Manipulator

Abstract

The invention discloses a manipulator. The manipulator comprises a palm seat and a manipulator body, the fingers are arranged on the outer side of the palm seat and are connected through a connecting mechanism; the flexible wrapping part is arranged on the outer side of the connecting mechanism, at least one part of the flexible wrapping part is located between the palm seat and the fingers and provided with a smooth outer surface, and the flexible wrapping part is configured to be deformable when the fingers and the palm seat move relatively. According to the manipulator provided by the embodiment of the invention, the flexible wrapping piece is arranged between the palm seat and the fingers, so that the manipulator is provided with skin at the jaw part, the bionic effect is better, a connecting mechanism for connecting the fingers and the palm seat can be protected, and the jaw part does not have much pleats, is similar to a human hand and has a good bionic effect.

Description

Technical Field

[0001] The present invention relates to the field of robot bionic technology, and more specifically, to a manipulator. Background Art

[0002] With the development of technology, more and more robots are used in production and life. Robots are similar to human hands and have more degrees of freedom to achieve rich movements. However, common robots generally have no skin or many wrinkles at the base of the thumb, which is different from human hands and has poor bionic effect. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a manipulator, which has skin at the base of the thumb and does not have many wrinkles, is similar to a human hand, and has a good bionic effect.

[0004] A manipulator according to an embodiment of the present invention includes: a palm seat; fingers, which are arranged on the outside of the palm seat and connected by a connecting mechanism; a flexible wrapping member, which is arranged on the outside of the connecting mechanism, at least a portion of which is located between the palm seat and the fingers and has a smooth outer surface, and the flexible wrapping member is constructed to be deformable when the fingers and the palm seat move relative to each other.

[0005] According to the robot arm of the embodiment of the present invention, a flexible wrapping piece is arranged between the palm seat and the fingers, so that the robot arm has skin at the base of the thumb, which has a good bionic effect and can also protect the connecting mechanism for connecting the fingers and the palm seat. There are not many wrinkles at the base of the thumb, which is similar to a human hand and has a good bionic effect.

[0006] In addition, the manipulator according to the above embodiment of the present invention may also have the following additional technical features:

[0007] According to some embodiments of the present invention, the manipulator further includes: support ribs, which are located on the inner side of the flexible wrapping member, and whose two ends are respectively connected to the palm seat and the fingers, and the support ribs are constructed to bend or flatten when the fingers and the palm seat move relative to each other.

[0008] According to some embodiments of the present invention, one end of the supporting rib is rotatably connected to the palm seat via a rotating shaft.

[0009] According to some embodiments of the present invention, a driver is provided in the finger, a first end of the driver cooperates with the connecting mechanism, a second end of the driver extends in a direction away from the connecting mechanism, the other end of the support rib has a support sleeve, the support sleeve includes a bottom wall and a side wall, and the support sleeve is sleeved on the second end of the driver.

[0010] According to some embodiments of the present invention, the manipulator has a palm side, a dorsal palm side and a tiger's mouth, the tiger's mouth is located between the palm side and the dorsal palm side and between the fingers and the palm seat, the flexible wrapping piece includes a first body, a second body and a third body connected in sequence, the first body is located on the palm side, the second body is located at the tiger's mouth, the third body is located on the dorsal palm side, and the supporting ribs are located on the side of the first body and / or the second body close to the connecting mechanism.

[0011] According to some embodiments of the present invention, the manipulator further comprises:

[0012] A first connecting member, the first connecting member is arranged on the palm rest, and the first connecting member is connected to one side edge of the flexible wrapping member so as to install the flexible wrapping member on the palm rest; a second connecting member, the second connecting member is arranged on the finger, and the second connecting member is connected to the other side edge of the flexible wrapping member so as to install the flexible wrapping member on the finger.

[0013] According to some embodiments of the present invention, a positioning structure is provided at an edge of the flexible wrapping member, the first connecting member and the second connecting member are respectively provided with a first matching structure, and the positioning structure and the first matching structure are plug-fitted.

[0014] According to some embodiments of the present invention, the palm seat includes a seat body and a palm back, the seat body has a palm surface, the palm back is arranged on the seat body and opposite to the palm surface, the first connecting member is arranged on the seat body and located between the palm back and the palm surface, a side surface of the first connecting member close to the palm back corresponds to the inner surface shape of the palm back, and the flexible wrapping member is located between the first connecting member and the palm back.

[0015] According to some embodiments of the present invention, the flexible wrapping member is bonded to the first connecting member.

[0016] According to some embodiments of the present invention, a portion of the flexible wrapping member is disposed between the second connecting member and the finger, and the second connecting member and the finger are fixedly connected to clamp the flexible wrapping member.

[0017] According to some embodiments of the present invention, the flexible wrapping member includes: a wrapping body, the wrapping body having a smooth outer surface; a first overlapping section, the first overlapping section is arranged on a side of the wrapping body close to the palm seat, and the outer surface of the first overlapping section is lower than the outer surface of the wrapping body to form a first avoidance groove, the first overlapping section is suitable for extending into the palm seat and the edge of the palm seat extends to the first avoidance groove; a second overlapping section, the second overlapping section is arranged on a side of the wrapping body close to the finger, and the outer surface of the second overlapping section is lower than the outer surface of the wrapping body to form a second avoidance groove, the second overlapping section is suitable for extending into the finger and the edge of the finger extends to the second avoidance groove.

[0018] According to some embodiments of the present invention, the flexible wrapping member is made of liquid silicone; and / or the supporting ribs are made of thermoplastic polyurethane elastomer.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 is a schematic structural diagram of a manipulator according to an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 A front view of

[0023] Figure 3 is a schematic diagram of a partial structure of a manipulator according to an embodiment of the present invention, wherein a flexible wrapping member is not shown;

[0024] Figure 4 is a schematic structural diagram of a support rib according to an embodiment of the present invention;

[0025] Figure 5 yes Figure 3 A schematic diagram of a partial structure of the manipulator, wherein a first connecting member is shown;

[0026] Figure 6 yes Figure 5 The schematic diagram of the structure of the robot in another perspective;

[0027] Figure 7 yes Figure 1 A schematic diagram of a partial structure of the manipulator, in which the back of the palm, the flexible wrapping member and the fingers are not shown;

[0028] Figure 8is a schematic structural diagram of a flexible wrapping member according to an embodiment of the present invention;

[0029] Fig. 9 yes Figure 8 Schematic diagram of the structure of the flexible package from another perspective.

[0030] Reference numerals:

[0031] Robot 100;

[0032] Palm seat 10; seat body 11; palm surface 111; third matching structure 112; palm back 12;

[0033] Finger 20; actuator 21; first end 211; second end 212; connecting harness 213; second matching structure 22;

[0034] Flexible wrapping member 30; first body 31; second body 32; third body 33; positioning structure 34; first positioning structure 341; second positioning structure 342; wrapping body 35; first overlapping section 36; first avoidance groove 361; second overlapping section 37; second avoidance groove 371;

[0035] Connecting mechanism 40;

[0036] Support rib 50; support sleeve 51; bottom wall 511; side wall 512; positioning opening 52;

[0037] A first connecting member 60; a first matching structure 61;

[0038] The second connecting member 70 . DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0041] In the description of the present invention, "first feature" and "second feature" may include one or more such features, "plurality" means two or more, a first feature "above" or "below" the second feature may include the first and second features being directly in contact, or may include the first and second features not being in direct contact but being in contact through another feature between them, and a first feature "above", "above" and "above" the second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is horizontally higher than the second feature.

[0042] The following describes a robot arm 100 according to an embodiment of the present invention with reference to the accompanying drawings.

[0043] Reference Figure 1-Figure 9 As shown, the robot arm 100 according to the embodiment of the present invention may include: a palm seat 10 , fingers 20 and a flexible wrapping member 30 .

[0044] The palm seat 10 is used to simulate the palm of a human hand, the fingers 20 are used to simulate any one or more finger parts connected to the palm of a human hand, and the flexible wrapping member 30 is used to simulate the skin of a human hand, such as the skin of the base of the thumb, so that the robot 100 has a lighter mechanical style and has the aesthetic feeling of a human hand. Figure 1-Figure 2 As shown, the finger 20 is used to simulate the thumb of a bionic human hand, the palm seat 10 is used to simulate the palm part and the other four fingers except the thumb of a bionic human hand, and the flexible wrapping piece 30 is used to simulate the skin of the base of the palm between the bionic palm and the thumb.

[0045] The following description will be made by taking the finger 20 for bionic thumb and the flexible wrapping piece 30 for bionic skin of the base of the thumb as an example.

[0046] Specifically, the finger 20 is disposed on the outside of the palm seat 10 and connected via a connecting mechanism 40. For example, in some embodiments, Figure 1 and Figure 3 As shown, in the state shown in the figure, the finger 20 is movably arranged on the rear side of the palm seat 10 through the connecting mechanism 40. It should be noted that in this application, the description of the directions such as up, down, front, back, left, and right is only based on the marked directions of the manipulator in the state shown in the drawings, and is not a limitation on the relative positions of the components in the manipulator and the application direction of the manipulator.

[0047] The connection mechanism 40 may include one or more connection modes such as bolt connection, planetary gear transmission connection, shaft hole connection, etc., and the finger 20 can be relatively movably connected to the outside of the palm seat 10. The finger 20 is relatively movably connected to the outside of the palm seat 10 through the connection mechanism 40, so as to simulate the relative movement of the palm and finger parts of the human hand, so that the manipulator can achieve a variety of movements.

[0048] The flexible wrapping member 30 is arranged on the outside of the connecting mechanism 40 so that the flexible wrapping member 30 wraps the connecting mechanism 40 to protect the connecting mechanism 40 and reduce damage to the connecting mechanism 40 caused by external dust, pebbles, etc., such as wear or blockage, so as to extend the service life of the connecting mechanism 40.

[0049] At least a portion of the flexible wrapping member 30 is located between the palm seat 10 and the finger 20 and has a smooth outer surface. The flexible wrapping member 30 is configured to be deformable when the finger 20 and the palm seat 10 move relative to each other. For example, when the joint of the finger 20 moves, the finger 20 and the palm seat 10 move relative to each other, and the flexible wrapping member 30 deforms. For example, in some embodiments, a portion of the flexible wrapping member 30 is connected to the inside of the palm seat 10, a portion is connected to the inside of the finger 20, and the other portion is connected between the palm seat 10 and the finger 20. The portion connected between the palm seat 10 and the finger 20 is exposed and has a smooth outer surface.

[0050] The deformation of the flexible wrapping member 30 may include at least one of stretching deformation, shrinking deformation and bending deformation, so that the deformation of the flexible wrapping member 30 is similar to the deformation of real skin of a human hand, and the bionic effect is better.

[0051] When the fingers 20 and the palm seat 10 are relatively still, the portion of the flexible wrapping member 30 located between the fingers 20 and the palm seat 10 has a smooth outer surface, so that the manipulator 100 will not have many wrinkles at the base of the thumb.

[0052] During the relative movement of the fingers 20 and the palm seat 10, the flexible wrapping member 30 is deformed, so that the manipulator 100 can move more flexibly. Since the portion of the flexible wrapping member 30 between the fingers 20 and the palm seat 10 has a smooth outer surface, the flexible wrapping member 30 will not have many wrinkles after deformation, and can mimic the base of a real human hand, so that the base of the manipulator 100 will not have many wrinkles, and the bionic effect is good, with the aesthetic feeling of a human hand.

[0053] According to the robot hand 100 of the embodiment of the present invention, a flexible wrapping piece 30 is arranged between the palm seat 10 and the fingers 20, so that the robot hand 100 has skin at the base of the thumb, which has a good bionic effect and can also protect the connecting mechanism 40 for connecting the fingers 20 and the palm seat 10. There are not many wrinkles at the base of the thumb, which is similar to a human hand and has a good bionic effect.

[0054] The material of the flexible wrapping member 30 is not limited, as long as the portion of the flexible wrapping member 30 between the finger 20 and the palm seat 10 has a smooth outer surface and the flexible wrapping member 30 can be deformed with the relative movement of the finger 20 and the palm seat 10. For example, in some embodiments, the flexible wrapping member 30 is made of liquid silicone, and when the finger 20 and the palm seat 10 move relative to each other, the deformation of the flexible wrapping member 30 is achieved by the deformation of the liquid silicone itself, which is closer to the real skin of a human hand and has an aesthetic feel.

[0055] The flexible wrapping member 30 is made of liquid silicone, which not only enables the flexible wrapping member 30 to meet the above requirements, but also enables the flexible wrapping member 30 to be stretched 300% (when subjected to external force, the elongation of the flexible wrapping member 30 can reach 300 times of the original size) with very small stretching force, so that the fingers 20 and the palm seat 10 are not easily hindered by the flexible wrapping member 30 during the relative movement. The flexible wrapping member 30 is easy to deform with the relative movement of the fingers 20 and the palm seat 10, and the relative movement of the fingers 20 and the palm seat 10 is easier to achieve.

[0056] In some embodiments of the present invention, Figure 1-Figure 3 As shown, the manipulator 100 further includes support ribs 50, which are located on the inner side of the flexible wrapping piece 30 to mimic the internal muscle structure at the base of a human hand. The support ribs 50 are not easily exposed, and the bionic effect is better.

[0057] The two ends of the support rib 50 are connected to the palm seat 10 and the finger 20 respectively. The support rib 50 is configured to bend or flatten when the finger 20 and the palm seat 10 move relative to each other (such as Figure 3-Figure 6 The support ribs 50 are used to reduce the obstruction of the relative movement of the fingers 20 and the palm seat 10, and the relative movement of the fingers 20 and the palm seat 10 is easier to achieve. For example, when the fingers 20 and the palm seat 10 move closer to each other, the support ribs 50 are bent so that the fingers 20 and the palm seat 10 move closer to each other; for example, when the fingers 20 and the palm seat 10 move away from each other, the support ribs 50 are gradually flattened so that the fingers 20 and the palm seat 10 move away from each other.

[0058] The support ribs 50 can improve the support effect of the manipulator 100 at the base of the thumb, increase the load at the base of the thumb, and facilitate the manipulator 100 to clamp some thin objects or hold an object at the base of the thumb, achieving an effect similar to that of a real human hand holding an object at the base of the thumb, with a good bionic effect. The support ribs 50 support the object and can also prevent the flexible wrapping member 30 from being crushed by the object, which is beneficial to protecting the flexible wrapping member 30.

[0059] For example, when the manipulator 100 holds an object at the base of the thumb, the fingers 20 are close to the palm seat 10, the support ribs 50 are bent, and the object is clamped between the fingers 20 and the palm seat 10 and is located on the upper side of the flexible wrapping member 30 and the support ribs 50 so as to support the object through the support ribs 50.

[0060] In some embodiments, the middle portion of the support rib 50 has a groove or the thickness of the middle portion of the support rib 50 is thinner than the thickness at both ends, so that the middle portion of the support rib 50 forms an easy-to-bend area, which facilitates the support rib 50 to bend when the fingers 20 and the palm seat 10 move relative to each other, reduces the possibility that the support rib 50 does not bend, causing the fingers 20 and the palm seat 10 to have difficulty in relative movement, and makes the relative movement of the fingers 20 and the palm seat 10 easier to achieve.

[0061] In some embodiments, the support rib 50 is made of thermoplastic polyurethane elastomer (TPU for short), which can effectively improve the bending life and shear resistance of the support rib 50, so that the support rib 50 can be bent at least 200,000 times, thereby extending the service life of the support rib 50, meeting the current life requirements of human hands, and having a better bionic effect.

[0062] In some embodiments, Figure 4-Figure 5 As shown, one end of the support rib 50 (such as Figure 4-Figure 5 The upper end of the support rib 50 shown in the figure is rotatably connected to the palm seat 10 through a rotating shaft. The rotation here may include the rotation of the support rib 50 relative to the rotating shaft and the rotation of the rotating shaft relative to the palm seat 10. For example, the rotating shaft rotates relative to the palm seat 10 around an axis extending in the up-down direction in the palm seat 10 through a guide rail. It should be noted that the figure does not show the rotating shaft connected to one end of the support rib 50, nor does it show the structure for the rotating shaft to rotate relative to the palm seat 10, but shows a hole at one end of the support rib 50 through which the rotating shaft can pass.

[0063] The support rib 50 can rotate relative to the palm seat 10 with the relative movement of the fingers 20 and the palm seat 10, so that the range of movement of the support rib 50 relative to the palm seat 10 is wider, and the movement of the support rib 50 with the relative movement of the fingers 20 and the palm seat 10 is more flexible, so that the support rib 50 has a better supporting effect on the objects at the base of the thumb in various situations with different relative positions of the fingers 20 and the palm seat 10. It can also make the end of the support rib 50 connected to the palm seat 10 not easy to bend, which is conducive to extending the service life of the support rib 50.

[0064] For example, in some embodiments, Figure 5As shown, when the finger 20 is located at the rear side of the palm seat 10, the upper end of the support rib 50 can rotate relative to the rotation axis when the finger 20 moves forward toward the palm seat 10 to get close to the front side of the palm seat 10. When the finger 20 moves forward and leftward around the axis extending in the up-down direction to get close to the left side of the palm seat 10, the upper end of the support rib 50 can rotate relative to the rotation axis, and the rotation axis can rotate forward and leftward around the axis extending in the up-down direction, so that the finger 20 and the palm seat 10 are closer, which is more similar to the real movement process of the human hand and has a better bionic effect.

[0065] In some embodiments, Figure 3-Figure 7 As shown, the finger 20 is provided with a driver 21, and a first end 211 (such as Figure 3 and Figure 5 The front end of the driver 21) cooperates with the connecting mechanism 40, and the second end 212 of the driver 21 (such as Figure 3 and Figure 5 The rear end of the driver 21 extends in a direction away from the connecting mechanism 40. The driver 21 can be used to drive the connecting mechanism 40 to move so as to drive the finger 20 to move relative to the palm seat 10.

[0066] The other end of the support rib 50 (such as Figure 4-Figure 5 The lower end of the support rib 50 shown in the figure has a support sleeve 51, and the support sleeve 51 includes a bottom wall 511 and a side peripheral wall 512. The support sleeve 51 is sleeved on the second end 212 of the driver 21, so that the bottom wall 511 and the end of the second end 212 are matched and abutted, and the side peripheral wall 512 and the peripheral wall of the second end 212 are matched and abutted, so that the other end of the support rib 50 can be installed on the driver 21. There is no need to add components for installing the support rib 50 in the finger 20, which can reduce the number of components in the finger 20 and make the structure in the finger 20 more compact.

[0067] In some embodiments, Figure 4-Figure 6 As shown, the side wall 512 of the support sleeve 51 is provided with a positioning opening 52, so that the connecting harness 213 of the driver 21 passes through the positioning opening 52, which can limit the support sleeve 51 and reduce the risk of the support sleeve 51 detaching from the driver 21, making the support rib 50 more firmly installed at the driver 21.

[0068] In some embodiments, Figure 1-Figure 3 and Figure 8 As shown, the robot 100 has a palm side, a dorsal side and a tiger's mouth, the tiger's mouth is located between the palm side and the dorsal side and between the fingers 20 and the palm seat 10, the palm side is used to simulate the palm side of a bionic human hand, the dorsal side is used to simulate the back of the palm side of a bionic human hand, and the tiger's mouth is used to simulate the tiger's mouth part of a bionic human hand located between the palm and the back of the palm and between the palm and the thumb.

[0069] The flexible wrapping member 30 includes a first body 31, a second body 32, and a third body 33 connected in sequence, the first body 31 is located on the palm side, the second body 32 is located at the base of the thumb, the third body 33 is located on the back of the palm, and the support ribs 50 are located on the side of the second body 32 close to the connection mechanism 40. When a person holds an item at the base of the thumb, the item is generally located at the base of the thumb. Corresponding to the present application, when the manipulator 100 holds an item at the base of the thumb, the item may be located at the second body 32. The support ribs 50 located between the second body 32 and the connection mechanism 40 can be used to support the item, and the manipulator 100 can support the item more stably.

[0070] When the manipulator 100 holds an object at the base of the thumb, the object may also be located at the first body 31. In some embodiments of the present application, the support ribs 50 are located on a side of the first body 31 close to the connection mechanism 40, so that the support ribs 50 are used to support the object located at the first body 31, and the manipulator 100 supports the object at the base of the thumb more stably.

[0071] When the manipulator 100 holds an object at the base of the thumb, the object may be located at the first body 31, at the second body 32, or at both the first body 31 and the second body 32. In some embodiments of the present application, the support ribs 50 are located on one side of the first body 31 and the second body 32 close to the connection mechanism 40, so that the support ribs 50 are used to support the object located at the first body 31 and the second body 32, and the manipulator 100 supports the object at the base of the thumb more stably.

[0072] In some embodiments of the present invention, Figure 5-Figure 7 As shown, the manipulator 100 further includes a first connecting member 60, which is disposed on the palm seat 10 and connected to a side edge of the flexible wrapping member 30 to mount the flexible wrapping member 30 on the palm seat 10. The connection between the flexible wrapping member 30 and the first connecting member 60 may be one or more of bonding, bolting, and clamping.

[0073] The flexible wrapping member 30 is installed on the palm rest 10 through the first connecting member 60, which is conducive to more effectively fixing the flexible wrapping member 30 through the first connecting member 60, so that the part of the flexible wrapping member 30 connected to the first connecting member 60 is not easily deformed when the finger 20 and the palm rest 10 move relatively, and the connection between the flexible wrapping member 30 and the palm rest 10 is more secure.

[0074] The manipulator 100 further includes a second connecting member 70, which is disposed on the finger 20 and connected to the other side edge of the flexible wrapping member 30 to mount the flexible wrapping member 30 on the finger 20. The connection between the flexible wrapping member 30 and the second connecting member 70 may be one or more of bonding, bolting, and clamping.

[0075] The flexible wrapping member 30 is installed on the finger 20 through the second connecting member 70, which is conducive to more effectively fixing the flexible wrapping member 30 through the second connecting member 70, so that the part of the flexible wrapping member 30 connected to the second connecting member 70 is not easily deformed when the finger 20 and the palm seat 10 move relatively. The connection between the flexible wrapping member 30 and the finger 20 is more secure.

[0076] In some embodiments, Figure 5-Figure 9 As shown, a positioning structure 34 is provided at the edge of the flexible wrapping member 30 , and a first matching structure 61 is provided respectively on the first connecting member 60 and the second connecting member 70 . The positioning structure 34 and the first matching structure 61 are plug-fitted.

[0077] The positioning structure 34 of the flexible wrapping member 30 is plugged into and matched with the first matching structure 61 on the first connecting member 60 to position the connection between the flexible wrapping member 30 and the first connecting member 60. The positioning structure 34 of the flexible wrapping member 30 is plugged into and matched with the first matching structure 61 on the second connecting member 70 to position the connection between the flexible wrapping member 30 and the second connecting member 70, which can improve the connection accuracy of the flexible wrapping member 30 respectively connected to the first connecting member 60 and the second connecting member 70, so as to improve the installation accuracy of the flexible wrapping member 30 installed on the palm seat 10 and the finger 20.

[0078] For example, in some embodiments, Figure 5-Figure 9 As shown, the positioning structure 34 includes a first positioning structure 341 , the first positioning structure 341 is a protrusion, and the first matching structure 61 is a through hole. The protrusion is inserted into the through hole to achieve plug-in matching between the first positioning structure 341 and the first matching structure 61 .

[0079] In some embodiments, Figure 1 and Figure 5-Figure 9As shown, the palm seat 10 includes a seat body 11 and a palm back 12, the seat body 11 has a palm surface 111, and the palm back 12 is arranged on the seat body 11 and is opposite to the palm surface 111. The first connecting member 60 is arranged on the seat body 11 and is located between the palm back 12 and the palm surface 111. The side surface of the first connecting member 60 close to the palm back 12 corresponds to the shape of the inner surface of the palm back 12. The flexible wrapping member 30 is located between the first connecting member 60 and the palm back 12, so that it is not easy to generate a gap between the flexible wrapping member 30 and the first connecting member 60, and between the flexible wrapping member 30 and the palm back 12, which is conducive to making the flexible wrapping member 30 and the first connecting member 60, and between the flexible wrapping member 30 and the palm back 12 more closely fit, and the flexible wrapping member 30 is not easy to generate wrinkles, and the bionic effect is good.

[0080] In some embodiments, the flexible wrapping member 30 is bonded to the first connecting member 60 so that the portion of the flexible wrapping member 30 connected to the first connecting member 60 is less likely to produce wrinkles or connection marks such as exposed screw heads, etc. This allows the flexible wrapping member 30 to be firmly bonded to the first connecting member 60 while making the outer surface of the manipulator 100 smoother and providing a better bionic effect.

[0081] In some embodiments, Figure 1-Figure 3 and Figure 5-Figure 9 As shown, a portion of the flexible wrapping member 30 is disposed between the second connecting member 70 and the finger 20, and the second connecting member 70 and the finger 20 are fixedly connected to clamp the flexible wrapping member 30, so that the flexible wrapping member 30 is not easily separated from between the second connecting member 70 and the finger 20, thereby improving the installation firmness of the flexible wrapping member 30 at the finger 20.

[0082] For example, in some embodiments, Figure 3 and Figure 5-Figure 9 As shown, the finger 20 is provided with a second matching structure 22 and the second matching structure 22 is a through hole, the positioning structure 34 of the flexible wrapping member 30 includes a second positioning structure 342 and the second positioning structure 342 is a through hole, and the first matching structure 61 of the second connecting member 70 is a through hole. The screw is passed inwardly through the through holes of the finger 20, the flexible wrapping member 30 and the second connecting member 70, and a nut is arranged on the inner side of the screw so that the nut is screwed outward to tighten the screw, so as to clamp the flexible wrapping member 30 at the finger 20 through the matching clamping of the screw and the nut.

[0083] In some embodiments, Figure 5-Figure 9As shown, a portion of the flexible wrapping member 30 is arranged between the first connecting member 60 and the seat body 11, the seat body 11 is provided with a third matching structure 112 and the third matching structure 112 is a through hole, the positioning structure 34 of the flexible wrapping member 30 includes a second positioning structure 342 and the second positioning structure 342 is a through hole, the first matching structure 61 of the first connecting member 60 is a through hole, the screw is passed inwardly through the through holes of the seat body 11, the flexible wrapping member 30 and the first connecting member 60, and a nut is arranged on the inner side of the screw so that the nut is screwed outward to tighten the screw, so as to clamp the flexible wrapping member 30 at the seat body 11 through the matching clamping of the screw and the nut.

[0084] In some embodiments of the present invention, Figure 1-Figure 2 and Fig. 9 As shown, the flexible wrapping member 30 includes a wrapping body 35 , a first overlapping section 36 and a second overlapping section 37 . The wrapping body 35 has a smooth outer surface, so that the wrapping body 35 is located between the finger 20 and the palm seat 10 .

[0085] The first overlapping section 36 is arranged on a side of the wrapping body 35 close to the palm seat 10, and the outer surface of the first overlapping section 36 is lower than the outer surface of the wrapping body 35 to form a first avoidance groove 361. The first overlapping section 36 can extend into the palm seat 10 and the edge of the palm seat 10 extends to the first avoidance groove 361, which is beneficial for the outer surface of the palm seat 10 and the outer surface of the wrapping body 35 on the side of the first avoidance groove 361 to smoothly transition after the flexible wrapping piece 30 is installed on the palm seat 10, so as to mimic the skin at the junction of the palm and the base of the human hand, and the bionic effect is better.

[0086] The second overlapping section 37 is arranged on the side of the wrapping body 35 close to the finger 20, and the outer surface of the second overlapping section 37 is lower than the outer surface of the wrapping body 35 to form a second avoidance groove 371. The second overlapping section 37 can extend into the finger 20 and the edge of the finger 20 extends to the second avoidance groove 371, which is beneficial for the outer surface of the finger 20 to smoothly transition with the outer surface of the wrapping body 35 on the side of the second avoidance groove 371 after the flexible wrapping piece 30 is installed on the finger 20, so as to mimic the skin at the junction of the thumb and the base of the human hand, and the bionic effect is better.

[0087] Other structures and operations of the manipulator 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0088] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0089] In the description of this specification, the description with reference to the terms "embodiment", "specific embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0090] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robot, characterized in that: include: The seat of the palm; Fingers, the fingers are arranged on the outside of the palm seat and connected via a connecting mechanism; A flexible wrapping member is arranged on the outside of the connecting mechanism, at least a part of the flexible wrapping member is located between the palm seat and the finger and has a smooth outer surface, and the flexible wrapping member is constructed to be deformable when the finger and the palm seat move relative to each other.

2. The robot according to claim 1, characterized in that: Also includes: The support ribs are located on the inner side of the flexible wrapping member, and the two ends of the support ribs are respectively connected to the palm seat and the fingers. The support ribs are constructed to bend or flatten when the fingers and the palm seat move relative to each other.

3. The robot according to claim 2, characterized in that: One end of the support rib is rotatably connected to the palm seat via a rotating shaft; and / or, A driver is disposed in the finger, a first end of the driver cooperates with the connection mechanism, and a second end of the driver extends in a direction away from the connection mechanism. The other end of the support rib is provided with a support sleeve, the support sleeve comprises a bottom wall and a side peripheral wall, and the support sleeve is sleeved on the second end of the driver.

4. The robot according to claim 2, characterized in that: The manipulator has a palm side, a dorsal side and a tiger's mouth, wherein the tiger's mouth is located between the palm side and the dorsal side and between the fingers and the palm seat. The flexible wrapping member includes a first body, a second body and a third body connected in sequence, the first body is located on the palm side, the second body is located at the base of the thumb, the third body is located on the back of the palm, and the supporting ribs are located on a side of the first body and / or the second body close to the connecting mechanism.

5. The robot according to claim 2, characterized in that: The flexible wrapping member is made of liquid silicone; and / or, The supporting ribs are made of thermoplastic polyurethane elastomer.

6. The robot according to claim 1, characterized in that: Also includes: A first connecting member, the first connecting member is disposed on the palm seat, and the first connecting member is connected to a side edge of the flexible wrapping member so as to install the flexible wrapping member on the palm seat; A second connecting member is disposed on the finger, and the second connecting member is connected to the other side edge of the flexible wrapping member to install the flexible wrapping member on the finger.

7. The robot according to claim 6, characterized in that: A positioning structure is provided at the edge of the flexible wrapping member, and the first connecting member and the second connecting member are respectively provided with a first matching structure, and the positioning structure and the first matching structure are plug-fitted.

8. The robot according to claim 6, characterized in that: The palm seat includes a seat body and a palm back, the seat body has a palm surface, the palm back is arranged on the seat body and opposite to the palm surface, the first connecting member is arranged on the seat body and is located between the palm back and the palm surface, a side surface of the first connecting member close to the palm back corresponds to the inner surface shape of the palm back, and the flexible wrapping member is located between the first connecting member and the palm back.

9. The robot according to claim 6, characterized in that: A portion of the flexible wrapping member is disposed between the second connecting member and the finger, and the second connecting member and the finger are fixedly connected to clamp the flexible wrapping member.

10. The robot according to any one of claims 1 to 9, characterized in that: The flexible wrapper comprises: A wrapping body, wherein the wrapping body has a smooth outer surface; A first overlapping section, the first overlapping section is arranged on a side of the package body close to the palm seat, and the outer surface of the first overlapping section is lower than the outer surface of the package body to form a first avoidance groove, the first overlapping section is suitable for extending into the palm seat and the edge of the palm seat extends to the first avoidance groove; The second overlapping section is arranged on a side of the package body close to the finger, and the outer surface of the second overlapping section is lower than the outer surface of the package body to form a second avoidance groove, the second overlapping section is suitable for extending into the finger and the edge of the finger extends to the second avoidance groove.

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