Finger module mounting structure and manipulator

Abstract

The invention discloses a finger module mounting structure and a manipulator. The manipulator can be a dexterous hand. The installation structure is arranged between a palm and a first finger and comprises a first sliding installation part arranged on the palm and a second sliding installation part arranged on the first finger, and the second sliding installation part is installed on the first sliding installation part in a sliding mode. A fixing structure used for limiting sliding of the second sliding installation part is arranged between the second sliding installation part and the first sliding installation part, and the circuit connecting structure is arranged between the palm and the first finger and used for connecting the second sliding installation part with the first finger when the second sliding installation part is installed on the first sliding installation part. The palm is electrically connected with the first finger. Compared with a mechanical arm structure capable of adjusting the number of the finger modules in the prior art, the mechanical arm structure capable of adjusting the number of the finger modules can automatically adjust the setting positions of the finger modules, is low in structural complexity and high in stability, and has the advantages of being low in use cost, convenient to install and use and the like.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a finger module installation structure and a robot. Background Art

[0002] With the development of robots, the end effectors that match the robots are grippers, manipulators, and dexterous hands. Dexterous hands are generally designed with a 5-finger structure similar to the structure of human hands. However, for different grasping targets, the 5-finger structure of the dexterous hand does not need to be used in full. For many working conditions, the 5-finger structure is redundant. In some cases, the use of all 5 fingers may even have a certain impact on the stability of the grasping target.

[0003] In the prior art, there are also some grippers, manipulators or dexterous hands that can freely increase or decrease the number of fingers, but the finger setting positions of these manipulators or dexterous hands are fixed, and the number of fingers can only be adjusted through simple disassembly and assembly. The position of the fingers cannot be adjusted according to actual needs, and therefore it is difficult to meet the requirements of more complex working environments. Summary of the invention

[0004] The embodiments of the present invention provide a finger module installation structure and a manipulator to solve the problem that the number of fingers and the finger position adjustment structure of the manipulator or dexterous hand in the prior art are difficult to meet the requirements of a complex working environment.

[0005] According to a first aspect of the present invention, there is provided a finger module installation structure, which is arranged between a palm and a first finger, and comprises a first sliding installation portion arranged on the palm and a second sliding installation portion arranged on the first finger, wherein the second sliding installation portion is slidably installed on the first sliding installation portion, the first sliding installation portion is used to install at least one first finger provided with the second sliding installation portion, and a fixing structure for limiting the sliding of the second sliding installation portion is arranged between the second sliding installation portion and the first sliding installation portion, It also includes a circuit connection structure arranged between the palm and the first finger, and the circuit connection structure is used to electrically connect the palm and the first finger when the second sliding mounting part is installed on the first sliding mounting part.

[0006] The finger module installation structure of the present invention realizes the installation between the first finger and the palm through the structure that can be relatively slidably installed between the first sliding installation part on the palm and the second sliding installation part on the first finger. At the same time, multiple detachable first fingers that need to be installed on the palm can be installed on the palm through the first sliding installation part, so that the number of first fingers installed on the palm can be adjusted according to actual needs. And because the second sliding installation part and the first sliding installation part slide relatively, when the number of first fingers is large, due to the limitation of the first sliding installation part, each first finger will be arranged adjacently so as to be installed in the most suitable working position, so that there is no need to adjust the installation position of the first finger, and it can be directly used normally; and when the number of first fingers is small, the first finger can slide on the first sliding installation part, so as to accurately adjust the first finger to the most suitable working position in the current working environment requirements, so that the overall manipulator can better adapt to the current working environment and meet the requirements of the working environment. Compared with the structure of the manipulator capable of adjusting the number of finger modules in the prior art, the finger module installation structure of the present invention can freely adjust the setting position of the finger module. At the same time, its structural complexity is low, its stability is high, and it has the advantages of low use cost and easy installation and use.

[0007] In some embodiments, the circuit connection structure includes a busbar plate disposed on the palm and a busbar disposed on the first finger, and when the second sliding mounting portion is mounted on the first sliding mounting portion, the busbar plate and the busbar are electrically connected.

[0008] Therefore, through such a setting, the circuit connection between the palm and the first finger can be realized by using the sliding contact line. When the first finger is slidably installed on the palm, the first finger and the palm can be connected to the circuit by using the sliding contact line. When multiple first fingers are installed on the palm, the circuit connection can also be realized through the sliding contact line. This can greatly simplify the complexity of the circuit connection between the first finger and the palm, effectively reduce the cost of use, and make installation more convenient.

[0009] In some embodiments, one of the first sliding mounting portion and the second sliding mounting portion is configured as a slideway, and the other is configured as a slider.

[0010] In some embodiments, a mounting opening for allowing a first finger to pass through is provided on one side of the palm, and the first end of the first sliding mounting portion extends to the mounting opening and is in communication with the mounting opening.

[0011] Thus, through such an arrangement, the first finger can slide the second sliding mounting portion onto the first sliding mounting portion through the mounting opening, so as to achieve mounting the first finger on the palm.

[0012] In some embodiments, the palm holder includes an upper palm shell and a lower palm shell, and the first sliding mounting portion is mounted on the inner side of the upper palm shell and / or the lower palm shell.

[0013] In some embodiments, the mounting opening includes a first notch disposed on the upper palm shell and / or a second notch disposed on the lower palm shell.

[0014] In some embodiments, the fixing structure includes a bar-shaped through groove arranged on the palm, a screw hole arranged on the first finger, and a fixing screw. The fixing screw passes through the bar-shaped through groove and is threadedly connected to the screw hole to abut against the palm, thereby limiting the sliding of the second sliding mounting part.

[0015] Therefore, by such an arrangement, the first finger can be clamped and fixed on the palm by using the fixing screw passing through the strip-shaped through slot, thereby limiting the sliding of the first finger and installing and fixing the first finger at a required position.

[0016] According to a second aspect of the present invention, there is provided a robot arm, comprising: The palm, used to connect with the limbs; at least one first finger, the first finger being detachably mounted on the palm; The finger module installation structure described in the first aspect is arranged between the palm and the first finger.

[0017] The manipulator of the present invention is provided with the finger module installation structure described in the first aspect above, so that the manipulator of the present invention can freely adjust the number of first fingers to be installed and the installation position of the first finger on the palm according to the actual working environment, and then flexibly increase the number of fingers to obtain a manipulator with more degrees of freedom, that is, a dexterous hand, so that the overall dexterous hand can meet the requirements of the current working environment. Or the number of fingers of the manipulator with many fingers of the present invention, that is, the dexterous hand, is reduced to a manipulator with fewer fingers and fewer degrees of freedom, such as a two-finger or three-finger gripper, so as to adapt to different industrial, agricultural, household and other scenarios. Compared with the structure of the manipulator that can adjust the number of finger modules in the prior art, the manipulator of the present invention can freely adjust the setting position of the finger module. At the same time, its structural complexity is high, stability is high, and it has the advantages of low use cost and convenient installation and use.

[0018] In some embodiments, a second finger is further included, wherein the working mode of the second finger is different from the working mode of the first finger, and the second finger is installed on one side of the first finger on the palm.

[0019] Therefore, through such a setting, the finger module of the overall robot is composed of a first finger and a second finger with different working modes. Since the setting position, movement mode and structure of the first finger that can be freely disassembled and adjusted in number and position are relatively similar, the number and types of finger modules of different functional types on the robot can be increased by additionally setting the second finger, so that the robot can better adapt to various different working environment requirements.

[0020] In some embodiments, the second finger is one of an index finger, a thumb, and a little finger.

[0021] Therefore, through such a setting, the second finger can be set as an index finger type finger module, a thumb type finger module or a little finger type finger module, thereby increasing the types of work that the robot can complete and meeting the needs of more different working environments.

[0022] In some embodiments, a third finger is further included, wherein the working mode of the third finger is different from the working mode of the first finger and the working mode of the second finger, and the third finger is arranged on a side of the second finger away from the first finger.

[0023] Therefore, through such a setting, the robot can further have a third finger with a working mode different from the first finger and the second finger, thereby further improving the types of work that the robot can complete and meeting the needs of more different working environments.

[0024] In some embodiments, the second finger is an index finger, and the third finger is a thumb.

[0025] Therefore, through such a setting, the second finger can be set as an index finger type finger, and the third finger can be set as a thumb type finger, thereby further improving the types of work that the robot can complete and meeting the needs of more different working environments.

[0026] In some embodiments, the second finger satisfies a yaw function.

[0027] Therefore, through such a setting, the second finger can be enabled to perform a lateral swinging action to improve the flexibility of the second finger, improve the flexibility of the overall manipulator, and increase the operation mode of the overall manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0029] Figure 1 It is a schematic diagram of the overall structure of the finger module installation structure according to one embodiment of the present invention; Figure 2 It is a structural schematic diagram of a portion of a finger module mounting structure disposed on a first finger according to an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a state where a manipulator according to an embodiment of the present invention is provided with two first fingers; Figure 4 It is a structural schematic diagram of a state where a manipulator according to an embodiment of the present invention is provided with three first fingers; Explanation of the reference numerals: 1. third finger; 2. second finger; 3. first finger; 3A. screw hole; 3B. second sliding mounting portion; 4. lower palm shell; 5. upper palm shell; 5A. first sliding mounting portion; 5B. strip-shaped through groove; 5C. first notch; 6. busbar; 7. fixing screw; 8. mounting port. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0031] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0032] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include" and "comprise" include not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such processes, methods, articles or equipment. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or equipment that includes the elements.

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0034] Figures 1 to 3The overall structure diagram of the finger module installation structure of one embodiment of the present invention is schematically shown. The finger module installation structure can be applied to various manipulators, bionic hands, and the connection between the finger module of the manipulator and the palm. Figure 1 As shown, the finger module installation structure of the present invention includes a first sliding installation part 5A arranged on the palm and a second sliding installation part 3B arranged on the first finger 3, and a circuit connection structure is also arranged between the palm and the first finger 3, so that when the first finger 3 is installed on the palm, the palm and the first finger 3 can be electrically connected through the circuit electrical connection structure. Specifically, the second sliding installation part 3B is arranged on the first finger 3, and is used to slide and install on the first sliding installation part 5A, so that the first finger 3 can slide freely on the palm along its sliding direction to adjust the installation position of the first finger 3 on the palm. The first sliding installation part 5A is arranged on the palm, and is used to install at least one first finger 3 provided with the second sliding installation part 3B. That is to say, by arranging the first sliding installation part 5A on the palm, multiple first fingers 3 can be installed on the palm according to actual conditions. At the same time, in order to fix the installation position of the first finger 3 installed on the palm, a fixing structure for limiting the sliding of the second sliding installation part 3B is also arranged between the second sliding installation part 3B and the first sliding installation part 5A.

[0035] As for the first sliding mounting part 5A provided on the palm and the second sliding mounting part 3B provided on the first finger 3, since the two are slidably connected, the first sliding mounting part 5A and the second sliding mounting part 3B can be set as a structure of a slideway and a slider to achieve a sliding connection between the two. Specifically, one of the first sliding mounting part 5A and the second sliding mounting part 3B can be set as a slideway, and the other can be set as a slider, so that the two can cooperate with each other to achieve mutual sliding. Among them, the cross-sectional shape of the slideway and the slider can be set as a commonly used regular shape such as a square, a triangle, a T-shape, etc., or can be designed as a special irregular graphic shape according to the coordination requirements between the structures, and the present invention does not limit this.

[0036] Since the first sliding mounting portion 5A is a structure for cooperating with the second sliding mounting portion 3B on the first finger 3 to mount the first finger 3 on the palm, and when multiple first fingers 3 need to be mounted, the second sliding mounting portions 3B of multiple first fingers 3 need to be mounted on the first sliding mounting portion 5A, the design of the first sliding mounting portion 5A will affect the mounting position of the first finger 3 after it is mounted on the palm. The first sliding mounting portion 5A can be set at a position reserved on the palm for mounting the first finger 3, such as inside the palm, and is set near the edge of the position where the first finger 3 on the palm extends, so that the first finger 3 can move freely after being mounted on the palm without affecting the movement of the first finger 3. The second sliding mounting portion 3B can be set on a joint segment on the first finger 3 that does not participate in the work, so as to avoid affecting the movement of the first finger 3 after the first finger 3 is mounted on the palm. The first sliding mounting portion 5A can be designed to be wavy, in which case the crest of the wave can be used as a marker of the working position of the first finger 3, or the height difference between the crest and the trough can be used to adjust the length of the first finger 3 installed on the palm extending out of the palm, so that the first finger 3 can be adjusted in a variety of different working positions. The first sliding mounting portion 5A can also be directly designed to be linear, in which case after the first finger 3 is installed on the palm, there is no need to consider the influence of the shape of the first sliding mounting portion 5A on the working state of the first finger 3, so that the first finger 3 can more conveniently adjust its installation position on the palm.

[0037] For example, refer to Figure 1 As shown, in Figure 1 In the illustrated embodiment, the first sliding mounting portion 5A provided on the palm is provided as a slide, and the second sliding mounting portion 3B provided on the first finger 3 is provided as a slider, and the cross-sections of the slide and the slider are both square. The first sliding mounting portion 5A is provided as a linear slide, which enables the first finger 3 to adjust its installation position on the palm at will without affecting the working condition of the first finger 3. The first sliding mounting portion 5A is provided on the inner side of the palm located at the upper end of the palm, so that after the first finger 3 is installed on the palm, each joint of the first finger 3 can extend out of the palm without affecting the movement of the first finger 3. In this embodiment, the first finger 3 has two working motion joints and one joint for installation, and the second sliding mounting portion 3B is provided on the joint of the first finger 3 for installation. In addition, referring to Figure 4As shown, in the present embodiment, the preset maximum number of first fingers 3 to be installed is three. At this time, the length of the first sliding mounting portion 5A corresponds to the second sliding mounting portion 3B on the three first fingers 3, so that after the three first fingers 3 are installed on the palm at the same time, the positions of the three first fingers 3 are all located at the optimal working positions on the palm, and the positions of each first finger 3 cannot be adjusted anymore. Such a design can facilitate the installation of the first fingers 3 of the manipulator using the first finger 3 installation structure of the present invention in the normal working state (all first fingers 3 are installed state), and can also make the manipulator more stable in the normal working state, and will not have a situation where the working stability becomes low due to the installation position error of the first finger 3.

[0038] As for the circuit connection structure provided between the palm and the first finger 3, it can be provided as a busbar 6 provided on the palm and a busbar provided on the first finger 3. Among them, the busbar 6 is a busbar connection plate structure for electrically connecting to the busbar collector on at least one first finger 3, and the busbar provided on the first finger 3 is a collector structure for connecting to the conductive rail on the busbar 6. At this time, by designing the position of the busbar 6 on the palm, after the first finger 3 is installed on the palm through the first sliding mounting part 5A and the second sliding mounting part 3B, the busbar on the first finger 3 can be electrically connected to the busbar 6 on the palm, thereby realizing a quick connection of the electrical connection between the first finger 3 and the palm. Similar to the first sliding mounting part 5A, the busbar 6 on the palm is used to install at least one first finger 3 provided with a busbar. That is to say, when the multiple first fingers 3 are installed on the palm, the busbars on the multiple first fingers 3 will be connected to the busbar board 6 arranged on the palm, so as to quickly complete the electrical connection between the multiple first fingers 3 and the palm.

[0039] For example, refer to Figure 1 As shown, in Figure 1 In the illustrated embodiment, the busbar 6 provided on the palm is located on the inner side of the palm, and is arranged in parallel with the first sliding mounting portion 5A, and has a length equivalent to that of the first sliding mounting portion 5A, so that when multiple first fingers 3 are installed on the palm, the multiple first fingers 3 can all be electrically connected to the palm through the busbar 6 and the busbar. The busbar is provided on the joint for installation on the first finger 3, and its position corresponds to that of the busbar 6 provided on the palm, so that when the first finger 3 is installed on the palm through the first sliding mounting portion 5A and the second sliding mounting portion 3B, the first finger 3 can be electrically connected to the palm.

[0040] For the installation of the first finger 3, a mounting opening 8 for sliding the first finger 3 into the palm can be provided on the palm. The mounting opening 8 is provided on one side of the palm and is connected to the inside of the palm. One end of the first sliding mounting portion 5A on the palm extends to the mounting opening 8 and is connected to the mounting opening 8, so that the first finger 3 can be directly installed into the palm through the mounting opening 8 to complete the installation of the first finger 3. It can be understood that since the first finger 3 needs to be installed into the palm through the mounting opening 8, the size of the mounting opening 8 should be at least consistent with the size of the joint for installation on the first finger 3, and slightly larger than the size of the joint for installation on the first finger 3, so that the first finger 3 can be smoothly installed into the palm through the mounting opening 8. The palm can specifically be composed of a palm upper shell 5 and a palm lower shell 4, so as to facilitate the observation and adjustment of the structure inside the palm. At this time, the installation opening 8 can be formed by the first notch 5C set on the palm upper shell 5, or by the second notch set on the palm lower shell 4. The installation opening 8 can also be set to be partially set on the palm upper shell 5 and partially set on the palm lower shell 4, that is, the installation opening 8 is formed by the first notch 5C and the second notch assembled together. Similarly, the first sliding installation part 5A on the palm can also be set on the palm upper shell 5, or on the palm lower shell 4, or can be set on both the palm upper shell 5 and the palm lower shell 4, so that two first sliding installation parts 5A are set on the palm.

[0041] For example, refer to Figure 1 and Figure 3 As shown, in Figure 1 and Figure 3 In the embodiment shown, the palm includes a palm upper shell 5 and a palm lower shell 4, the first sliding mounting portion 5A is arranged on the inner side of the palm upper shell 5, and the busbar 6 is also arranged on the inner side of the palm upper shell 5. The mounting opening 8 is arranged on Figure 3 The right side of the palm in the illustrated embodiment can, of course, also be set on the left side, and for a left hand, it can also be on the left or right side. A first notch 5C is provided on the upper palm shell 5, and a second notch is provided on the lower palm shell 4. When the upper palm shell 5 and the lower palm shell 4 are assembled and combined, a mounting opening 8 is formed on the right side of the palm. The size of the mounting opening 8 is equivalent to the size of the joint for mounting on the first finger 3 to be mounted on the palm. The first sliding mounting portion 5A extends to the first notch 5C to communicate with the outside of the palm, so that the first finger 3 can be directly mounted on the palm through the mounting opening 8.

[0042] The fixed structure provided between the second sliding mounting part 3B and the first sliding mounting part 5A needs to limit the second sliding mounting part 3B so that it cannot slide relative to the first sliding mounting part 5A, and then the fixed structure can limit the sliding of the second sliding mounting part 3B by abutting the first sliding mounting part 5A against the second sliding mounting part 3B through the structure between the two or by friction. The fixed structure can be designed as a fixed structure with step adjustment, or it can be set as a fixed structure with stepless adjustment. The fixed structure with step adjustment can be set to limit the sliding of the second sliding mounting part 3B by tooth meshing. In the tooth meshing mode, the denser the tooth, the finer the adjustment of the position of the first finger 3 on the palm can be. The fixed structure with stepless adjustment can be set to fit the first sliding mounting part 5A and the second sliding mounting part 3B against each other by screws to increase the friction between the two, thereby achieving stepless adjustment. Taking the fixed structure with stepless adjustment as an example, the fixed structure can be set to include a strip through groove 5B provided on the palm, a screw hole 3A provided on the first finger 3, and a fixing screw 7. The arrangement of the strip through slot 5B on the palm should correspond to the first sliding mounting portion 5A, such as the strip through slot 5B can be directly arranged on the first sliding mounting portion 5A, or can be arranged near the first sliding mounting portion 5A and arranged in parallel with the first sliding mounting portion 5A, so as to ensure that the second sliding mounting portion 3B on the first finger 3 can be seen outside the palm through the strip through slot 5B. The screw hole 3A can be arranged according to the position of the strip through slot 5B, such as when the strip through slot 5B can be directly arranged on the first sliding mounting portion 5A, the screw hole 3A can be arranged on the second sliding mounting portion 3B, and when the strip through slot 5B is arranged near the first sliding mounting portion 5A, the screw hole 3A can be arranged on the joint for installation on the first finger 3.

[0043] For example, refer to Figure 1 and Figure 2 As shown, in Figure 1 and Figure 2 In the illustrated embodiment, the strip-shaped through-slot 5B is provided on the first sliding mounting portion 5A on the palm upper shell 5, the strip-shaped through-slot 5B is provided as a waist-shaped slot, and the screw hole 3A is provided on the second sliding mounting portion 3B on the first finger 3. When the second sliding mounting portion 3B is installed on the first sliding mounting portion 5A, the screw hole 3A on the first finger 3 can be observed from the outside of the palm through the strip-shaped through-slot 5B. After the installation position of the first finger 3 on the palm is determined, it is only necessary to install the fixing screw 7 to the screw hole 3A so that the fixing screw 7 and the second sliding mounting portion 3B clamp the palm upper shell 5, thereby completing the restriction of the sliding of the second sliding mounting portion 3B.

[0044] When the finger module installation structure of the present invention is installed on the palm of the first finger 3, it is only necessary to align the second sliding installation part 3B on the first finger 3 with the first sliding installation part 5A of the installation opening 8 on the palm, so that the first finger 3 can be slid and installed on the palm, and the busbar on the first finger 3 is connected to the busbar board 6 on the palm, so that the first finger 3 is electrically connected to the palm. Finally, it is only necessary to tighten the fixing screw 7 to complete the installation of the first finger 3. When multiple first fingers 3 need to be set, it is only necessary to repeat the above steps to install multiple first fingers 3 in parallel on the palm. When the number of first fingers 3 is installed to the upper limit, the position of each first finger 3 will be located at the optimal working position, so there is no need to adjust the position of each first finger 3. When the number of first fingers 3 is less than the upper limit, each first finger 3 can slide on the first sliding installation part 5A through the second sliding installation part 3B to adjust the installation position of the first finger 3 on the palm. After adjusting the position of each first finger 3, it is only necessary to tighten the fixing screw 7 to complete the installation of the first finger 3.

[0045] The finger module installation structure of the present invention realizes the installation between the first finger 3 and the palm through the structure that can slide relatively between the first sliding installation part 5A on the palm and the second sliding installation part 3B on the first finger 3. At the same time, the multiple detachable first fingers 3 that need to be installed on the palm can be installed on the palm through the first sliding installation part 5A, so that the number of first fingers 3 installed on the palm can be adjusted according to the actual situation. And because the second sliding installation part 3B and the first sliding installation part 5A slide relatively, when the number of first fingers 3 is large, due to the limitation of the first sliding installation part 5A, each first finger 3 will be arranged adjacently so as to be installed in the most suitable working position, so that there is no need to adjust the installation position of the first finger 3, and it can be directly used normally; and when the number of first fingers 3 is small, the first finger 3 can slide on the first sliding installation part 5A, so as to accurately adjust the first finger 3 to the most suitable working position in the current working environment requirements, so that the overall manipulator can better adapt to the current working environment and meet the requirements of the working environment. Compared with the structure of the manipulator capable of adjusting the number of finger modules in the prior art, the finger module installation structure of the present invention can freely adjust the setting position of the finger module. At the same time, its structural complexity is low, its stability is high, and it has the advantages of low use cost and easy installation and use.

[0046] Figure 3 and Figure 4 The present invention schematically shows a manipulator according to an embodiment of the present invention, which can be used as a manipulator of various types of robots, especially a bionic robot. Figure 3 and Figure 4As shown, the dexterous hand of the present invention includes a palm and at least one first finger 3 detachably mounted on the palm. Among them, a finger module of the finger module mounting structure of any one of the above-mentioned embodiments is arranged between these first fingers 3 and the palm. Specifically, the number of first fingers 3 detachably mounted on the palm can be multiple, and since each first finger 3 is connected to the palm through the finger module mounting structure of the above-mentioned embodiment, the manipulator can adjust the number of first fingers 3 arranged on the palm according to actual needs, and adjust the installation position of each first finger 3 on the palm according to actual needs, and confirm the installation position of each first finger 3 on the palm according to the number of first fingers 3, so as to adapt to various different working environment requirements.

[0047] In addition, in some possible implementations, a second finger 2 may be provided on the palm, wherein the second finger 2 is a finger with a different working mode from the first finger 3. The difference in working modes mentioned here refers to the difference in the movement trajectory or movement mode that the finger can perform. The difference in working mode may be due to the different control strategies for controlling the movement of the finger, so that the two are not synchronized when working, and the movement trajectory is different, or it may be due to the different structures of the fingers that the two cannot achieve the same movement mode. It can be understood that the installation method and circuit connection method between each first finger 3 and the palm are the same, and the structure is also the same, so the movement trajectory and movement mode of these first fingers 3 are similar or even the same during actual working movement. Since the working mode of the second finger 2 is different from that of the first finger 3, by additionally adding the second finger 2, the operation mode of the finger module on the palm can be diversified, so that it can be more adapted to more different working scenarios.

[0048] It is understandable that the finger module installation structure described in any of the above embodiments may also be provided between the second finger 2 provided on the palm and the palm, but it should be noted that the finger module installation structure between the second finger 2 and the palm and the finger module installation structure between the first finger 3 and the palm support need to be set as different finger module installation structures to ensure that the working mode of the second finger 2 is different from the working mode of the first finger 3. In addition, there may be no finger module installation structure between the second finger 2 and the palm. In this case, the second finger 2 is a finger module installed on the palm that cannot be disassembled and the installation position cannot be adjusted at any time. The inability to disassemble and adjust the installation position at any time mentioned here does not mean that it cannot be disassembled and the installation position cannot be adjusted, but in general, the installation position of these finger modules on the palm is fixed, and these finger modules can only be disassembled or installed when the overall manipulator is disassembled or installed.

[0049] The number of second fingers 2 set on the palm may be only one or more, and they are set on one side of the first finger 3 on the palm. The specific setting position of the second finger 2 varies depending on whether the palm is the left hand palm or the right hand palm, or depending on the different finger types of the second finger 2. For example, the second finger 2 can be an index finger type finger module, a thumb type finger module, or a little finger type finger module, and then according to the type of the second finger 2, the second finger 2 will be set on different sides of the first finger 3 on the palm.

[0050] In some other possible implementations, a third finger 1 may be further provided on the palm, and the working mode of the third finger 1 is different from the working mode of the first finger 3 and the working mode of the second finger 2. This arrangement can further diversify the operation mode of the finger module on the palm, so that it can be more adaptable to more different work scenarios. Specifically, in this implementation, the third finger 1 is arranged on the side of the second finger 2 away from the first finger 3. For example, the second finger 2 can be an index finger type finger module, and the third finger 1 can be a thumb type finger module. With this design, a thumb type finger module can be added to further increase the operation mode of the finger module on the palm. The thumb type finger module is generally arranged on the side of the palm, which is completely different from the setting position of other finger modules, and then its movement mode will also be more different, which can greatly improve the flexibility of the overall manipulator and increase the operation mode of the overall manipulator. In this embodiment, the second finger 2 is an index finger type finger module, and the second finger 2 can be set as a finger module with a swing function so that the second finger 2 can perform a lateral swing action to improve the flexibility of the second finger 2, improve the flexibility of the overall manipulator, and increase the operation mode of the overall manipulator.

[0051] For example, refer to Figure 3 and Figure 4 As shown, in Figure 3 and Figure 4 In the embodiment described above, a third finger 1, a second finger 2, and a plurality of first fingers 3 are arranged on the palm, and the third finger 1 is arranged Figure 3 and Figure 4 The left side of the middle palm, the second finger 2 is arranged on the leftmost side above the palm, and the first finger 3 is arranged on the right side of the second finger 2 above the palm, and is installed from the right side of the palm. In this way, in this example, a manipulator is formed in which the third finger 1 is the thumb, the second finger 2 is the index finger, and the first fingers 3 can be the middle finger, the ring finger, and the little finger, that is, a dexterous hand.

[0052] The manipulator of the present invention is provided with the finger module installation structure described in the above-mentioned embodiments, so that the manipulator of the present invention can freely adjust the number of first fingers 3 to be installed and the installation position of the first fingers 3 on the palm according to the actual working environment, so that the overall manipulator can meet the requirements of the current working environment. Combined with the third finger 1 set as a thumb-type finger module and the second finger 2 set as an index finger type finger module that satisfies the swing function, the present invention can be applied to a variety of complex scenes, so that the number and installation position of the first fingers 3 can be set according to actual conditions to achieve different working motion modes. Compared with the structure of the manipulator that can adjust the number of finger modules in the prior art, the manipulator of the present invention can freely adjust the setting position of the finger module. At the same time, its structural complexity is high, stability is high, and it has the advantages of low use cost and convenient installation and use.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A finger module installation structure, arranged between a palm and a first finger (3), characterized in that: The invention comprises a first sliding mounting part (5A) arranged on the palm and a second sliding mounting part (3B) arranged on the first finger (3), wherein the second sliding mounting part (3B) is slidably mounted on the first sliding mounting part (5A), the first sliding mounting part (5A) is used to mount at least one first finger (3) provided with the second sliding mounting part (3B), and a fixing structure for limiting the sliding of the second sliding mounting part (3B) is arranged between the second sliding mounting part (3B) and the first sliding mounting part (5A). It also includes a circuit connection structure arranged between the palm and the first finger (3), wherein the circuit connection structure is used to electrically connect the palm and the first finger (3) when the second sliding mounting part (3B) is mounted on the first sliding mounting part (5A).

2. The finger module installation structure according to claim 1, characterized in that: The circuit connection structure comprises a trolley busbar (6) arranged on the palm and a trolley busbar arranged on the first finger (3); when the second sliding mounting part (3B) is mounted on the first sliding mounting part (5A), the trolley busbar (6) and the trolley busbar are electrically connected.

3. The finger module installation structure according to claim 1, characterized in that: One of the first sliding mounting part (5A) and the second sliding mounting part (3B) is configured as a slideway, and the other is configured as a slider.

4. The finger module installation structure according to claim 1, characterized in that: A mounting opening (8) for the first finger (3) to pass through is provided on one side of the palm, and the first end of the first sliding mounting portion (5A) extends to the mounting opening (8) and is in communication with the mounting opening (8).

5. According to the finger module installation structure according to claim 4, it is characterized in that: The palm comprises an upper palm shell (5) and a lower palm shell (4), and the first sliding mounting portion (5A) is mounted on the inner side of the upper palm shell (5) and / or the lower palm shell (4).

6. The finger module installation structure according to claim 5, characterized in that: The installation opening (8) comprises a first notch (5C) arranged on the upper palm shell (5) and / or a second notch on the lower palm shell (4).

7. The finger module installation structure according to any one of claims 1 to 6, characterized in that: The fixing structure comprises a strip-shaped through slot (5B) arranged on the palm, a screw hole (3A) arranged on the first finger (3), and a fixing screw (7); the fixing screw (7) passes through the strip-shaped through slot (5B) and is threadedly connected to the screw hole (3A) to abut against the palm, thereby limiting the sliding of the second sliding mounting part (3B).

8. A robot, characterized in that: include: The palm, used to connect with the limbs; at least one first finger (3), the first finger (3) being detachably mounted on the palm; A finger module installation structure as claimed in any one of claims 1 to 7 is arranged between the palm and the first finger (3).

9. The robot according to claim 8, characterized in that: It also comprises a second finger (2), the working mode of the second finger (2) is different from the working mode of the first finger (3), and the second finger (2) is installed on one side of the first finger (3) on the palm.

10. The robot according to claim 9, characterized in that: The second finger (2) is one of an index finger, a thumb and a little finger.

11. The robot according to claim 9, characterized in that: It also comprises a third finger (1), the working mode of the third finger (1) is different from the working mode of the first finger (3) and the working mode of the second finger (2), and the third finger (1) is arranged on a side of the second finger (2) away from the first finger (3).

12. The robot according to claim 11, characterized in that: The second finger (2) is the index finger, and the third finger (1) is the thumb.

13. The robot according to claim 12, characterized in that: The second finger (2) satisfies the swing function.

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