respectively penetrated by the connecting shaft, and the first fixed plate member and the second fixed plate member are arranged at both ends of the connecting shaft.

[0015] According to some embodiments of the present application, the manipulator further includes a first control device and a second control device. Both the first control device and the second control device are penetrated on the connecting shaft, and the first control device is arranged between the first fixed plate member and the first reduction gear and is connected to the first drive motor. The first control device is used to control the start-stop state and rotation direction of the first drive motor; the second control device is arranged between the second fixed plate member and the second reduction gear and is connected to the second drive motor. The second control device is used to control the start-stop state and rotation direction of the second drive motor.

[0016] According to some embodiments of the present application, the manipulator further includes a clamping mechanism. The clamping mechanism is movably connected to the first link mechanism and the second link mechanism respectively. The first drive motor and the second drive motor are used to drive the first link mechanism and the second link mechanism to move so as to drive the clamping mechanism to move.

[0017] According to some embodiments of the present application, there are two driving components, and the driving directions of the two driving components are opposite. The number of the gear reduction mechanisms and the clamping mechanisms both corresponds to the number of the driving components. The two driving components are used to drive the ends of the two clamping mechanisms to approach or move away from each other.

[0018] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. Description of the Drawings

[0019] The additional aspects and advantages of the present application will become apparent and be easily understood in conjunction with the description of the embodiments in the following drawings, where:

[0020] Figure 1Schematic diagram of a partial structure of a robotic arm provided by an embodiment of the present application;

[0021] Figure 2 Schematic diagram of a partial structure of a robotic arm provided by another embodiment of the present application;

[0022] Figure 3 Front view structure diagram of the robotic arm provided by an embodiment of the present application;

[0023] Figure 4 Side view structure diagram of the robotic arm provided by an embodiment of the present application.

[0024] Reference numerals:

[0025] Robotic arm 100;

[0026] First drive motor 110, first reduction gear 111, first link mechanism 112, first fixed plate member 113, first control device 114, first drive end 115;

[0027] Second drive motor 120, second reduction gear 121, second link mechanism 122, second fixed plate member 123, second control device 124, second drive end 125, connecting shaft 126;

[0028] Housing 130, third drive motor 140, fourth drive motor 150, boosting mechanism 160, clamping mechanism 170. Detailed description of the specific implementation

[0029] The following details the embodiments of the present application. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application.

[0030] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0031] In the description of the present application, if the terms first and second are used for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence of the indicated technical features.

[0032] In the description of the present application, unless otherwise clearly defined, terms such as "setting", "installation", "connection", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present application in combination with the specific content of the technical solution.

[0033] In a robot drive, a suitable reduction ratio is usually selected according to the task requirements to achieve a certain compromise or balance between speed and torque. However, the reducer will inevitably introduce friction and energy loss, introduce backlash, and increase the represented inertia, thereby reducing the transmission efficiency, accuracy, and reverse drive ability of the system. In related technologies, in order to meet the joint torque requirements, most robot systems usually require a reduction ratio of dozens or even hundreds, and often use harmonic / cycloidal gears or even multi-stage planetary gears, but this will greatly reduce the transmission efficiency and reverse drive ability of the system, and greatly limit the physical interaction ability between humans and robots and between robots and the environment.

[0034] In addition, in early industrial robot systems, most robotic arm systems adopted the above-mentioned large reduction ratio scheme to generate sufficient joint torque to resist possible external interference forces and perform established actions (rigid programmed motions); a large reduction ratio is a good drive scheme for industrial robots, but this also means that the actual working task environment must conform to the expectations during offline design, that is, a "structured environment". If you want to use a robot in an unstructured environment, it is necessary to greatly enhance its sensing and control intelligence and introduce tactile sensing functions such as vision and electronic skin; but if the robot drive system is not improved, it will still pose risks and limit its use.

[0035] To solve the above problems, the present application proposes a manipulator 100. The following will further elaborate on the embodiments of the present application with reference to the accompanying drawings.

[0036] Refer to Figure 1 and Figure 4 , the present application provides a manipulator 100, including a drive assembly and a gear reduction mechanism. The drive assembly includes a first drive motor 110, and the drive end of the first drive motor 110 is provided with teeth. Among them, the first drive motor 110 is a high torque density output motor; the gear reduction mechanism includes a first reduction gear 111, and the outer side of the first reduction gear 111 is respectively provided with teeth and a first link mechanism 112. The teeth of the first reduction gear 111 are meshed with the teeth of the first drive motor 110, and the first reduction gear 111 is used to reduce the rotation speed of the first drive motor 110 and transmit it to the first link mechanism 112; among them, the diameter of the first reduction gear 111 is larger than the diameter of the drive end of the first drive motor 110.

[0037] In this application, by controlling the start of the first drive motor 110 with a large torque density output, the gear teeth at the drive end of the first drive motor 110 are engaged with the gear teeth of the first reduction gear 111 to rotate. The first reduction gear 111 decelerates the rotational speed of the first drive motor 110 and transmits it to the first link mechanism 112 to drive the first link mechanism 112 to move. Compared with the related art, in this application, the gear teeth of the first drive motor 110 with a large torque density output are engaged with the gear teeth of the first reduction gear 111 to rotate and drive the first link mechanism 112 to move, which can achieve precise force perception, has the transparency of force transmission, can improve the back-driving ability and transmission efficiency of the drive system, and realizes deceleration and torque increase while maintaining a good back-driving ability, enabling the manipulator 100 to perform fast and elegant operations in a complex collision and contact environment, and improving the physical interaction capabilities between humans and machines and between the robot and the environment.

[0038] It should be noted that only the first reduction gear 111 is used to drive the movement of the first link mechanism 112. The first reduction gear 111 is a low reduction ratio reduction gear, which improves the high-frequency force control ability of back-driving on the basis of ensuring the output torque. The first drive motor 110 only drives through the helical gear transmission of the first reduction gear 111, effectively reducing the output torque fluctuation, giving full play to its compact structure, and fully exerting the characteristics of the manipulator 100 with a compact structure, smooth meshing and transmission.

[0039] It should be noted that the manipulator 100 is formed by combining a drive assembly, a gear reduction mechanism and a link mechanism connected to the gear reduction mechanism. The manipulator 100 adopts a quasi-direct drive method. The quasi-direct drive method has the characteristics of bidirectional force transparency and interaction with the environment, and enables the fingertips and finger tip parts provided at the end of the link mechanism to come into contact with the environment to sense the contact position and contact force, enabling the manipulator 100 to perform fast and elegant operations in a complex collision and contact environment, thereby improving the physical interaction capabilities between humans and machines and between the robot and the environment.

[0040] In the related art, the driving methods for the compliant motion of robots are the rigid force control with a large speed ratio drive or the series elastic drive scheme. However, both the rigid force control with a large speed ratio drive and the series elastic drive scheme are position controls, which are not conducive to co - integration control and interaction with the environment. Moreover, the rigid force control with a large speed ratio drive is a high - reduction - ratio scheme integrating a force sensor. The high - reduction - ratio scheme integrating a force sensor uses a conventional motor combined with a high - reduction - ratio reduction gearbox, a high - stiffness torque sensor, and an output end. However, the reverse drive ability and transmission efficiency of this scheme are relatively low. The series elastic drive scheme is a combination of a conventional motor, a high - reduction - ratio reduction gearbox, a flexible elastic body, and an output end. However, the control bandwidth of this scheme is relatively low, and both the reverse drive ability and transmission efficiency are average. In contrast, the present application adopts a direct - drive - like body drive scheme, which combines a high - torque output density motor, a low - reduction - ratio reduction gearbox, and a small - inertia output end. While facilitating co - integration control and interaction with the environment, it has the capabilities of a high control bandwidth, a high reverse drive ability, and a high transmission efficiency.

[0041] It should be noted that referring to Figure 1 , the driving end of the first driving motor 110 is the first driving end 115. The first driving end 115 is provided with a gear with teeth. The first reduction gear 111 is provided with teeth that mesh with the first driving end 115. The distance from the end of the first link mechanism 121 to the center of the first reduction gear 111 is greater than the distance from the teeth provided on the outside of the first reduction gear 111 to the center of the first reduction gear 111. The teeth of the first driving end 115 drive the teeth of the first reduction gear 111 to rotate, so as to reduce the speed and increase the output torque of the first driving motor 110, thereby achieving force - increasing and speed - reducing.

[0042] Referring to Figure 2 , it can be understood that the driving assembly further includes a second driving motor 120. The driving end of the second driving motor 120 is provided with teeth. The gear reduction mechanism includes a second reduction gear 121. The outside of the second reduction gear 121 is respectively provided with teeth and a second link mechanism 122. The teeth of the second reduction gear 121 mesh with the teeth of the second driving motor 120. The first reduction gear 111 and the second reduction gear 121 are coaxially arranged facing each other, and the first reduction gear 111 is arranged close to the first driving motor 110, and the second reduction gear 121 is arranged close to the second driving motor 120. Among them, the second driving motor 120 is a high - torque density output motor, and the diameter of the second reduction gear 121 is greater than the diameter of the driving end of the second driving motor 120.

[0043] It should be noted that the first driving motor 110 and the second driving motor 120 are arranged facing each other. The first driving motor 110 and the second driving motor 120 cooperate with each other to drive the first reduction gear 111 and the second reduction gear 121 to rotate simultaneously, and drive the first link mechanism 112 and the second link mechanism 122 to move. The first link mechanism 112 and the second link mechanism 122 cooperate with each other to control the chucks respectively connected to the first link mechanism 112 and the second link mechanism 122 to clamp an object.

[0044] In this embodiment, the first driving motor 110 and the second driving motor 120 are the same type of motor, that is, the driving mode of the second driving motor 120 is also a collimation drive. The distance from the end of the second link mechanism 122 to the center of the second reduction gear 121 is greater than the distance from the teeth provided on the outer side of the second reduction gear 121 to the center of the second reduction gear 121. The second reduction gear 121 is also a low reduction ratio reduction gear.

[0045] Refer to Figure 2 , it can be understood that the driving mode between the first driving motor 110 and the second driving motor 120 is a parallel drive.

[0046] It should be noted that the first driving motor 110 and the second driving motor 120 drive the first link mechanism 112 and the second link mechanism 122 to move simultaneously through the parallel drive mode, that is, the movement directions of the first link mechanism 112 and the second link mechanism 122 can be the same or different. When it is necessary to increase or decrease the height of the chuck connected to the ends of the first link mechanism 112 and the second link mechanism 122, the first driving motor 110 and the second driving motor 120 drive the first link mechanism 112 and the second link mechanism 122 to move in the same direction simultaneously; when it is necessary to control the opening and closing movement of the chuck in the horizontal direction with another chuck, the first driving motor 110 and the second driving motor 120 drive the first link mechanism 112 and the second link mechanism 122 to move in the opposite direction simultaneously.

[0047] It can be understood that both the first driving motor 110 and the second driving motor 120 measure torque through a current loop.

[0048] It should be noted that the torque measurement method of the high reduction ratio scheme with integrated force sensing is based on the strain gauge dynamometer principle, and the torque measurement method of the series elastic drive scheme is based on the principle of dual encoders; while in the present application, the first driving motor 110 and the second driving motor 120 measure torque through current loops respectively, and no additional sensors are required for torque measurement.

[0049] Refer to Figure 3 and Figure 4, it can be understood that the manipulator 100 further includes a housing 130. The driving ends of the first driving motor 110 and the second driving motor 120 respectively pass through the two inner side walls of the inner cavity of the housing 130, and the first driving motor 110 and the second driving motor 120 are arranged facing each other. The first reduction gear 111 and the second reduction gear 121 are respectively arranged facing each other on the two sides of the inner wall of the housing 130.

[0050] It should be noted that the driving end of the second driving motor 120 is the second driving end 125. The bottoms of the first driving motor 110 and the second driving motor 120 are respectively arranged on the outer walls of the two sides of the housing 130, that is, the first driving motor 110 and the second driving motor 120 are arranged on the same plane. Specifically, the first driving motor 110 and the second driving motor 120 are arranged on the same horizontal line, and the first driving motor 110 and the second driving motor 120 are arranged in the same housing 130, which is convenient for subsequent management and use of each manipulator 100.

[0051] Refer to Figures 1 to 3 , it can be understood that the housing 130 is provided with a first fixing plate member 113 corresponding to the first reduction gear 111 on the outer side wall corresponding to the first driving motor 110, and the housing 130 is provided with a second fixing plate member 123 corresponding to the second reduction gear 121 on the outer side wall corresponding to the second driving motor 120. The first reduction gear 111 and the second reduction gear 121 are arranged between the first fixing plate member 113 and the second fixing plate member 123, and the first reduction gear 111 is arranged close to the first fixing plate member 113, and the second reduction gear 121 is arranged close to the second fixing plate member 123.

[0052] It should be noted that the first reduction gear 111 and the second reduction gear 121 are arranged facing each other on the two sides of the inner wall of the housing 130. The placement positions of the first reduction gear 111 and the second reduction gear 121 may affect the position fixing effect of the first reduction gear 111 and the second reduction gear 121. The positions of the first reduction gear 111 and the second reduction gear 121 are limited by the first fixing plate member 113 and the second fixing plate member 123.

[0053] Refer to Figure 1 and Figure 2 , it can be understood that the manipulator 100 further includes a connecting shaft 126. The first fixing plate member 113, the second fixing plate member 123, the first reduction gear 111 and the second reduction gear 121 respectively pass through the connecting shaft 126, and the first fixing plate member 113 and the second fixing plate member 123 are arranged at both ends of the connecting shaft 126.

[0054] It should be noted that the first reduction gear 111 and the second reduction gear 121 are coaxially arranged facing each other through a connecting shaft 126. The first fixing plate member 113 and the second fixing plate member 123 are respectively arranged at both ends of the connecting shaft 126, so that the limiting effect of the first fixing plate member 113 and the second fixing plate member 123 on the positions of the first reduction gear 111 and the second reduction gear 121 is better.

[0055] Referring to Figures 1 to 4 , it can be understood that the manipulator 100 further includes a first control device 114 and a second control device 124. Both the first control device 114 and the second control device 124 are disposed on the connecting shaft 126. The first control device 114 is disposed between the first fixing plate member 113 and the first reduction gear 111 and is connected to the first driving motor 110. The first control device 114 is used to control the start-stop state and rotation direction of the first driving motor 110; the second control device 124 is disposed between the second fixing plate member 123 and the second reduction gear 121 and is connected to the second driving motor 120. The second control device 124 is used to control the start-stop state and rotation direction of the second driving motor 120.

[0056] It should be noted that the first control device 114 and the second control device 124 respectively control the start-stop state, same-direction movement or reverse movement of the first driving motor 110 and the second driving motor 120 at the same time, and then drive the first link mechanism 112 and the second link mechanism 122 to move in the same direction or in the opposite direction.

[0057] Referring to Figure 3 and Figure 4 , it can be understood that the manipulator 100 further includes a clamping mechanism 170. The clamping mechanism 170 is movably connected to the first link mechanism 112 and the second link mechanism 122 respectively. The first driving motor 110 and the second driving motor 120 are used to drive the first link mechanism 112 and the second link mechanism 122 to move to drive the clamping mechanism 170 to move.

[0058] In some embodiments, referring to Figure 4 , a third link mechanism is movably connected to the end of the first link mechanism 112. One side of the clamping mechanism 170 is movably connected to the end of the second link mechanism 122. The middle of the clamping structure is movably connected to the end of the third link mechanism. A chuck is provided at the end of the clamping mechanism 170. In other embodiments, one side of the clamping mechanism 170 is movably connected to the end of the second link mechanism 122. The middle of the clamping structure is movably connected to the end of the first link mechanism 112. A chuck is provided at the end of the clamping mechanism 170. By providing the clamping mechanism 170, an object can be grasped.

[0059] Referring to Figures 2 to 4, it can be understood that there are two driving components, and the driving directions of the two driving components are opposite. The number of the gear reduction mechanism and the clamping mechanism 170 both corresponds to the number of the driving components. The two driving components are used to drive the ends of the two clamping mechanisms 170 to approach or move away from each other.

[0060] It should be noted that by controlling the start of the four driving motors of the two driving components, the ends of the two clamping mechanisms 170 approach each other to clamp a specified object. After clamping the specified object, power is continuously supplied to the driving motors so that the clamping mechanism 170 maintains the clamping force on the specified object.

[0061] Refer to Figures 2 to 4 , it can be understood that the two driving components are respectively a first driving component and a second driving component. The first driving component includes a first driving motor 110 and a second driving motor 120, and the second driving component includes a third driving motor 140 and a fourth driving motor 150. The bottoms of the first driving motor 110 and the third driving motor 140, and the second driving motor 120 and the fourth driving motor 150 are respectively arranged on the same side inner wall of the housing 130. The bottoms of the first driving motor 110 and the second driving motor 120, and the third driving motor 140 and the fourth driving motor 150 are respectively arranged opposite to each other on both sides of the inner wall of the housing 130. The driving directions of the first driving motor 110 and the third driving motor 140 are opposite, and the driving directions of the second driving motor 120 and the fourth driving motor 150 are opposite.

[0062] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0063] The above is the preferred implementation manner of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present application.

[0064] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A manipulator, characterized in that, Comprising: A driving assembly, including a first driving motor, a gear tooth is provided at the driving end of the first driving motor, wherein, the first driving motor is a high torque density output motor; A gear reduction mechanism, including a first reduction gear, a gear tooth and a first link mechanism are respectively provided on the outer side of the first reduction gear, the gear tooth of the first reduction gear meshes with the gear tooth of the first driving motor, and the first reduction gear is used to reduce the rotational speed of the first driving motor and transmit it to the first link mechanism; wherein, the diameter of the first reduction gear is larger than the diameter of the driving end of the first driving motor; The driving assembly further includes a second driving motor, a gear tooth is provided at the driving end of the second driving motor, the gear reduction mechanism includes a second reduction gear, a gear tooth and a second link mechanism are respectively provided on the outer side of the second reduction gear, and the gear tooth of the second reduction gear meshes with the gear tooth of the second driving motor; the first reduction gear and the second reduction gear are coaxially arranged facing each other, and the first reduction gear is arranged close to the first driving motor, and the second reduction gear is arranged close to the second driving motor, wherein, the second driving motor is a high torque density output motor, and the diameter of the second reduction gear is larger than the diameter of the driving end of the second driving motor; The manipulator further includes a clamping mechanism, and the clamping mechanism is movably connected to the first link mechanism and the second link mechanism respectively, and the first driving motor and the second driving motor are used to drive the first link mechanism and the second link mechanism to move so as to drive the clamping mechanism to move.

2. The manipulator according to claim 1, characterized in that, The driving mode between the first driving motor and the second driving motor is parallel driving.

3. The manipulator according to claim 1, characterized in that, Both the first driving motor and the second driving motor measure torque through a current loop.

4. The manipulator according to claim 1, characterized in that, The manipulator further includes a housing, the driving ends of the first driving motor and the second driving motor respectively penetrate through the inner walls on both sides of the inner cavity of the housing, and the first driving motor and the second driving motor are arranged facing each other, and the first reduction gear and the second reduction gear are arranged facing each other on both sides of the inner wall of the housing.

5. The manipulator according to claim 4, wherein A first fixing plate member corresponding to the first reduction gear is provided on the outer wall of the housing corresponding to the first driving motor, a second fixing plate member corresponding to the second reduction gear is provided on the outer wall of the housing corresponding to the second driving motor, the first reduction gear and the second reduction gear are arranged between the first fixing plate member and the second fixing plate member, and the first reduction gear is arranged close to the first fixing plate member, and the second reduction gear is arranged close to the second fixing plate member.

6. The manipulator according to claim 5, characterized in that, The manipulator further includes a connecting shaft, the first fixing plate member, the second fixing plate member, the first reduction gear and the second reduction gear respectively penetrate through the connecting shaft, and the first fixing plate member and the second fixing plate member are arranged at both ends of the connecting shaft.

7. The manipulator according to claim 6, wherein The manipulator further includes a first control device and a second control device. Both the first control device and the second control device are disposed through the connecting shaft. The first control device is disposed between the first fixing plate member and the first reduction gear and is connected to the first driving motor. The first control device is used to control the start-stop state and rotation direction of the first driving motor. The second control device is disposed between the second fixing plate member and the second reduction gear and is connected to the second driving motor. The second control device is used to control the start-stop state and rotation direction of the second driving motor.

8. The manipulator according to claim 1, wherein There are two driving components, and the driving directions of the two driving components are opposite. The number of the gear reduction mechanisms and the clamping mechanisms both corresponds to the number of the driving components. The two driving components are used to drive the ends of the two clamping mechanisms to approach or separate from each other.

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