A manipulator and a robot

Abstract

The present invention discloses a manipulator and a robot, wherein the manipulator comprises a palm seat; a plurality of finger assemblies, the finger assemblies comprising a base, finger joints mounted on the base and a driver for driving the finger joints to rotate relative to the base; one end of the driver is fixed on the base, and the other end is extended away from the finger joints; a mounting groove is provided on the palm seat, the mounting groove has a notch connected to the outside, and a mounting position is provided at the end of the mounting groove away from the notch; the driver enters the mounting position through the notch, and the base is at least partially accommodated in the mounting groove; an arc-shaped end face that gradually tightens from the inside to the outside is formed on one side of the mounting groove close to the notch, which is used to limit the horizontal range of movement of the base; the manipulator also comprises a connecting assembly that fixes the base in the installing groove; in the present invention, the installing groove effectively transfers the external force exerted on the base to the palm seat, evenly disperses the external force borne by the finger assembly, helps to improve the stability of the connecting part between the finger assembly and the palm seat, and prolongs the service life of the manipulator.

Description

Technical Field

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

[0002] Driven by the continuous advancement of science and technology, robotic arm technology is playing an increasingly important role in many fields, such as industrial automated production, medical rehabilitation assistance, space exploration, and operations in hazardous environments; as application scenarios become increasingly diverse and complex, the performance requirements for robotic arms are also constantly increasing.

[0003] In traditional manipulators, the assembly structure of fingers and palms is relatively complex. During continuous use and impact of the manipulator, the part connecting multiple fingers not only has poor stability, but the fingers are prone to loosening, displacement, and other problems. They are also prone to wear and breakage, which seriously affects the accuracy and reliability of the operation of the manipulator fingers. There is still a lot of room for improvement in this regard. Therefore, how to improve the stability of the assembly between the manipulator palm and the manipulator fingers is a problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0004] The present invention provides a manipulator and a robot, aiming to solve the problem of poor stability of the connection part between fingers and palm in the existing manipulator.

[0005] To achieve the above objectives, the present application proposes a manipulator, comprising:

[0006] Palm seat;

[0007] A plurality of finger assemblies, each of which comprises a base, a finger joint mounted on the base, and a driver for driving the finger joint to rotate relative to the base; one end of the driver is fixed on the base, and the other end is extended away from the finger joint;

[0008] The palm seat is provided with a mounting groove, the mounting groove has a notch connected to the outside, and a mounting position is provided at one end of the mounting groove away from the notch; the driver enters the mounting position through the notch, and the base is at least partially accommodated in the mounting groove; a curved end surface that gradually tightens from the inside to the outside is formed on one side of the mounting groove close to the notch, so as to limit the horizontal range of movement of the base;

[0009] The robot also includes a connecting assembly for fixing the base in the mounting groove.

[0010] In some embodiments, the mounting groove is a U-shaped groove; the arc-shaped end surface is a U-shaped end surface, and both ends of the arc-shaped end surface are further formed with extension portions extending toward the finger joint.

[0011] In some embodiments, the manipulator also includes a palm shell and a palm back shell respectively covering the inner and outer sides of the palm seat; an upper cavity is formed between the palm back shell and the palm seat, and a lower cavity is formed between the palm shell and the palm seat, and a through hole connecting the upper cavity and the lower cavity is opened on the mounting position; the driver is located in the upper cavity, and the driver is inclined toward the lower cavity via the through hole.

[0012] In some embodiments, a clamping portion is provided at one end of the palm-back shell close to the slot, a groove adapted to the clamping portion is provided on the base, a clamping block is formed on the clamping portion extending toward the groove, and a clamping slot matching the clamping block is provided in the groove.

[0013] In some embodiments, a partition plate is provided between two adjacent mounting positions, a protrusion is provided on the partition plate extending laterally, and a hook portion cooperating with the protrusion is provided on the back of the palm shell; a support bar is provided on the back of the palm shell toward the palm seat and is tightly pressed against the outer wall of the driver.

[0014] In some embodiments, two limiting end surfaces that are tightly pressed against the two extending portions are further formed on the base, and the two limiting end surfaces are respectively arranged at two ends of the groove.

[0015] In some embodiments, a protrusion is provided at one end of the base away from the finger joint, a recessed slot matching the protrusion is formed in the installation slot, and a mounting hole penetrating the installation slot and communicating with the outside is formed on the recessed slot;

[0016] The connection assembly includes a fastener that passes through the mounting hole and penetrates the protrusion.

[0017] In some embodiments, a limiting portion is formed in the installation groove along the assembly direction of the base, and a first stopping portion that can be tightly pressed against the limiting portion is provided on the base.

[0018] In some embodiments, the base is further provided with a second stop portion that can be tightly pressed against the outer wall of the palm seat; the first stop portion and the second stop portion are arranged in sequence along the assembly direction of the base, and the cross-section of the first stop portion and the second stop portion along the assembly direction of the base is stepped; when assembled in place, the first stop portion is located in the installation groove, and the second stop portion is located outside the installation groove.

[0019] Furthermore, the present application also proposes a robot, comprising a robot body and a manipulator disposed on the robot body, wherein the manipulator is the manipulator described above.

[0020] The beneficial effects of the present invention are as follows: the finger assembly in the present invention is installed on the palm seat. During assembly, the side of the finger assembly provided with the driver is inserted into the slot, and the driver enters the installation position in the installation slot to be installed in place; at this time, the base is accommodated in the installation slot, and an arc-shaped end face that gradually tightens from the inside to the outside is formed at the slot of the installation slot, and the arc-shaped end face is tightly attached to the outer wall of the base. The tightening of both ends is used to limit the range of movement of the base, and then the base is fixed in the installation slot by using the connecting assembly to complete the installation of the finger assembly; the present invention realizes the fixation of the base in the installation slot, making it more stable during operation and reducing unnecessary shaking or deviation; the installation slot can effectively transfer the external forces from all directions received by the base to the palm seat, and when the finger assembly is subjected to external forces, the external forces can be evenly dispersed to the palm seat instead of being concentrated in the local part of the finger assembly, thereby improving the load-bearing capacity of the finger assembly, and also helping to improve the stability of the connection part between the finger assembly and the palm seat, and extending the service life of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0022] Figure 2 It is a schematic diagram of the explosion structure of the manipulator of the present invention;

[0023] Figure 3 It is a schematic cross-sectional view of the connection between the palm seat and the finger assembly of the manipulator of the present invention;

[0024] Figure 4 This is a schematic diagram of the palm seat structure of the manipulator of the present invention;

[0025] Figure 5 It is a schematic diagram of the structure of the finger assembly of the manipulator of the present invention;

[0026] Figure 6 It is a schematic diagram of the base structure of the manipulator of the present invention;

[0027] Figure 7 It is a schematic diagram of the palm back shell structure of the manipulator of the present invention;

[0028] In the figure: 100, robot; 1, palm seat; 11, mounting groove; 111, notch; 112, arc-shaped end face; 113, through hole; 114, recessed slot; 1141, mounting hole; 115, limiting portion; 12, extension portion; 13, partition plate; 131, protrusion; 2, finger assembly; 21, base; 211, groove; 2111, snap-fit ​​slot; 212, limiting end face; 213, protrusion; 214, first stop portion; 215, second stop portion; 22, knuckle; 23, driver; 3, thumb module; 31, mounting plate; 32, tiger's mouth fold sleeve; 4, palm shell; 5, back of palm shell; 51, snap-fit ​​portion; 511, block; 52, hook claw portion; 53, support bar; 6, fastener. DETAILED DESCRIPTION

[0029] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a 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.

[0030] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0031] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0032] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0033] The present invention provides a robot 100, referring to Figures 1 to 7 ,include:

[0034] Palm seat 1;

[0035] A plurality of finger assemblies 2, each of which comprises a base 21, a finger joint 22 mounted on the base 21, and a driver 23 for driving the finger joint 22 to rotate relative to the base 21; one end of the driver 23 is fixed on the base 21, and the other end is extended away from the finger joint 22;

[0036] The palm seat 1 is provided with a mounting groove 11, which has a notch 111 communicating with the outside, and a mounting position is provided at one end of the mounting groove 11 away from the notch 111; the driver 23 enters the mounting position through the notch 111, and the base 21 is at least partially accommodated in the mounting groove 11; a side of the mounting groove 11 close to the notch 111 is formed with an arc-shaped end surface 112 that gradually tightens from the inside to the outside, and is used to limit the horizontal range of motion of the base 21;

[0037] The robot 100 also includes a connection assembly for fixing the base 21 in the mounting groove 11 .

[0038] In this embodiment, the driver 23 can be in various forms, such as a small motor, a pneumatic or hydraulic device; these different types of drivers 23 can be selected according to specific application scenarios to meet the operating requirements of the manipulator 100 under various working conditions.

[0039] The knuckles 22 are mounted on the base 21 and are direct components for realizing the grasping and operating functions of the manipulator 100. The knuckles 22 are driven to rotate relative to the base 21 by the driver 23, and the knuckles 22 can simulate the bending and stretching movements of human fingers, thereby completing various complex grasping and operating tasks. The number, shape and range of motion of the knuckles 22 can be selected according to the specific application scenario to adapt to the grasping of objects of different shapes and sizes.

[0040] refer to Figure 1 and Figure 2In this embodiment, four finger assemblies 2 are provided, including an index finger module, a middle finger module, a ring finger module and a pinky finger module arranged in sequence; the finger assemblies 2 are designed as independent modules and are detachably connected to the palm shell, which is conducive to production and manufacturing, and is also convenient for subsequent improvements and adjustments. The finger shell can be flexibly configured according to different application scenarios; for example, in some tasks that require fine operation, the finger assembly 2 with a higher precision sensor can be replaced; in situations where a larger grasping force is required, a power-type finger assembly 2 can be replaced, which improves the versatility and adaptability of the manipulator 100; in addition, a thumb module 3 is also provided on the palm shell, and the installation method of the thumb module 3 is different from that of the finger shell. The thumb module 3 is installed through a mounting plate 31 is directly fixed on the palm shell; the thumb plays a key role of balancing and assisting grasping in human hand grasping. Through a separate fixing method, force is applied from one side, so that it can cooperate with other fingers more flexibly. This structure can better simulate the grasping action of the human hand; the thumb module 3 is also provided with a thumb mouth folded sleeve 32, which has a certain flexibility and elasticity. As a protective barrier, it can protect the internal parts of the thumb module 3 while being able to naturally stretch and contract with the movement of the thumb module 3, and will not hinder the movement of the thumb module 3; in addition, the setting of the thumb mouth folded sleeve 32 also makes the thumb module 3 closer to the thumb mouth part of a real human hand in appearance, greatly enhancing the realism of the overall appearance of the manipulator 100.

[0041] In this embodiment, the notch 111 of the mounting groove 11 is located at the edge of the palm seat 1, so that the finger assembly 2 has sufficient operating space during installation and removal; one end of the driver 23 is fixed on the base 21, and the other end is extended away from the finger joint 22, and a mounting position is provided at the end of the mounting groove 11 away from the notch 111, so that the driver 23 can extend into the mounting position through the mounting groove 11 of the palm seat 1, and the driver 23 is hidden inside the palm seat 1, thereby improving the safety and stability of the driver 23; the mounting position is arranged corresponding to the driver 23, and a special accommodation space is provided for the driver 23; during the operation of the manipulator 100, the driver 23 will be affected by various factors such as the vibration generated by its own operation, the force transmitted by the movement of the finger assembly 2, and the external environment interference; and the accommodation space provided by the mounting position for the driver 23 can effectively prevent the driver 23 from being displaced, so that the driver 23 can still remain stable under the action of various forces.

[0042] The base 21 is partially accommodated in the mounting groove 11. This accommodation design provides convenience and precision for the assembly process of the manipulator 100. The operator can place the base 21 along the shape of the mounting groove 11. The base 21 is tightly combined with the mounting groove 11, so that when the base 21 is subjected to various forces from the movement of the knuckles 22 and external operations, these forces can be reasonably transmitted to the palm seat 1.

[0043] The structure of the arc-shaped end surface 112 gradually tightens from the inside to the outside and from the middle to the two ends, which can accurately limit the position of the base 21. During the assembly process of the manipulator 100, as the base 21 is installed into the mounting groove 11 gradually, the tightened arc-shaped end surface 112 will limit the base 21 to a specific range, ensuring that the base 21 of each finger assembly 2 can be in the correct position after installation, thereby improving the assembly accuracy of the entire manipulator 100.

[0044] The primary function of the connecting assembly is to firmly fix the base 21 in the mounting groove 11 to prevent the base 21 from displacement, shaking or rotation in the mounting groove 11, and to evenly distribute the force to the palm seat 1 to avoid local stress concentration causing structural damage, thereby ensuring that the finger assembly 2 is always in a precise working position.

[0045] Furthermore, the mounting groove 11 is a U-shaped groove; the arcuate end surface 112 is a U-shaped end surface, and both ends of the arcuate end surface 112 are further formed with extension portions 12 extending toward the finger joint 22 .

[0046] The side of the mounting groove 11 close to the groove 111, i.e., the arc-shaped end surface 112, is designed to be U-shaped, and the U-shaped end surface can effectively limit the range of motion of the finger assembly 2 in five degrees of freedom; when the finger assembly 2 is subjected to horizontal external force, the U-shaped end surface wraps the finger assembly 2 in a tightened state, and the force can be evenly dispersed on the palm seat 1, thereby improving the stability of the finger assembly 2; for example, in the process of the manipulator 100 grasping an object, the object may generate horizontal friction or collision force on the finger assembly 2, and these forces are transmitted to the palm seat 1 through the U-shaped end surface, and the force can be effectively dispersed, thereby avoiding damage to the palm shell or the finger assembly 2 due to excessive local force.

[0047] In addition, the U-shaped groove also provides a good guide for the installation of the finger assembly 2; when installing the finger assembly 2, the operator can easily match the base 21 on the finger assembly 2 according to the shape of the U-shaped groove and align the U-shaped groove to complete the insertion and installation, thereby reducing the time for groping and adjustment during the installation process; the shape design of the U-shaped groove also allows the operator to observe the insertion of the finger assembly 2 from both sides of the slot 111 during the installation process. This visibility helps to promptly discover problems during the installation process, such as whether the finger assembly 2 is installed horizontally, whether it interferes with other structures in the slot, etc., thereby improving the convenience of maintenance and inspection.

[0048] In addition to the position constraint of the arc-shaped end surface 112 itself on the base 21, the extension portion 12 can also play an additional limiting role, limiting the position of the base 21 from the left and right sides, preventing the base 21 from slight deviation or shaking on the horizontal plane, and effectively maintaining the stability of the position of the base 21; the extension portion 12 also has a certain guiding effect on the installation of the base 21. In the process of placing the driver 23 of the finger assembly 2 into the installation position through the slot 111 so that the base 21 is accommodated in the installation slot 11, the extension portion 12 can help the operator to place the base 21 in the correct position more accurately; the shape of the extension portion 12 extending toward the knuckle 22 forms a guiding trend, guiding the base 21 to enter the installation slot 11 along a suitable path.

[0049] Furthermore, the manipulator 100 also includes a palm shell 4 and a palm back shell 5 respectively covering the inner and outer sides of the palm seat 1; an upper cavity is formed between the palm back shell 5 and the palm seat 1, and a lower cavity is formed between the palm shell 4 and the palm seat 1, and a through hole 113 connecting the upper cavity and the lower cavity is opened on the mounting position; the driver 23 is located in the upper cavity, and the driver 23 is inclined toward the lower cavity through the through hole 113.

[0050] In this embodiment, the palm seat 1 is a hollow frame structure, the back-of-the-palm shell 5 corresponds to the back of the human hand, and the palm shell 4 corresponds to the palm of the human hand, which are respectively covered on the inner and outer sides of the palm seat 1, providing a relatively closed installation space for the base 21, the driver 23 and other components of the manipulator 100, blocking adverse interference from the outside, and protecting the internal precision components from damage during the operation of the manipulator 100; and the structure formed by the connection of the palm shell 4, the back-of-the-palm shell 5 and the palm seat 1 simulates the shape of a human palm, so that the manipulator 100 is closer to a human hand in appearance, can better adapt to more daily operating tasks, and is suitable for the medical field.

[0051] In this embodiment, the driver 23 adopts a small motor. The end of the motor away from the base 21, that is, the tail of the motor, passes through the through hole 113 and is tilted toward the lower cavity, so that most of the volume of the motor is concentrated in the lower cavity, that is, the side corresponding to the palm of the human hand. This can effectively prevent the tail of the motor from curling up and interfering with other structures, which helps to reduce the overall thickness of the manipulator 100; in many application scenarios, such as service robots, medical rehabilitation equipment and other fields, there are relatively strict requirements on the appearance size of the manipulator 100. A thinner manipulator 100 is more beautiful in appearance and can bring users a better visual experience and usage experience; when the human hand moves naturally, the movement of the finger joints is not completely horizontal or vertical, but has a certain inclination angle and curvature; installing the motor tilted downward can make the finger movement of the manipulator 100 closer to the kinematic characteristics of the human hand, more in line with ergonomic principles, and perform more naturally and smoothly in scenarios of human-machine collaboration or simulation of human hand movements.

[0052] In this embodiment, the motor is installed with a downward tilt of 3°. In some other embodiments, the tilt angle can also be adjusted according to specific production requirements and the overall layout of the robot 100.

[0053] Furthermore, a snap-on portion 51 is provided at one end of the palm-back shell 5 close to the slot 111, a groove 211 adapted to the snap-on portion 51 is provided on the base 21, a snap-on block 511 is formed extending toward the groove 211, and a snap-on slot 2111 matching the snap-on block 511 is provided in the groove 211.

[0054] The snap-on portion 51 of the palm-back shell 5 cooperates with the groove 211 on the base 21, so that when the palm-back shell 5 is assembled on the palm seat 1, it is also matched and connected with the base 21 on the palm seat 1, forming a tighter and more stable overall structure, which is conducive to the uniform transmission and distribution of force in the entire manipulator 100, thereby improving the load-bearing capacity and durability of the entire manipulator 100.

[0055] The clamping portion 51 on the palm-back shell 5 is convexly arranged, and a groove 211 adapted to the clamping portion 51 is correspondingly arranged on the base 21. A clamping block 511 is formed on the clamping portion 51 extending toward the groove 211, and a clamping slot 2111 matched with the clamping block 511 is formed in the groove 211. This double clamping structure greatly enhances the connection stability between the palm-back shell 5 and the base 21; the cooperation between the protruding clamping portion 51 and the groove 211 first provides a preliminary positioning and connection basis for the palm-back shell 5 and the base 21, which can prevent the palm-back shell 5 and the base 21 from relative displacement in the horizontal direction; and the clamping block 511 and the clamping slot 2111 are formed in the groove 211. The combination of 11 further strengthens the connection strength between the palm-back shell 5 and the base 21; in addition, the protruding clamping portion 51 is embedded in the groove 211 on the base 21, and the connection between the clamping block 511 and the clamping slot 2111 is not exposed, which also makes the appearance of the manipulator 100 more beautiful, and makes the connection transition between the palm-back shell 5 and the base 21 appear natural and smooth, without abrupt gaps or irregular splicing, thereby improving the overall line smoothness of the manipulator 100; compared with the traditional screw connection, this connection method is not only reliable, but also relatively simple to assemble, and avoids the problem of deviation in the installation position affecting use.

[0056] Furthermore, a partition plate 13 is provided between two adjacent installation positions, a protrusion 131 is extended laterally on the partition plate 13, and a hook portion 52 cooperating with the protrusion 131 is provided on the back of the palm shell 5; a support bar 53 is provided on the back of the palm shell 5 facing the palm seat 1 and pressed against the outer wall of the driver 23.

[0057] A partition plate 13 is set between two adjacent installation positions, and the partition plate 13 is used to realize the connection between the palm seat 1 and the palm back shell 5. The setting of multiple partition plates 13 plays a role in strengthening the connection; in addition, the partition plate 13 can also prevent mutual interference between different drivers 23 between adjacent installation positions.

[0058] The protrusion 131 extending laterally on the partition plate 13 can be engaged with the hook portion 52 on the palm-back shell 5 to achieve the connection between the palm-back shell 5 and the palm seat 1; this connection method makes the disassembly and assembly between the palm-back shell 5 simple and quick, which helps to improve production efficiency. At the same time, the elastic snap-fit ​​structure of the hook portion 52 and the protrusion 131 can also effectively resist the external force exerted on the palm seat 1, preventing the palm-back shell 5 from loosening or detaching from the palm-back shell 5.

[0059] The support bar 53 arranged on the back-of-the-palm shell 5 toward the palm seat 1 is tightly pressed against the outer wall of the driver 23, which can provide additional protection for the driver 23; during the operation of the manipulator 100, the driver 23 may be subjected to external forces from various directions or may vibrate itself, and the support bar 53 establishes a close contact relationship between the driver 23 and the back-of-the-palm shell 5, filling the possible gap between the two, which can play a role of buffering and supporting; in addition, in the present embodiment, the driver 23 adopts a small motor, and the support bar 53 is provided with an arc-shaped notch, which can be engaged with the side wall of the motor, providing precise positioning for the installation of the driver 23, and further improving the stability of the installation of the driver 23.

[0060] Furthermore, two limiting end surfaces 212 that are tightly pressed against the two extending portions 12 are formed on the base 21 , and the two limiting end surfaces 212 are respectively disposed at two ends of the groove 211 .

[0061] The extension portion 12 itself plays a certain guiding role in the installation of the base 21. A limiting end face 212 that is tightly pressed against the extension portion 12 is formed on the base 21, and the extension portion 12 can also play a stopping effect on the installation of the base 21. During the assembly process of the finger assembly 2, the base 21 needs to be inserted into the slot 111. When the limiting end face 212 on the base 21 is tightly pressed against the extension portion 12, it is installed in place. The extension portion 12 is located outside the installation slot 11. This visual design makes it easy for the operator to directly judge whether the base 21 is assembled, which makes it easy to promptly discover and correct assembly errors, and helps to improve assembly efficiency.

[0062] In the present embodiment, while the extension portion 12 is pressed against the upper limit end surface 212 of the base 21, the extension portion 12, the base 21 and the palm-back shell 5 are interlocked with each other, so that the connection between the three surfaces of the manipulator 100 has a natural and smooth transition. The operator can easily judge whether the base 21 is installed in place and whether the cooperation with the extension portion 12 and the palm-back shell 5 is correct based on the appearance of the manipulator 100.

[0063] Furthermore, a protrusion 213 is provided at one end of the base 21 away from the knuckle 22, a recessed slot 114 matching the protrusion 213 is formed in the mounting slot 11, and a mounting hole 1141 penetrating the mounting slot 11 and communicating with the outside is formed on the recessed slot 114;

[0064] The connection assembly includes a fastener 6 , which passes through the mounting hole 1141 and penetrates the protrusion 213 .

[0065] The protrusion 213 can be accurately embedded in the recessed groove 114, and the fastener 6 passes through the mounting hole 1141 and penetrates the protrusion 213, firmly fixing the protrusion 213 in the mounting groove 11, ensuring that the base 21 is in the correct position, playing a role in positioning and limiting the displacement of the finger assembly 2; avoiding problems such as inaccurate movement of the finger assembly 2 and uneven force transmission due to installation position deviation, thereby improving the overall assembly accuracy of the manipulator 100.

[0066] In some embodiments, the fastener 6 is a screw. The assembly process of using a screw as the fastener 6 is relatively simple and intuitive. When installing the finger assembly 2, after the protrusion 213 is in place with the recessed slot 114, the screw can be screwed into the mounting hole 1141 to complete the fixation. The use of standard screws can also reduce production costs, facilitate replacement of different types of screws or finger assemblies 2, and improve the compatibility of the manipulator 100.

[0067] Furthermore, a limiting portion 115 is formed in the installation groove 11 along the assembly direction of the base 21 , and a first stopping portion 214 that can be tightly pressed against the limiting portion 115 is disposed on the base 21 .

[0068] A limiting portion 115 is formed in the installation groove 11 in the insertion direction of the finger assembly 2, and a first stop portion 214 is provided on the base 21. When assembled in place, the two can be pressed against each other to ensure that the finger assembly 2 is accurately installed in the predetermined position, thereby ensuring the assembly accuracy of the manipulator 100, while also increasing the assembly speed, and improving production quality and efficiency. When the manipulator 100 performs actions such as grasping and carrying, the finger assembly 2 will be subjected to various forces. The pressing of the limiting portion 115 and the first stop portion 214 can effectively prevent the finger assembly 2 from being displaced during operation.

[0069] Furthermore, the base 21 is also provided with a second stop portion 215 which can be tightly pressed against the outer wall of the palm seat 1; the first stop portion 214 and the second stop portion 215 are arranged in sequence along the assembly direction of the base 21, and the cross-section of the first stop portion 214 and the second stop portion 215 along the assembly direction of the base 21 is stepped; when assembled in place, the first stop portion 214 is located in the installation groove 11, and the second stop portion 215 is located outside the installation groove 11.

[0070] The coordinated arrangement of the first stop portion 214 and the second stop portion 215 can achieve dual precise positioning of the finger assembly 2 in the insertion direction; when the second stop portion 215 is in place, it presses against the outer wall of the palm seat 1 and is located outside the installation slot 11, which is convenient for the operator to confirm from the appearance whether the insertion position of the finger assembly 2 is correct; when the first stop portion 214 is in place, it is located inside the installation slot 11, which is used to determine the final insertion position of the finger assembly 2 and prevent the finger assembly 2 from going too deep into the installation slot 11; it further ensures that the finger assembly 2 can be accurately positioned during the installation process, thereby improving the assembly accuracy.

[0071] The cross-sections of the first stop portion 214 and the second stop portion 215 along the insertion direction of the finger assembly 2 are stepped, and such a high and low stepped setting enables the second stop portion 215 to be cleverly blocked outside the mounting groove 11 by the palm seat 1; in addition, when the finger assembly 2 is subjected to external force, the stepped first stop portion 214 and the second stop portion 215 will have a gradual buffering process during the force transmission process. This segmented buffering method can effectively reduce the damage to the finger assembly 2 and the palm seat 1 caused by the impact force, thereby extending the service life of the manipulator 100.

[0072] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A robot, characterized in that: include: Palm seat; A plurality of finger assemblies, each of which comprises a base, a finger joint mounted on the base, and a driver for driving the finger joint to rotate relative to the base; one end of the driver is fixed on the base, and the other end is extended away from the finger joint; The palm seat is provided with a mounting groove, the mounting groove has a notch connected to the outside, and a mounting position is provided at one end of the mounting groove away from the notch; the driver enters the mounting position through the notch, and the base is at least partially accommodated in the mounting groove; a curved end surface that gradually tightens from the inside to the outside is formed on one side of the mounting groove close to the notch, so as to limit the horizontal range of movement of the base; The manipulator further comprises a connecting assembly for fixing the base in the mounting groove; Wherein, the arc-shaped end surface is a U-shaped end surface, and both ends of the arc-shaped end surface are further formed with extension portions extending toward the finger joint.

2. The robot according to claim 1, characterized in that: The manipulator also includes a palm shell and a palm back shell respectively covering the inner and outer sides of the palm seat; an upper cavity is formed between the palm back shell and the palm seat, and a lower cavity is formed between the palm shell and the palm seat, and a through hole connecting the upper cavity and the lower cavity is opened on the mounting position; the driver is located in the upper cavity, and the driver is inclined toward the lower cavity via the through hole.

3. The robot according to claim 2, characterized in that: A clamping portion is provided at one end of the palm back shell close to the notch, a groove adapted to the clamping portion is provided on the base, a clamping block is formed on the clamping portion extending toward the groove, and a clamping slot matching the clamping block is provided in the groove.

4. The robot according to claim 3, characterized in that: A partition plate is arranged between two adjacent installation positions, a protrusion is arranged on the partition plate extending laterally, and a hook portion cooperating with the protrusion is arranged on the palm back shell; a support bar is arranged on the palm back shell towards the palm seat and pressed against the outer side wall of the driver.

5. The robot according to claim 3, characterized in that: The base is also formed with two limiting end surfaces which are tightly pressed against the two extending parts, and the two limiting end surfaces are respectively arranged at two ends of the groove.

6. The robot according to claim 1, characterized in that: A protrusion is provided at one end of the base away from the finger joint, a recessed slot matching the protrusion is formed in the installation slot, and a mounting hole penetrating the installation slot and communicating with the outside is formed on the recessed slot; The connection assembly includes a fastener that passes through the mounting hole and penetrates the protrusion.

7. The robot according to claim 6, characterized in that: A limiting portion is formed in the installation groove along the assembly direction of the base, and a first stopping portion that can be tightly pressed against the limiting portion is arranged on the base.

8. The robot according to claim 7, characterized in that: The base is also provided with a second stop portion that can be tightly pressed against the outer wall of the palm seat; the first stop portion and the second stop portion are arranged in sequence along the assembly direction of the base, and the cross-section of the first stop portion and the second stop portion along the assembly direction of the base is stepped; when assembled in place, the first stop portion is located in the installation groove, and the second stop portion is located outside the installation groove.

9. A robot, comprising a robot body and a manipulator disposed on the robot body, characterized in that: The robot is the robot according to any one of claims 1 to 8.

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