Human-shaped five-finger manipulator

Abstract

The invention belongs to the technical field of manipulators, and relates to a human-shaped five-finger manipulator. The mechanical arm comprises a palm and five finger assemblies, the palm is connected with the mechanical arm, and a first air bag is arranged on the palm; each finger assembly comprises a plurality of finger joints, the palm is connected with a connecting piece, one end of each finger assembly is rotationally connected with the connecting piece, and the finger joints in the finger assemblies are rotationally connected in sequence; a fireproof layer is arranged on each finger joint, and a first limiting assembly is arranged between each fireproof layer and the corresponding finger joint; second air bags are arranged on the sides, away from the knuckles, of the fireproof layers. When the flexible object is grabbed, the first air bag and the second air bag make contact with the flexible object, the flexible object is protected, and the flexible object is prevented from being damaged due to too large clamping force. When a hard object or a high-temperature object is grabbed, the palm is covered with the fireproof layer, the first air bag and the second air bag are located between the palm and the fireproof layer, and the first air bag and the second air bag are protected.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators and relates to a humanoid five-finger manipulator. Background Art

[0002] A robot arm is an automated device that can imitate the movements of human hands and is widely used in industrial production, medical surgery, scientific research and exploration.

[0003] The patent document with the publication number CN102085661A discloses a fully-driven dexterous manipulator, which includes a palm, four fingers and a thumb, and the thumb and four fingers each include an upper finger joint, a middle finger joint, a lower finger joint and a base joint. The five fingers respectively constitute three active bending degrees of freedom and one active side swing degree of freedom; there are a total of twenty active degrees of freedom, which improves the dexterity and grasping stability of the manipulator and increases the grasping space of the manipulator.

[0004] However, when the above-mentioned manipulator is used, when grasping a flexible object, the flexible object is easily damaged due to the large clamping force.

[0005] In order to solve the above problems, the present invention proposes a humanoid five-finger manipulator. Summary of the invention

[0006] In order to solve the problems existing in the background technology, the present invention proposes a humanoid five-finger manipulator.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A humanoid five-finger manipulator comprises a palm and five finger components, wherein a first air bag is arranged on the palm;

[0009] Each finger assembly includes a plurality of finger joints, the palm is connected to a connecting piece, one end of the finger assembly is rotatably connected to the connecting piece, and the plurality of finger joints in the finger assembly are rotatably connected in sequence; a fireproof layer is provided on each finger joint, and a first limit assembly is provided between the fireproof layer and the corresponding finger joint; on a finger assembly, a second limit assembly is provided between two adjacent fireproof layers, a third limit assembly is provided between the connecting piece and the adjacent fireproof layer, and the third limit assembly is rotatably connected to the connecting piece; a second air bag is provided on the side of the fireproof layer away from the finger joint;

[0010] Release the limitation of the fireproof layer by the first limiting component, connect the adjacent fireproof layers through the second limiting component, connect the connecting piece to the corresponding fireproof layer through the third limiting component, and then flip the third limiting component to make the fireproof layer cover the palm.

[0011] Furthermore, the connecting member includes a connecting block and a fixed block, the fixed block is fixedly connected to the palm, the connecting block is connected to the fixed block, the finger assembly is rotatably connected to the connecting block; and the third limiting assembly is rotatably connected to the fixed block.

[0012] Furthermore, among the multiple finger assemblies, one is a thumb assembly, which includes two finger joints, and the remaining four are front finger assemblies, each of which includes three finger joints.

[0013] Furthermore, the connecting block and the fixing block in the connecting piece corresponding to the thumb assembly are rotatably connected.

[0014] Furthermore, the first limiting assembly includes a first electromagnet and a first iron block, a first sliding groove is opened on the finger joint, the first iron block is slidably arranged in the first sliding groove, and a spring is fixedly connected between the first iron block and the end wall of the first sliding groove, a second sliding groove is opened on the side of the fireproof layer close to the finger joint, the first electromagnet is fixed in the second sliding groove, and the first electromagnet and the first iron block are adsorbed and matched.

[0015] Furthermore, the second limiting assembly includes a first electric telescopic rod, a second electromagnet and a second iron block; one of the two adjacent fireproof layers is provided with a first receiving groove, the first electric telescopic rod is fixed in the first receiving groove, the second electromagnet is fixed to the telescopic end of the first electric telescopic rod, and the other fireproof layer is provided with a second receiving groove, the second iron block is fixed in the second receiving groove; the first electric telescopic rod is extended, so that the second electromagnet extends into the second receiving groove and is magnetically connected to the second iron block, and then the first electric telescopic rod is shortened, thereby bringing the two adjacent fireproof layers closer to each other.

[0016] Furthermore, the third limiting assembly includes a multi-stage electric telescopic rod, a third electromagnet and a third iron block. The multi-stage electric telescopic rod is rotatably connected to the fixed block. The third electromagnet is installed at the telescopic end of the multi-stage electric telescopic rod. A third storage groove is opened on the fireproof layer adjacent to the connecting piece. The third iron block is arranged in the third storage groove. The multi-stage electric telescopic rod is extended so that the third electromagnet extends into the third storage groove, thereby making the third electromagnet magnetically connected to the third iron block.

[0017] Furthermore, a rotating shaft is rotatably mounted on the fixed block, one end of the multi-stage electric telescopic rod away from the third electromagnet is fixedly connected to the rotating shaft, and a seventh motor for driving the rotating shaft to rotate is mounted on the fixed block.

[0018] Compared with the prior art, the present invention has the following beneficial effects: the manipulator has strong adaptability and can be used to grasp flexible objects, hard objects and high-temperature objects.

[0019] When grabbing a flexible object, under the action of the first limiting component, the fireproof layer and the finger joint are connected, and the first airbag and the second airbag are in contact with the flexible object to protect the flexible object and prevent the flexible object from being damaged due to excessive clamping force.

[0020] When grasping a hard object or a high-temperature object, the fireproof layer covers the palm, and the first airbag and the second airbag are located between the palm and the fireproof layer, protecting the first airbag and the second airbag from damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 is a schematic structural diagram of the front finger assembly of the present invention;

[0023] Figure 3 The present invention Figure 2 A magnified view of part A;

[0024] Figure 4 is a cross-sectional view of the first fixing block in the present invention;

[0025] Figure 5 is a schematic structural diagram of the second limiting assembly of the present invention;

[0026] Figure 6 is a cross-sectional view of the thumb assembly of the present invention;

[0027] Figure 7 is a schematic diagram of the connection between the first thumb joint and the second thumb joint of the present invention;

[0028] Figure 8 is a schematic structural diagram of the finger assembly of the present invention when it is in a straightened state;

[0029] Fig. 9 This is a schematic diagram of a state where the fireproof layer in the present invention covers the palm;

[0030] Fig.10 is a cross-sectional view of the fireproof layer covering the palm of the hand in the present invention;

[0031] Fig.11 The present invention Fig.10 Enlarged view of part B.

[0032] In the figure: 1, palm; 2, first airbag; 3, first connecting block; 4, first finger joint; 5, second finger joint; 6, third finger joint; 7, second airbag; 8, fireproof layer; 9, first thumb joint; 10, second thumb joint; 11, first fixed block; 12, multi-stage electric telescopic rod; 13, third electromagnet; 14, first motor; 15, second motor; 16, third motor; 17, first electromagnet; 18, first iron block; 19, spring; 20, first sliding groove; 21, rotating shaft; 22, third iron block; 23, first electric telescopic rod; 24, second fixed block; 25, fourth motor; 26, second connecting block; 27, fifth motor; 28, sixth motor; 29, third storage slot; 30, seventh motor; 31, mounting block; 32, second electromagnet; 33, second iron block. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] like Figure 1-Figure 11 As shown, the technical solution adopted by the present invention is as follows: a humanoid five-finger manipulator, including a palm 1 and five finger assemblies, the palm 1 is connected to the manipulator arm, and a first airbag 2 is arranged on the palm 1, and the first airbag 2 has a protective effect on the grasped object.

[0035] The finger assembly is connected to the palm 1 through a connecting piece. In this embodiment, one of the five finger assemblies is a thumb assembly, which includes two finger joints, and the other four are front finger assemblies. Each of the four front finger assemblies includes three finger joints.

[0036] Each finger assembly includes a finger joint, each finger joint is provided with a fireproof layer 8, a first limit assembly is provided between the fireproof layer 8 and the corresponding finger joint, and the fireproof layer 8 is installed on the finger joint through the first limit assembly. A second airbag 7 is fixedly provided on the side of the fireproof layer 8 away from the finger joint.

[0037] The first limiting assembly includes a first electromagnet 17 and a first iron block 18. A first sliding groove 20 is provided on the finger joint. The first iron block 18 is slidably arranged in the first sliding groove 20. A spring 19 is fixedly connected between the first iron block 18 and the end wall of the first sliding groove 20. A second sliding groove is provided on the side of the fireproof layer 8 close to the finger joint. The first electromagnet 17 is fixed in the second sliding groove. The first electromagnet 17 and the first iron block 18 are adsorbed and matched. When the first electromagnet 17 is powered on, the first electromagnet 17 adsorbs the first iron block 18, and the upper end of the first iron block 18 extends into the second sliding groove, that is, the upper part of the first iron block 18 is located in the second sliding groove, and the lower part of the first iron block 18 is located in the first sliding groove 20. The first iron block 18 connects the fireproof layer 8 and the finger joint together. When the first electromagnet 17 is powered off, under the action of the spring 19, the first iron block 18 retracts into the first sliding groove 20, thereby releasing the limiting between the fireproof layer 8 and the finger joint.

[0038] On a finger assembly, a second limiting assembly is arranged between adjacent fireproof layers 8. The second limiting assembly includes a first electric telescopic rod 23, a second electromagnet 32, and a second iron block 33. Among the two adjacent fireproof layers 8, a first receiving groove is provided on one of the fireproof layers 8, the first electric telescopic rod 23 is fixed in the first receiving groove, and the second electromagnet 32 ​​is fixed at the telescopic end of the first electric telescopic rod 23, and a second receiving groove is provided on the other fireproof layer 8, and the second iron block 33 is fixed in the second receiving groove. When two adjacent finger joints are in a straight line, the second electromagnet 32 ​​is opposite to the second iron block 33, so that the first electric telescopic rod 23 is extended, so that the second electromagnet 32 ​​extends into the second receiving groove and is magnetically connected to the second iron block 33, and then the first electric telescopic rod 23 is shortened, so that the two adjacent fireproof layers 8 are brought closer to each other.

[0039] The connecting piece includes a connecting block and a fixing block. The fixing block is fixedly connected to the palm 1, the connecting block is connected to the fixing block, and the finger assembly is rotatably connected to the connecting block.

[0040] The two finger joints of the thumb assembly are the first thumb joint 9 and the second thumb joint 10. The palm 1 is fixedly connected to the second fixing block 24, the second fixing block 24 is rotatably connected to the second connecting block 26, and the second connecting block 26 is rotatably connected to the first thumb joint 9. The second thumb joint 10 is rotatably connected to the first thumb joint 9. Figure 6 , 7As shown, a mounting groove is provided on the second fixed block 24, and a fourth motor 25 is fixedly installed in the mounting groove, and the motor shaft of the fourth motor 25 is fixedly connected to the second connecting block 26. A fifth motor 27 is fixedly installed on the second connecting block 26, and the motor shaft of the fifth motor 27 is fixedly connected to the first thumb joint 9. A sixth motor 28 is fixedly installed at one end of the first thumb joint 9, and the motor shaft of the sixth motor 28 is fixedly connected to the second thumb joint 10. The motor shafts of the fifth motor 27 and the sixth motor 28 are parallel to each other. The motor shaft of the fourth motor 25 is perpendicular to the motor shaft of the fifth motor 27.

[0041] The three finger joints of the front finger assembly are respectively the first finger joint 4, the second finger joint 5 and the third finger joint 6. The palm 1 is fixedly connected with the first connecting block 3, and the first connecting block 3 is fixedly connected with the first fixing block 11. The first motor 14 is fixedly mounted on the first connecting block 3, and the motor shaft of the first motor 14 is fixedly connected to the first finger joint 4. The second motor 15 is fixedly mounted on the end of the first finger joint 4 away from the first connecting block 3, and the motor shaft of the second motor 15 is fixedly connected to the second finger joint 5. The third motor 16 is fixedly mounted on the end of the second finger joint 5 away from the first finger joint 4, and the motor shaft of the third motor 16 is fixedly connected to the third finger joint 6.

[0042] In each finger assembly, a third limit assembly is provided between the connecting piece and the adjacent fireproof layer 8. The third limit assembly includes a multi-stage electric telescopic rod 12, a third electromagnet 13 and a third iron block 22. The multi-stage electric telescopic rod 12 is rotatably connected to the fixed block, the third electromagnet 13 is installed at the telescopic end of the multi-stage electric telescopic rod 12, a third receiving groove 29 is provided on the fireproof layer 8 adjacent to the connecting piece, and the third iron block 22 is arranged in the third receiving groove 29. The multi-stage electric telescopic rod 12 is extended so that the third electromagnet 13 extends into the third receiving groove 29, thereby making the third electromagnet 13 magnetically connected to the third iron block 22. A rotating shaft 21 is rotatably installed on the fixed block, and a seventh motor 30 is fixedly installed, and the motor shaft of the seventh motor 30 is fixedly connected to the rotating shaft 21. The axis of the rotating shaft 21 is parallel to the axis of the first motor 14. A mounting block 31 is fixedly installed on the rotating shaft 21, and the multi-stage electric telescopic rod 12 is fixedly connected to the mounting block 31.

[0043] The finger joints and the fireproof layer 8 are both made of high temperature resistant materials.

[0044] Working principle: Initially, the second electromagnet 32 ​​is in the first storage slot, the multi-stage electric telescopic rod 12 is in a shortened state, and the third electromagnet 13 and the second electromagnet 32 ​​are in a power-off state. The first electromagnet 17 is in a power-on state, and the first iron block 18 and the first electromagnet 17 are attracted together. The second airbag 7 covers the fireproof layer 8. There is a gap between adjacent fireproof layers 8.

[0045] When a flexible object needs to be grasped, the palm 1 is mounted on the robot arm, and then the palm 1 is placed above the object to be grasped, and then the front finger assembly is gradually bent and brought close to the object to be grasped by the first motor 14, the second motor 15 and the third motor 16. At the same time, the angle of the thumb assembly is adjusted by the fourth motor 25, and then the thumb assembly is gradually brought close to the object to be grasped by the fifth motor 27 and the sixth motor 28. Then the palm 1 and the finger assembly grasp the object, and the first airbag 2 and the second airbag 7 are in contact with the object, which has a protective effect on the grasped object and prevents the object from being damaged.

[0046] When a hard object or a high-temperature object needs to be grasped, the hard object or the high-temperature object is easy to damage the first airbag 2 and the second airbag 7. The thumb assembly and the front finger assembly are both in a straight state, that is, the second fixing block 24, the second connecting block 26, the first thumb joint 9 and the second thumb joint 10 are in a straight line. The first connecting block 3, the first finger joint 4, the second finger joint 5 and the third motor 16 are in a straight line.

[0047] Then the first electromagnet 17 is powered off, and the second electromagnet 32 ​​and the third electromagnet 13 are powered on. After the first electromagnet 17 is powered off, under the action of the spring 19, the first iron block 18 retracts into the first sliding groove 20, thereby releasing the limit between the fireproof layer 8 and the finger joint. Then the first electric telescopic rod 23 is extended, the second electromagnet 32 ​​extends into the second storage groove, the second electromagnet 32 ​​contacts the second iron block 33, and the second electromagnet 32 ​​and the second iron block 33 are sucked together. The multi-stage electric telescopic rod 12 is extended, the third electromagnet 13 extends into the third storage groove 29, the third electromagnet 13 contacts the third iron block 22, and the third electromagnet 13 and the third iron block 22 are sucked together. Then the multi-stage electric telescopic rod 12 and the first electric telescopic rod 23 are shortened. On a finger assembly, adjacent fireproof layers 8 gradually approach until they are close to each other, and multiple fireproof layers 8 are connected as a whole, and the fireproof layer 8 adjacent to the connecting block moves a certain distance in the direction close to the fixed block. Then the seventh motor 30 is started, and the seventh motor 30 drives the multi-stage electric telescopic rod 12 to flip 180 degrees, so that the fireproof layer 8 covers the palm 1. At this time, the first airbag 2 and the second airbag 7 are between the palm 1 and the fireproof layer 8, protecting the first airbag 2 and the second airbag 7. The fireproof layer 8 has a heat insulation effect, so that when grasping hard objects or high-temperature objects, the first airbag 2 and the second airbag 7 will not be damaged. The adaptability of the manipulator is improved.

[0048] When the fireproof layer 8 needs to be returned to the initial position, the finger assembly is in a straight state, that is, the second fixed block 24, the second connecting block 26, the first thumb joint 9 and the second thumb joint 10 are in a straight line. The first connecting block 3, the first finger joint 4, the second finger joint 5 and the third motor 16 are in a straight line. Then the seventh motor 30 is started to turn the multi-stage electric telescopic rod 12 around the rotating shaft 21 by 180 degrees. Then the multi-stage electric telescopic rod 12 and the first electric telescopic rod 23 are extended, and the fireproof layer 8 adjacent to the multi-stage electric telescopic rod 12 moves away from the fixed block, and the adjacent fireproof layers 8 gradually move away until the fireproof layer 8 returns to the initial position, at which time the second sliding groove is opposite to the corresponding first sliding groove 20. Then the third electromagnet 13 and the second electromagnet 32 ​​are powered off, and the first electromagnet 17 is powered on. After the first electromagnet 17 is energized, the first electromagnet 17 absorbs the first iron block 18, causing the first iron block 18 to move into the second sliding groove until the first electromagnet 17 and the first iron block 18 are attracted together, and the first iron block 18 is stuck between the first sliding groove 20 and the second sliding groove, so that the fireproof layer 8 and the finger joint are connected together. Then the first electric telescopic rod 23 and the multi-stage electric telescopic rod 12 are shortened, and the second electromagnet 32 ​​and the third electromagnet 13 are returned to the initial position.

[0049] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A humanoid five-finger manipulator, characterized in that: It comprises a palm (1) and five finger components, wherein a first air bag (2) is arranged on the palm (1); Each finger assembly comprises a plurality of finger joints, the palm (1) is connected to a connecting piece, one end of the finger assembly is rotatably connected to the connecting piece, and the plurality of finger joints in the finger assembly are rotatably connected in sequence; a fireproof layer (8) is provided on each finger joint, and a first limit assembly is provided between the fireproof layer (8) and the corresponding finger joint; on a finger assembly, a second limit assembly is provided between two adjacent fireproof layers (8), a third limit assembly is provided between the connecting piece and the adjacent fireproof layer (8), and the third limit assembly is rotatably connected to the connecting piece; a second air bag (7) is provided on the side of the fireproof layer (8) away from the finger joint; The first limiting component releases the fireproof layer (8) from limiting the position, the adjacent fireproof layers (8) are connected via the second limiting component, the connecting piece is connected to the corresponding fireproof layer (8) via the third limiting component, and then the third limiting component is turned 180 degrees, so that the fireproof layer (8) covers the palm (1).

2. A humanoid five-finger manipulator according to claim 1, characterized in that: The connecting member comprises a connecting block and a fixing block, the fixing block is fixedly connected to the palm (1), the connecting block is connected to the fixing block, the finger assembly is rotatably connected to the connecting block; and the third limiting assembly is rotatably connected to the fixing block.

3. The humanoid five-finger manipulator according to claim 2, characterized in that: Among the multiple finger assemblies, one is a thumb assembly, which includes two finger joints, and the remaining four are front finger assemblies, each of which includes three finger joints.

4. The humanoid five-finger manipulator according to claim 3, characterized in that: The connecting block in the connecting piece corresponding to the thumb assembly is rotatably connected with the fixing block.

5. The humanoid five-finger manipulator according to claim 1, characterized in that: The first limit assembly comprises a first electromagnet (17) and a first iron block (18); a first sliding groove (20) is provided on the finger joint, the first iron block (18) is slidably arranged in the first sliding groove (20), and a spring (19) is fixedly connected between the first iron block (18) and the end wall of the first sliding groove (20); a second sliding groove is provided on the side of the fireproof layer (8) close to the finger joint, the first electromagnet (17) is fixedly arranged in the second sliding groove, and the first electromagnet (17) and the first iron block (18) are adsorbed and matched.

6. The humanoid five-finger manipulator according to claim 1, characterized in that: The second limiting assembly comprises a first electric telescopic rod (23), a second electromagnet (32) and a second iron block (33); one of the two adjacent fireproof layers (8) is provided with a first receiving groove, the first electric telescopic rod (23) is fixed in the first receiving groove, the second electromagnet (32) is fixed at the telescopic end of the first electric telescopic rod (23), and the other fireproof layer (8) is provided with a second receiving groove, the second iron block (33) is fixed in the second receiving groove; the first electric telescopic rod (23) is extended, so that the second electromagnet (32) extends into the second receiving groove and is magnetically connected to the second iron block (33), and then the first electric telescopic rod (23) is shortened, thereby bringing the two adjacent fireproof layers (8) closer to each other.

7. The humanoid five-finger manipulator according to claim 2, characterized in that: The third limiting assembly comprises a multi-stage electric telescopic rod (12), a third electromagnet (13) and a third iron block (22); the multi-stage electric telescopic rod (12) is rotatably connected to the fixed block; the third electromagnet (13) is installed at the telescopic end of the multi-stage electric telescopic rod (12); a third receiving groove (29) is provided on the fireproof layer (8) adjacent to the connecting piece; the third iron block (22) is arranged in the third receiving groove (29); the multi-stage electric telescopic rod (12) is extended so that the third electromagnet (13) extends into the third receiving groove (29), thereby causing the third electromagnet (13) to be magnetically connected to the third iron block (22).

8. The humanoid five-finger manipulator according to claim 7, characterized in that: A rotating shaft (21) is rotatably mounted on the fixed block, one end of the multi-stage electric telescopic rod (12) away from the third electromagnet (13) is fixedly connected to the rotating shaft (21), and a seventh motor (30) for driving the rotating shaft (21) to rotate is mounted on the fixed block.

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