Manipulator palm mechanism, manipulator and robot

Abstract

The present invention discloses a manipulator palm mechanism, a manipulator and a robot, relating to the technical field of robots. The mechanism includes a scissor structure and a first driving device. The scissor structure has at least two sets of externally connected points arranged oppositely on both sides perpendicular to the deformable direction of the scissor structure. The externally connected point on the first side of the scissor structure is the first externally connected point, and the externally connected point on the second side of the scissor structure is the second externally connected point. One first externally connected point of the scissor structure is used to connect with the wrist mechanism, and at least two first externally connected points of the scissor structure are used to connect with finger mechanisms. The first driving device is connected to one second externally connected point. The first driving device can drive the corresponding second externally connected point to move to the side away from or close to the wrist mechanism. By driving the second externally connected point to move away from or close to the wrist mechanism, the first driving device can make the scissor structure fork open or fold up along the deformable direction of the scissor structure. The present invention has high adaptability and flexibility in grasping, a simple structure, and is convenient for application.

Description

Technical Field

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

[0002] The manipulator is the end tool for robot operation and action execution. As the final link and execution component of the robot's interaction with the environment, its flexibility plays an extremely important role in improving the flexibility and ease of use of the robot. The quality of its performance largely determines the working performance of the entire robot. In order to further enhance the adaptability and flexibility of the robot and improve its multi-tasking ability, the new structural design of the robot manipulator has also become a hot topic of research.

[0003] The palm mechanism of traditional manipulators is mostly a fixed structure. The palm mechanism does not have the function of opening and closing. The grasping function is achieved by placing a driving device such as a servo or linear drive on the palm mechanism to drive the fingers to bend. Since the function of this type of palm mechanism is only to support the driving device, the palm function is single and the flexibility of the manipulator is poor. Summary of the invention

[0004] The purpose of the present invention is to provide a manipulator palm mechanism, a manipulator and a robot to solve the problems existing in the above-mentioned prior art, increase the adaptability and flexibility of grasping; ensure the simplicity and comfort of the structural design, facilitate control and operation, and help improve operational efficiency.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a manipulator palm mechanism, comprising a scissor-fork structure and a first driving device, wherein:

[0007] The scissor-fork structure has at least two sets of external connection points arranged opposite to each other on both sides perpendicular to the deformable direction of the scissor-fork structure; the external connection point located on the first side of the scissor-fork structure is a first external connection point, and the external connection point located on the second side of the scissor-fork structure is a second external connection point; one of the first external connection points of the scissor-fork structure is used to connect with a wrist mechanism, and at least two of the first external connection points of the scissor-fork structure are used to connect with a finger mechanism;

[0008] The first driving device is connected to one of the second external connection points, and the first driving device can drive the corresponding second external connection point to move toward the side away from or close to the wrist mechanism. The first driving device can make the scissors structure fork apart or close along the deformable direction of the scissors structure by driving the second external connection point away from or close to the wrist mechanism.

[0009] Preferably, the scissor structure includes a first link assembly and a second link assembly. The first link assembly includes at least one X-shaped link assembly. Each X-shaped link assembly includes two first links arranged crosswise. The two first links of each X-shaped link assembly can form a rotational connection about the central axis at the intersection point. The end of each first link away from the wrist mechanism and the end close to the wrist mechanism are respectively the first free end and the second free end of each first link. A plurality of X-shaped link assemblies are connected in sequence. Each first free end of each X-shaped link assembly forms a rotational connection about the distal axis with the first free end on the adjacent side of the adjacent X-shaped link assembly. Each second free end of each X-shaped link assembly forms a rotational connection about the proximal axis with the second free end on the adjacent side of the adjacent X-shaped link assembly.

[0010] The second link assembly includes the X-shaped link assembly or the V-shaped link assembly. The X-shaped link assembly and the V-shaped link assembly are each one or two. Each first free end of each X-shaped link assembly of the second link assembly forms a rotational connection about the distal axis with one of the two first free ends at both ends of the first link assembly. Each second free end of each X-shaped link assembly of the second link assembly forms a rotational connection about the proximal axis with one of the two second free ends at both ends of the first link assembly. The two X-shaped link assemblies are respectively arranged at both ends of the first link assembly. Each V-shaped link assembly includes two second links. One end of one second link of each V-shaped link assembly forms a rotational connection about the central axis with one end of the other second link. The other ends of the two second links of each V-shaped link assembly are respectively rotationally connected to the two free ends at one end of the first link assembly. The two V-shaped link assemblies are respectively arranged at both ends of the first link assembly.

[0011] Preferably, one second link of each V-shaped link assembly forms a rotational connection about the distal axis with the first free end at one end of the first link assembly, and the other second link of each V-shaped link assembly forms a rotational connection about the proximal axis with the second free end at the same end of the first link assembly.

[0012] All the central axes of the first link assembly, all the distal axes of the first link assembly, all the proximal axes of the first link assembly, all the central axes of the second link assembly, all the distal axes of the second link assembly, and all the proximal axes of the second link assembly intersect at the same point.

[0013] Preferably, the scissors structure includes three X-shaped link assemblies connected in sequence. The scissors structure has two first external connection points and two first free ends. The two first external connection points and the two first free ends are respectively connected to one finger mechanism. The first driving device can make two adjacent finger mechanisms move away from or close to each other by spreading or folding the scissors structure.

[0014] The present invention also provides a manipulator, including a finger device and the manipulator palm mechanism described above. The finger device includes at least two finger mechanisms. At least two finger mechanisms of the finger device are connected to the scissors structure, and each finger mechanism connected to the scissors structure is connected to one first external connection point.

[0015] Preferably, each finger mechanism includes a second driving device, a first finger joint, a first push rod assembly, and a second push rod assembly. Both ends of each first push rod assembly are respectively rotatably connected to the output end of the corresponding second driving device and one end of the corresponding second push rod assembly. The other end of each second push rod assembly is connected to the corresponding second driving device. One end of each first push rod assembly away from the second driving device or one end of each second push rod assembly away from the second driving device can contact or connect to one end of the corresponding first finger joint close to the second driving device. Each second driving device is arranged between the wrist mechanism and the corresponding first finger joint. The output end of each second driving device can move in a direction away from or close to the wrist mechanism and drive the corresponding first finger joint to bend or extend through the corresponding first push rod assembly and the corresponding second push rod assembly.

[0016] Preferably, it further includes at least two first elastic members. One end of each first push rod assembly away from the second driving device or one end of each second push rod assembly away from the second driving device is provided with a first working surface. One end of each first finger joint close to the wrist mechanism is provided with a second working surface. Both the first working surface and the second working surface are arc surfaces, and each first working surface can contact the corresponding second working surface. Both ends of each first elastic member are respectively connected to the corresponding second push rod assembly and the corresponding first finger joint. Each second working surface can keep in contact with the corresponding first working surface under the pulling force of the corresponding first elastic member.

[0017] Preferably, each finger mechanism further includes a second finger joint and an interphalangeal link. Each second finger joint is rotatably connected to one end of the corresponding first finger joint away from the wrist mechanism. One end of each interphalangeal link is fixedly connected to the corresponding second driving device, and the other end of each interphalangeal link is rotatably connected to the corresponding second finger joint.

[0018] Preferably, it further includes a plurality of second elastic members. The finger mechanism connected to the scissor structure is a first finger structure. The second driving device of each first finger structure is rotatably connected to a first external connection point. The second driving device in one first finger structure is fixedly connected to the wrist mechanism. The second driving devices in the remaining first finger structures are connected to the side of the scissor structure close to the wrist mechanism through a second elastic member. Each second elastic member can apply a pulling force to the corresponding second driving device in the direction close to the scissor structure and close to the wrist mechanism.

[0019] The present invention also provides a robot, including the wrist mechanism and the manipulator palm mechanism as described above. The scissor structure and the first driving device are both arranged on the wrist mechanism.

[0020] The present invention has achieved the following technical effects compared with the prior art:

[0021] The present invention provides a manipulator palm mechanism, a manipulator and a robot, including a scissor structure and a first driving device, wherein: the scissor structure has at least two sets of relatively arranged external connection points on both sides perpendicular to the deformable direction of the scissor structure; the external connection points on the first side of the scissor structure are first external connection points, and the external connection points on the second side of the scissor structure are second external connection points; one first external connection point of the scissor structure is used to connect to the wrist mechanism, and at least two first external connection points of the scissor structure are used to connect to the finger mechanism; the first driving device is connected to a second external connection point, and the first driving device can drive the corresponding second external connection point to move to the side away from or close to the wrist mechanism. By driving the second external connection point to move away from or close to the wrist mechanism, the first driving device can make the scissor structure fork open or fold up along the deformable direction of the scissor structure.

[0022] Connect a first external connection point to the wrist mechanism (defining this first external connection point as the main external connection point), and connect at least two finger mechanisms to a first external connection point respectively. Since the main external connection point is set on the wrist mechanism, its distance from the wrist mechanism remains unchanged. By driving the second external connection point to move towards or away from the wrist mechanism through the second driving device, that is, it can make the second external connection point move towards or away from the first external connection point, so that the scissor structure can be folded or spread in the deformable direction, realizing the opening and closing functions of the palm mechanism. When the scissor structure is folded, the distance between two adjacent first external connection points in the deformable direction decreases, and the distance between the corresponding finger mechanisms in the deformable direction decreases; when the scissor structure is spread, the distance between two adjacent first external connection points in the deformable direction increases, and the distance between the corresponding finger mechanisms in the deformable direction increases, increasing the adaptability and flexibility of grasping. And the position adjustment of multiple first external connection points can be realized through a first driving device, that is, the expansion and closing of multiple points of the palm mechanism are realized, reducing the space occupied by the first driving device, ensuring the simplicity and comfort of the structural design, facilitating control and operation, and being beneficial to improving the operation efficiency. Brief Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 Structural schematic of the robotic hand palm mechanism provided in Embodiment 1 Figure 1 ;

[0025] Figure 2 Structural schematic of the robotic hand palm mechanism provided in Embodiment 1 Figure 2 ;

[0026] Figure 3 Structural schematic of the first finger structure provided in Embodiment 2 Figure 1 ;

[0027] Figure 4 Structural schematic of the first finger structure provided in Embodiment 2 Figure 2 ;

[0028] Figure 5 Structural schematic of the second finger structure provided in Embodiment 2 Figure 1 ;

[0029] Figure 6 Structural schematic of the second finger structure provided in Embodiment 2 Figure 2 ;

[0030] Figure 7 Schematic structural diagram of the mechanical arm provided for Embodiment 2;

[0031] Figure 8 Schematic structural diagram of the robot provided for Embodiment 3;

[0032] In the figure: 100, mechanical arm palm mechanism; 200, mechanical arm; 300, robot;

[0033] 1, scissor structure; 101, first external connection point; 102, second external connection point; 103, first connecting rod; 104, first free end; 105, second free end;

[0034] 2, first driving device; 201, palm electric cylinder; 202, servo motor;

[0035] 3, wrist mechanism;

[0036] 4, finger device; 401, second driving device; 4011, electric cylinder sleeve; 4012, finger electric cylinder; 4013, electric cylinder fixing piece; 4014, first finger root frame; 4015, second finger root frame; 402, first finger joint; 4021, first finger joint one; 4022, first finger joint two; 403, first push rod assembly; 4031, first push rod one; 4032, first push rod two; 404, second push rod assembly; 4041, second push rod one; 4042, second push rod two; 405, first working surface; 406, second working surface; 407, second finger joint; 4071, second finger joint one; 4072, second finger joint two; 408, inter-finger connecting rod; 409, first inner palm rod; 410, first outer palm rod; 411, second inner palm rod; 412, second outer palm rod; 413, third inner palm rod; 414, third outer palm rod;

[0037] 5, wrist connecting piece; 6, first elastic component; 7, second elastic component;

[0038] 8, frame connecting rod; 801, first frame connecting rod; 802, second frame connecting rod;

[0039] 9, middle plate; 10, first middle plate fixing piece; 11, second middle plate fixing piece. Detailed implementation manners

[0040] The embodiments of the present invention are described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0041] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0042] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0043] The object of the present invention is to provide a manipulator palm mechanism, a manipulator and a robot to solve the problems existing in the above-mentioned prior art, increase the adaptability and flexibility of grasping; ensure the simplicity and comfort of the structural design, facilitate control and operation, and is conducive to improving the operation efficiency.

[0044] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0045] Embodiment 1

[0046] As Figures 1 - 2As shown in the figure, this embodiment provides a manipulator palm mechanism 100, which includes a scissor structure 1 and a first driving device 2, where: the scissor structure 1 has at least two sets of relatively arranged external connection points on both sides perpendicular to the deformable direction of the scissor structure 1; the external connection points on the first side of the scissor structure 1 are the first external connection points 101, and the external connection points on the second side of the scissor structure 1 are the second external connection points 102; one first external connection point 101 of the scissor structure 1 is used to connect with the wrist mechanism 3, and at least two first external connection points 101 of the scissor structure 1 are used to connect with the finger mechanism; the first driving device 2 is connected to one second external connection point 102, and the first driving device 2 can drive the corresponding second external connection point 102 to move to the side away from or close to the wrist mechanism 3. By driving the second external connection point 102 to move away from or close to the wrist mechanism 3, the first driving device 2 can make the scissor structure 1 fork open or fold up along the deformable direction of the scissor structure 1.

[0047] Connect one first external connection point 101 to the wrist mechanism 3 (define this first external connection point 101 as the main external connection point), and connect at least two finger mechanisms to one first external connection point 101 respectively. Since the main external connection point is set on the wrist mechanism 3 and its distance from the wrist mechanism 3 remains unchanged, by driving the second external connection point 102 to move towards or away from the wrist mechanism 3 through the second driving device 401, that is, it can make the second external connection point 102 move towards or away from the first external connection point 101, so that the scissor structure 1 folds up or forks open in the deformable direction, realizing the opening and closing functions of the palm mechanism. When the scissor structure 1 folds up, the distance between two adjacent first external connection points 101 in the deformable direction decreases, and the distance between the corresponding finger mechanisms in the deformable direction decreases; when the scissor structure 1 forks open, the distance between two adjacent first external connection points 101 in the deformable direction increases, and the distance between the corresponding finger mechanisms in the deformable direction increases, realizing the opening of the palm mechanism and expanding the grasping space. When the degree of freedom of the finger mechanism itself is certain, the adaptability and flexibility of grasping are increased. And the position adjustment of multiple first external connection points 101 can be realized through one first driving device 2, that is, the expansion and closing of multiple points of the palm mechanism are realized, reducing the space occupied by the first driving device 2, ensuring the simplicity and comfort of the structural design, facilitating control and operation, and being beneficial to improving the operation efficiency.

[0048] Further, the scissor structure 1 includes a first link assembly and a second link assembly. The first link assembly includes at least one X-shaped link assembly. Each X-shaped link assembly includes two first links 103 arranged in a cross shape. The two first links 103 of each X-shaped link assembly can form a rotational connection around the central axis at the intersection point. The end of each first link 103 away from the wrist mechanism 3 and the end close to the wrist mechanism 3 are respectively the first free end 104 and the second free end 105 of each first link 103. A plurality of X-shaped link assemblies are connected in sequence. The first free ends 104 of each X-shaped link assembly and the first free ends 104 on the adjacent side of the adjacent X-shaped link assembly form a rotational connection around the distal axis. The second free ends 105 of each X-shaped link assembly and the second free ends 105 on the adjacent side of the adjacent X-shaped link assembly form a rotational connection around the proximal axis.

[0049] The second link assembly includes an X-shaped link assembly or a V-shaped link assembly. The number of the X-shaped link assembly and the V-shaped link assembly is one or two. The first free ends 104 of each X-shaped link assembly of the second link assembly and one of the two first free ends 104 at both ends of the first link assembly form a rotational connection around the distal axis. The second free ends 105 of each X-shaped link assembly of the second link assembly and one of the two second free ends 105 at both ends of the first link assembly form a rotational connection around the proximal axis. The two X-shaped link assemblies are respectively arranged at both ends of the first link assembly. Each V-shaped link assembly includes two second links. One end of one second link of each V-shaped link assembly and one end of the other second link form a rotational connection around the central axis. The other ends of the two second links of each V-shaped link assembly are respectively rotationally connected to the two free ends at one end of the first link assembly. The two V-shaped link assemblies are respectively arranged at both ends of the first link assembly. It should be noted that both ends of the first link assembly refer to both ends of the first link assembly along the deformable direction. The number of the X-shaped link assembly and / or the V-shaped link assembly can be set according to the use requirements, such as setting according to the number of finger mechanisms that need to be controlled for lateral expansion and closing to meet different use requirements.

[0050] It should be noted that after the first free ends 104 of each X-shaped link assembly are hinged to the first free ends 104 of the adjacent X-shaped link assembly, a first external connection point 101 can be formed. After the first free end 104 of the first link assembly is hinged to the corresponding second link, a first external connection point 101 can be formed. The first free end 104 of the scissor structure 1 is also the first external connection point 101. After the second free ends 105 of each X-shaped link assembly are hinged to the second free ends 105 of the adjacent X-shaped link assembly, a second external connection point 102 can be formed. After the second free end 105 of the first link assembly is hinged to the corresponding second link, a second external connection point 102 can be formed. The second free end 105 of the scissor structure 1 is also the second external connection point 102.

[0051] Furthermore, a second link of each V-shaped link assembly forms a rotational connection about a distal axis with a first free end 104 at one end of the first link assembly, and the other second link of each V-shaped link assembly forms a rotational connection about a proximal axis with a second free end 105 at the same end of the first link assembly; all the central axes, all the distal axes, and all the proximal axes of the scissor structure 1 intersect at the same point, and this intersection point is the spherical center point on the palm side of the palm mechanism, so that the entire palm mechanism can be unfolded around different spherical surfaces of the same spherical center, can better match a spherical or quasi-spherical object to be grasped, can better constrain it, and is more likely to achieve stable grasping.

[0052] Furthermore, this embodiment further includes a frame link 8, and both ends of the frame link 8 are respectively hinged to the first driving device 2 and the main external connection point. As a preferred implementation manner, the frame link 8 includes a first frame link 801 and a second frame link 802. Both ends of the first frame link 801 are respectively hinged to the output end of the first driving device 2 and one end of the second frame link 802, and the other end of the second frame link 802 is hinged to a second external connection point 102.

[0053] Furthermore, as Figure 1 shown, the scissor structure 1 includes three sequentially connected X-shaped link assemblies. The scissor structure 1 has two first external connection points 101 and two first free ends 104. The two first external connection points 101 and the two first free ends 104 are respectively connected to a finger mechanism. The first driving device 2 can make two adjacent finger mechanisms move away from or close to each other by spreading or folding the scissor structure 1. Four finger mechanisms are arranged on the scissor structure 1, corresponding to the index finger, middle finger, ring finger, and little finger of the human hand, and can realize the shape imitation design of the human hand.

[0054] Furthermore, the two first links 103 of each X-shaped link assembly are arranged in a cross shape and are hinged at the intersection point; the first free end 104 and the second free end 105 of each X-shaped link assembly can be respectively hinged to the first free end 104 and the second free end 105 of an adjacent X-shaped link assembly; the two second links of the V-shaped link assembly are hinged, and the first free end 104 and the second free end 105 at one end of the first link assembly can be respectively hinged to the free ends of the two second links of the V-shaped link assembly.

[0055] Further, it further includes an intermediate plate 9, a first intermediate plate fixing member 10, and a second intermediate plate fixing member 11. The first driving device 2 includes a palm electric cylinder 201 and a servo motor 202. The output shaft of the palm electric cylinder 201 is rotatably connected to the frame connecting rod 8, and the intermediate plate 9 is fixedly connected to the wrist mechanism 3. Limiting grooves are provided on both sides of the intermediate plate 9. The palm electric cylinder 201 and the servo motor 202 are respectively arranged in the two limiting grooves. The first intermediate plate fixing member 10 is arranged on the side of the palm electric cylinder 201 away from the limiting groove and is fixedly connected to the intermediate plate 9. The first intermediate plate fixing member 10 and the bottom wall of the limiting groove can limit the movement of the palm electric cylinder 201 in the first direction, and the limiting groove can limit the movement of the palm electric cylinder 201 in the second direction and the third direction. The second direction is parallel to the axial direction of the palm electric cylinder 201, and the first direction and the third direction are both perpendicular to the second direction, and the first direction and the third direction are perpendicular to each other. The second intermediate plate fixing member 11 is arranged on the side of the servo motor 202 away from the limiting groove and is fixedly connected to the intermediate plate 9. The second intermediate plate fixing member 11 and the bottom wall of the limiting groove can limit the movement of the servo motor 202 in the first direction, and the limiting groove can limit the movement of the servo motor 202 in the second direction and the third direction. The intermediate plate 9 is fixedly connected to the wrist mechanism 3, the first intermediate plate fixing member 10 is fixedly connected to the intermediate plate 9, and the second intermediate plate fixing member 11 is fixedly connected to the intermediate plate 9 by bolts.

[0056] Embodiment 2

[0057] As Figures 3 - 7 shown, this embodiment provides a manipulator 200, including a finger device 4 and the manipulator palm mechanism 100 in Embodiment 1. The finger device 4 includes at least two finger mechanisms. At least two finger mechanisms of the finger device 4 are connected to the scissor structure 1, and each finger mechanism connected to the scissor structure 1 is connected to a first external connection point 101.

[0058] Further, each finger mechanism includes a second driving device 401, a first finger joint 402, a first push rod assembly 403, and a second push rod assembly 404. The two ends of each first push rod assembly 403 are respectively rotatably connected to the output end of the corresponding second driving device 401 and one end of the corresponding second push rod assembly 404. The other end of each second push rod assembly 404 is connected to the corresponding second driving device 401. One end of each first push rod assembly 403 away from the second driving device 401 or one end of each second push rod assembly 404 away from the second driving device 401 can contact or connect with one end of the corresponding first finger joint 402 close to the second driving device 401. Each second driving device 401 is arranged between the wrist mechanism 3 and the corresponding first finger joint 402. The output end of each second driving device 401 can move in a direction away from or close to the wrist mechanism 3 and drive the corresponding first finger joint 402 to bend or extend through the corresponding first push rod assembly 403 and the corresponding second push rod assembly 404.

[0059] Further, it further includes at least two first elastic members 6. One end of each first push rod assembly 403 away from the second driving device 401 or one end of each second push rod assembly 404 away from the second driving device 401 is provided with a first working surface 405. One end of each first finger joint 402 close to the wrist mechanism 3 is provided with a second working surface 406. Both the first working surface 405 and the second working surface 406 are arc surfaces. Each first working surface 405 can be in contact with the corresponding second working surface 406. Two ends of each first elastic member 6 are respectively connected to the corresponding second push rod assembly 404 and the corresponding first finger joint 402. Each second working surface 406 can be kept in contact with the corresponding first working surface 405 under the pulling force of the corresponding first elastic member 6. Each finger mechanism is provided with one first elastic member 6. Due to the function of the first elastic member 6, the finger mechanism has the characteristic of under-actuation. When the second finger joint 407 or the first finger joint 402 is subjected to an external inward acting force, the first finger joint 402 can be separated from the second push rod assembly 404 to realize the rotation of an additional degree of freedom, having greater finger adaptability.

[0060] It should be noted that the manipulator 200 in this embodiment is not limited to adopting the above-mentioned under-actuated design, and can also be: one end of each first push rod assembly 403 away from the second driving device 401 or one end of each second push rod assembly 404 away from the second driving device 401 can be hinged to one end of the corresponding first finger joint 402 close to the second driving device 401. At this time, the finger mechanism has the characteristic of full actuation.

[0061] Further, each finger mechanism further includes a second finger joint 407 and an interphalangeal link 408. Each second finger joint 407 is rotatably connected to one end of the corresponding first finger joint 402 away from the wrist mechanism 3. One end of each interphalangeal link 408 is fixedly connected to the corresponding second driving device 401, and the other end of each interphalangeal link 408 is rotatably connected to the corresponding second finger joint 407. As a preferred implementation manner, the second finger joint 407 is modular and detachable, and can be replaced with a fingertip sensor module according to requirements, providing the possibility of better tactile perception control.

[0062] Further, as Figure 7As shown in the figure, it further includes a plurality of second elastic members 7. The finger mechanism connected to the scissor structure 1 is the first finger structure. The second driving device 401 of each first finger structure is rotatably connected to a first external connection point 101. The second driving device 401 in one first finger structure is fixedly connected to the wrist mechanism 3. The second driving devices 401 in the remaining first finger structures are connected to one side of the scissor structure 1 close to the wrist mechanism 3 through a second elastic member 7. Each second elastic member 7 can apply a pulling force to the corresponding second driving device 401 in the direction close to the scissor structure 1 and close to the wrist mechanism 3. This makes the finger mechanism always maintain a relatively fixed angle with the palm mechanism, improves the stability of the relative position of the finger mechanism in the manipulator 200, and is conducive to the operation and control of the manipulator 200.

[0063] As a preferred embodiment, as Figure 3 shown in the figure, the second driving device 401 includes an electric cylinder sleeve 4011, a finger electric cylinder 4012, an electric cylinder fixing member 4013, and a finger root frame assembly. The finger electric cylinder 4012 is fixedly connected to one side of the electric cylinder sleeve 4011 through the electric cylinder fixing member 4013. The finger root frame assembly is fixedly connected to the side of the electric cylinder sleeve 4011 away from the finger electric cylinder 4012. The electric cylinder sleeve 4011 has an installation groove. The finger electric cylinder 4012 is arranged inside the electric cylinder sleeve 4011. The electric cylinder fixing member 4013 is arranged on the outside of the exposed part of the electric cylinder sleeve 4011 and is fixedly connected to the electric cylinder sleeve 4011 through bolts. The electric cylinder fixing member 4013 and the inner bottom wall of the installation groove are used to limit the movement of the finger electric cylinder 4012 in the fourth direction. The installation groove can limit the movement of the finger electric cylinder 4012 in the fifth and sixth directions. The fifth direction is parallel to the axial direction of the finger electric cylinder 4012. The fourth and sixth directions are perpendicular to the axial direction of the finger electric cylinder 4012. The fourth and sixth directions are perpendicular to each other, forming the first type of second driving device 401.

[0064] As another preferred embodiment, the second driving device 401 includes a finger electric cylinder 4012 and a finger root frame assembly. The finger electric cylinder 4012 is fixedly connected inside the cavity of the finger root frame assembly, forming the second type of second driving device 401.

[0065] Further, the output end (the cylinder push head) of the finger electric cylinder 4012 is hinged to the first push rod assembly 403 around the first axis, the first push rod assembly 403 is hinged to the second push rod assembly 404 around the second axis, both the second push rod assembly 404 and the first finger joint 402 are hinged to the finger root frame assembly around the third axis, one end of the interphalangeal connecting rod 408 is hinged to the finger root frame assembly around the fourth axis, the other end of the interphalangeal connecting rod 408 is hinged to the second finger joint 407 around the fifth axis, and the second finger joint 407 is hinged to the first finger joint 402 around the sixth axis. The first axis, the second axis, the third axis, the fourth axis, the fifth axis, and the sixth axis are all perpendicular to the axis of the output end of the finger electric cylinder 4012. Each finger root frame assembly is connected to the scissor structure 1.

[0066] Further, the finger root frame assembly of the second second driving device 401 includes a finger root frame one 4014 and a finger root frame two 4015, and the finger root frame one 4014 and the finger root frame two 4015 can be fixedly connected to the cylinder sleeve 4011 through connecting pieces such as positioning pins and bolts. As Figure 3As shown in the figure, the first push rod assembly 403 includes a first push rod 4031 and a second push rod 4032 which are fixedly connected. The second push rod assembly 404 includes a first push rod 4041 and a second push rod 4042 which are fixedly connected. The first finger joint 402 includes a first finger joint 4021 and a second finger joint 4022 which are fixedly connected. The second finger joint 407 includes a first finger joint 4071 and a second finger joint 4072 which are fixedly connected. The output end of the finger electric cylinder 4012 is fixedly connected with a light shaft, and the light shaft is perpendicular to the finger electric cylinder 4012. One end of the first push rod 4031 and one end of the second push rod 4032 are respectively connected to both ends of the light shaft through bearings. The other ends of the first push rod 4031 and the second push rod 4032 are respectively hinged to one end of the first push rod 4041 and the second push rod 4042. Specifically, the first push rod 4041 and the second push rod 4042 are fixedly connected by a positioning pin, and the first push rod 4031 and the second push rod 4032 are rotatably connected to the positioning pin. A connecting shaft is sleeved and fixedly connected inside the first finger root frame 4014 and the second finger root frame 4015. The other ends of the first finger joint 4021, the second finger joint 4022, the first push rod 4041 and the second push rod 4042 are all sleeved outside the connecting shaft. The first push rod 4041 and the second push rod 4042 are connected to the connecting shaft through embedded bearings, and the first push rod 4041 and the second push rod 4042 are respectively connected to the first finger joint 4021 and the second finger joint 4022 through external bearings. Two spring hanging rods are arranged between the first finger joint 4021 and the second finger joint 4022. Both ends of one spring hanging rod are respectively fixedly connected to the first push rod 4041 and the second push rod 4042, and both ends of the other spring hanging rod are respectively fixedly connected to the first finger joint 4021 and the second finger joint 4022. The first elastic member 6 is a tension spring, and both ends of the tension spring are respectively hung on the two spring hanging rods. A connecting shaft is fixedly connected between the first finger joint 4021 and the second finger joint 4022, and both the first finger joint 4071 and the second finger joint 4072 are connected to the connecting shaft through bearings. A connecting shaft is fixedly connected between the first finger root frame 4014 and the second finger root frame 4015, and one end of the interphalangeal connecting rod 408 is connected to the connecting shaft through a bearing. A connecting shaft is fixedly connected between the first finger joint 4071 and the second finger joint 4072, and the other end of the interphalangeal connecting rod 408 is connected to the connecting shaft through a bearing. Both the first push rod 4041 and the second push rod 4042 have a first working surface 405.

[0067] Further, there are four first finger structures, namely the index finger structure, the middle finger structure, the ring finger structure and the little finger structure. The scissor structure 1 includes three X-shaped link assemblies connected in sequence. Correspondingly, as Figure 2As shown in the figure, in the direction from the little finger to the index finger, the scissor structure 1 includes the first inner palm rod 409, the first outer palm rod 410, the second inner palm rod 411, the second outer palm rod 412, the third inner palm rod 413, and the third outer palm rod 414. The first inner palm rod 409 intersects and is hinged with the first outer palm rod 410; the second inner palm rod 411 intersects and is hinged with the second outer palm rod 412, and the third inner palm rod 413 intersects and is hinged with the third outer palm rod 414; the distal end and the proximal end of the second inner palm rod 411 are respectively hinged with the distal end of the first outer palm rod 410 and the proximal end of the third outer palm rod 414, and the distal end and the proximal end of the second outer palm rod 412 are respectively hinged with the distal end of the third inner palm rod 413 and the proximal end of the first inner palm rod 409. The second inner palm rod 411 is hinged with the second frame link 802. The third inner palm rod 413 is hinged with the middle finger cylinder sleeve 4011 of the middle finger structure. The first inner palm rod 409, the first outer palm rod 410, and the third outer palm rod 414 are respectively hinged with the little finger structure, the ring finger structure, and the index finger structure through bearings. It should be noted that the end far from the wrist mechanism 3 is the distal end, and the end close to the end far from the wrist mechanism 3 is the proximal end.

[0068] Furthermore, each finger mechanism not connected to the scissor structure 1 is a second finger structure. The second finger structure is preferably one, which is the thumb. The second driving device 401 of the second finger structure is connected to the servo motor 202 through the wrist connecting piece 5. Specifically, the second driving device 401 of the second finger structure is fitted with the servo motor 202 through the wrist connecting piece 5 and fixedly connected by bolts. The servo motor 202 can drive the thumb to rotate 0 to 180° around the axis of the output shaft of the servo motor 202 through the wrist connecting piece 5.

[0069] Furthermore, a lower end shaft is hinged to the outside of the second outer palm rod 412. The little finger structure, the ring finger structure, and the index finger structure are respectively connected to the first outer palm rod 410, the lower end shaft, and the third inner palm rod 413 through the second elastic member 7. The second elastic member 7 is a tension spring.

[0070] The control principle of the manipulator 200 provided in this embodiment is as follows:

[0071] I. Description of the driving control of the palm mechanism: The contraction and extension of the palm mechanism are achieved through the telescoping of the palm electric cylinder 201. When the palm electric cylinder 201 extends, it drives the frame link 801 and the frame link 802 to rotate and move upward. Since the frame link 802 and the scissor structure 1 are hinged at the proximal ends of the inner rod 411 of the palm and the outer rod 414 of the palm, the relative angle between the inner rod 411 of the palm and the outer rod 414 of the palm increases, causing the entire palm structure to open. The pushing range of the palm electric cylinder 201 is 0 - 10 mm, and the included angle range between the central planes of the index finger and the little finger is 100° - 160°. Since the finger mechanisms are connected to the outer rod 410 of the palm, the lower end shaft, and the inner rod 413 of the palm through tension springs respectively, the finger mechanisms always maintain a relatively fixed angle with the palm mechanism, improving the stability of the relative position of the finger mechanisms in the manipulator 200 and facilitating the operation and control of the manipulator 200.

[0072] II. Description of the driving control of the finger mechanism: The bending of the finger is achieved through the telescoping of the finger electric cylinder 4012. When the finger electric cylinder 4012 extends, it causes the second push rod assembly 404 to move upward and rotate around the finger root frame group through the first push rod assembly 403. The second push rod assembly 404 pushes the first finger joint 402 to rotate around the finger root frame group towards the palm through surface contact. At the same time, the interphalangeal link 408 transmits the force to the second finger joint 407, causing the second finger joint 407 to rotate around the first finger joint 402 towards the palm, realizing the bending of the finger. The pushing range of the finger electric cylinder 4012 of the first finger structure is 0 - 10 mm, and the finger bending range is 0° - 180°. Due to the action of the first elastic member 6, the finger mechanism has the characteristic of underactuation. When the second finger joint 407 or the first finger joint 402 is subjected to an external inward force, the first finger joint 402 can be separated from the second push rod assembly 404, realizing the movement of an additional degree of freedom and having greater finger adaptability.

[0073] III. Description of the driving control of the thumb: The specific driving method of the thumb is the same as that of the finger mechanism, except that: the thumb bending range is 0° - 90°. The thumb is embedded with the wrist connecting member 5 and the servo motor 202 and fixedly connected by bolts. The servo motor 202 can drive the thumb mechanism to rotate 0 - 180° around the axis of the servo motor 202 through the wrist connecting member 5, further increasing the adaptability and flexibility of the manipulator 200.

[0074] Embodiment 3

[0075] As Figure 8 shown, this embodiment provides a robot 300, including a wrist mechanism 3 and the manipulator palm mechanism 100 in Embodiment 1. The scissor structure 1 and the first driving device 2 are both arranged on the wrist mechanism 3.

[0076] In the present invention, specific examples are used to illustrate the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. A manipulator palm mechanism, characterized in that: It comprises a scissor-type structure and a first driving device, wherein: The scissor-fork structure has at least two sets of external connection points arranged opposite to each other on both sides perpendicular to the deformable direction of the scissor-fork structure; the external connection point located on the first side of the scissor-fork structure is a first external connection point, and the external connection point located on the second side of the scissor-fork structure is a second external connection point; one of the first external connection points of the scissor-fork structure is used to connect with a wrist mechanism, and at least two of the first external connection points of the scissor-fork structure are used to connect with a finger mechanism; The first driving device is connected to one of the second external connection points, and the first driving device can drive the corresponding second external connection point to move away from or close to the wrist mechanism. The first driving device can make the scissors-fork structure fork apart or close along the deformable direction of the scissors-fork structure by driving the second external connection point away from or close to the wrist mechanism. The scissor-fork structure includes a first link assembly and a second link assembly, the first link assembly includes at least one X-shaped link assembly, each of the X-shaped link assemblies includes two cross-arranged first links, and the two first links of each X-shaped link assembly can form a rotation connection around a central axis at the intersection; the end of each first link away from the wrist mechanism and the end close to the wrist mechanism are respectively the first free end and the second free end of each first link, and a plurality of X-shaped link assemblies are connected in sequence, and each first free end of each X-shaped link assembly forms a rotation connection around a distal axis with the first free end on an adjacent side of an adjacent X-shaped link assembly, and each second free end of each X-shaped link assembly forms a rotation connection around a proximal axis with the second free end on an adjacent side of an adjacent X-shaped link assembly; The second connecting rod assembly includes the X-shaped connecting rod assembly or the V-shaped connecting rod assembly, and the X-shaped connecting rod assembly and the V-shaped connecting rod assembly are both one or two. The first free end of each X-shaped connecting rod assembly of the second connecting rod assembly forms a rotation connection around the distal axis with one of the two first free ends at both ends of the first connecting rod assembly, and the second free end of each X-shaped connecting rod assembly of the second connecting rod assembly forms a rotation connection around the proximal axis with one of the two second free ends at both ends of the first connecting rod assembly. The two X-shaped connecting rod assemblies are respectively arranged at the two ends of the first connecting rod assembly; each V-shaped connecting rod assembly includes two second connecting rods, one end of one second connecting rod of each V-shaped connecting rod assembly forms a rotation connection around the middle axis with one end of the other second connecting rod, and the other ends of the two second connecting rods of each V-shaped connecting rod assembly are respectively rotationally connected with the two free ends of one end of the first connecting rod assembly, and the two V-shaped connecting rod assemblies are respectively arranged at the two ends of the first connecting rod assembly.

2. The manipulator palm mechanism according to claim 1, characterized in that: One of the second links of each of the V-shaped link assemblies is connected to the first free end of one end of the first link assembly in a rotational connection about the distal axis, and another of the second links of each of the V-shaped link assemblies is connected to the second free end of the same end of the first link assembly in a rotational connection about the proximal axis; All of the middle axes of the first link assembly, all of the distal axes of the first link assembly, all of the proximal axes of the first link assembly, all of the middle axes of the second link assembly, all of the distal axes of the second link assembly, and all of the proximal axes of the second link assembly intersect at the same point.

3. The manipulator palm mechanism according to claim 1, characterized in that: The scissors-fork structure includes three X-shaped connecting rod assemblies connected in sequence, and the scissors-fork structure has two first external connection points and two first free ends, and the two first external connection points and the two first free ends are respectively connected to one finger mechanism, and the first driving device can make two adjacent finger mechanisms move away from or approach each other by making the scissors-fork structure fork apart or close together.

4. A robot, characterized in that: It comprises a finger device and a manipulator palm mechanism as described in any one of claims 1 to 3, wherein the finger device comprises at least two finger mechanisms, at least two of the finger mechanisms of the finger device are connected to the scissor-type structure, and each of the finger mechanisms connected to the scissor-type structure is connected to one of the first external connection points.

5. The robot according to claim 4, characterized in that: Each of the finger mechanisms includes a second drive device, a first finger joint, a first push rod assembly and a second push rod assembly, both ends of each of the first push rod assemblies are rotatably connected to the output end of the corresponding second drive device and one end of the corresponding second push rod assembly respectively, the other end of each of the second push rod assemblies is connected to the corresponding second drive device, one end of each of the first push rod assemblies away from the second drive device or one end of each of the second push rod assemblies away from the second drive device can contact or connect with one end of the corresponding first finger joint close to the second drive device, each of the second drive devices is arranged between the wrist mechanism and the corresponding first finger joint, the output end of each of the second drive devices can move in a direction away from or close to the wrist mechanism and drive the corresponding first finger joint to bend or extend through the corresponding first push rod assembly and the corresponding second push rod assembly.

6. The robot according to claim 5, characterized in that: It also includes at least two first elastic components, a first working surface is provided at one end of each first push rod assembly away from the second driving device or one end of each second push rod assembly away from the second driving device, a second working surface is provided at one end of each first finger joint close to the wrist mechanism, the first working surface and the second working surface are both arc surfaces, and each first working surface can contact with the corresponding second working surface; the two ends of each first elastic component are respectively connected to the corresponding second push rod assembly and the corresponding first finger joint, and each second working surface can maintain contact with the corresponding first working surface under the pulling force of the corresponding first elastic component.

7. The robot according to claim 5, characterized in that: Each of the finger mechanisms also includes a second knuckle and an inter-finger connecting rod, each of the second knuckles is rotatably connected to one end of the corresponding first knuckle away from the wrist mechanism, one end of each of the inter-finger connecting rods is fixedly connected to the corresponding second driving device, and the other end of each of the inter-finger connecting rods is rotatably connected to the corresponding second knuckle.

8. The robot according to claim 5, characterized in that: It also includes multiple second elastic components, the finger mechanism connected to the scissors-type structure is a first finger structure, the second driving device of each of the first finger structures is rotatably connected to one of the first external connections, the second driving device in one of the first finger structures is fixedly connected to the wrist mechanism, and the second driving devices in the remaining first finger structures are connected to the side of the scissors-type structure close to the wrist mechanism through a second elastic component, and each of the second elastic components can apply a pulling force to the corresponding second driving device in a direction close to the scissors-type structure and close to the wrist mechanism.

9. A robot, characterized in that: It comprises the wrist mechanism and the manipulator palm mechanism as described in any one of claims 1 to 3, and the scissor-fork structure and the first driving device are both arranged on the wrist mechanism.

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