Manipulator, manipulator control method and robot

Abstract

The invention belongs to the technical field of clamping devices, and discloses a manipulator, a manipulator control method and a robot, and the manipulator comprises a palm and a plurality of fingers. The fingers are distributed at intervals in the circumferential direction of the palm and provided with clamping sides, the clamping sides are provided with touch control modules, each finger is provided with a driving mechanism, and the driving mechanisms are used for driving the fingers to rotate and bend; the manipulator has a first clamping state, a second clamping state and a supporting state, in the first clamping state, the multiple fingers are sequentially staggered and bent, the multiple clamping sides are opposite to clamp a product, in the second clamping state, the multiple clamping sides all face the interior of the palm to clamp the product, and in the supporting state, the multiple clamping sides face the interior of the palm to clamp the product. The driving mechanism drives the fingers to rotate so that the clamping sides face the outside of the palm and are supported on the inner wall of the product. Therefore, the manipulator can be in different clamping states according to products with different shapes and sizes, so that the corresponding products are stably grabbed, and the possibility of product grabbing failure, product slipping or damage is effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of clamping devices, in particular to a mechanical hand, a mechanical hand control method and a robot. BACKGROUND

[0002] As a core component for realizing automatic operation, the performance of a mechanical hand directly affects production efficiency and operation quality. Especially in complex and changeable operation scenarios, such as precision electronic component assembly, fresh food sorting and medical auxiliary operation, high requirements are put forward for the flexibility and adaptability of the mechanical hand.

[0003] In the prior art, a dexterous mechanical hand usually adopts a linkage type or a bionic joint type structure, and a motor, a cylinder or other driving elements are used to drive the opening and closing of fingers to realize the clamping and releasing of objects. Some high-end models introduce a sensor feedback mechanism to monitor the clamping force and object position in real time, thereby improving the stability of operation. This kind of mechanical hand focuses on simplifying the structure and reducing the cost in design, and usually adopts a multi-degree-of-freedom finger configuration, which is combined with a simple trajectory planning algorithm to realize basic grasping function. The advantage of this kind of mechanical hand lies in compact structure and simple control, and it is suitable for production lines with high standardization, such as automobile part handling, packaging box stacking and other scenes.

[0004] However, when facing complex operation tasks, the fingers are difficult to simulate the multi-joint coordinated motion of human hands due to the limited degree of freedom, and are also limited by the opening and closing range of the fingers and the accuracy of clamping force adjustment, resulting in frequent situations of grasping failure, object slipping or damage when clamping objects of different shapes and sizes. SUMMARY

[0005] The purpose of the present application is to provide a mechanical hand, a mechanical hand control method and a robot, which solve the problem that the mechanical hand in the prior art is limited in degree of freedom, and the opening and closing range and the accuracy of clamping force adjustment, resulting in frequent situations of grasping failure, object slipping or damage when clamping objects of different shapes and sizes.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a mechanical hand, which comprises:

[0008] a palm;

[0009] a plurality of fingers spaced apart around the circumference of the palm and having a clamping side, the clamping side being provided with a touch module, each of the fingers being provided with a driving mechanism for driving the self-rotation and bending of the finger;

[0010] The mechanical hand has a first clamping state, a second clamping state and a supporting state. In the first clamping state, a plurality of the fingers are staggered and bent in sequence and a plurality of the clamping sides are opposite to clamp a product. In the second clamping state, a plurality of the clamping sides are all directed to the palm to clamp a product. In the supporting state, the driving mechanism drives the fingers to rotate so that the clamping sides are directed to the outside of the palm and supported on the inner wall of the product.

[0011] Optionally, the fingers comprise:

[0012] A base phalanx rotatably connected to the driving mechanism;

[0013] A terminal phalanx rotatably connected to the base phalanx;

[0014] Wherein, the base phalanx and the terminal phalanx have a clamping side directed to the inside of the palm. In the first clamping state, a plurality of the base phalanges are rotated to the inside of the palm and staggered with each other, and a plurality of the terminal phalanges are opposite to each other so that a plurality of the clamping sides are opposite to clamp a product. In the second clamping state, a plurality of the base phalanges are rotated to the outside of the palm, and a plurality of the terminal phalanges are opposite to each other so that a plurality of the clamping sides are directed to the inside of the palm to clamp a product. In the supporting state, the clamping sides are turned to the outside of the palm to support the inner wall of the product.

[0015] Optionally, further comprising:

[0016] A gear set arranged on the base phalanx and connected with the driving mechanism to isolate the base phalanx from the driving mechanism, and the gear set is configured to drive the base phalanx to rotate within a range of 180° through the driving mechanism.

[0017] Optionally, the gear set comprises:

[0018] A first base gear fixedly connected with the base phalanx through a base rotating rod;

[0019] A second base gear meshing with the first base gear and arranged on the driving mechanism;

[0020] A first terminal gear rotatably connected with the base rotating rod and connected with the terminal phalanx through a connecting rod assembly;

[0021] A second terminal gear meshing with the first terminal gear and arranged on the driving mechanism.

[0022] Optionally, the driving mechanism comprises a bending driving assembly, and the bending driving assembly comprises:

[0023] A first driving member connected with the second base gear through a first transmission module to drive the base phalanx to rotate;

[0024] A second driving member is connected with the second terminal gear through a second transmission module to drive the terminal phalange to rotate relative to the base phalange.

[0025] Optionally, the driving mechanism further comprises:

[0026] A rotating disc, and the bending driving assembly is arranged on the rotating disc.

[0027] A rotating driving member is connected with the rotating disc to drive the rotating disc to rotate.

[0028] Optionally, the driving mechanism comprises:

[0029] An outer sleeve is fixed to the palm.

[0030] An inner sleeve is rotationally connected in the outer sleeve and connected with the rotating driving member, and the rotating disc is arranged in the inner sleeve.

[0031] The outer sleeve is provided with a slip ring stator electrically connected with the control module, and the inner sleeve is provided with a slip ring rotor corresponding to the slip ring stator, so that the finger can rotate in a range greater than 180°.

[0032] Optionally, the finger has a plurality of detection members, and the detection members are connected with the control module through a plurality of layers of circuit boards; and / or,

[0033] A speed reducer is arranged on the outer side of the rotating driving member in parallel.

[0034] In a second aspect, the application provides a mechanical hand control method, which is applied to the mechanical hand in any one of the first aspect, and comprises:

[0035] The size and shape of the product are acquired.

[0036] When the size and shape of the product meet a first condition, the driving mechanism is started to drive the finger to rotate and bend, so that the mechanical hand enters the first clamping state to clamp the product.

[0037] When the size and shape of the product meet a second condition, the driving mechanism is started to drive the finger to bend, so that the mechanical hand enters the second clamping state to clamp the product.

[0038] When the size and shape of the product meet a third condition, the driving mechanism is started to drive the finger to rotate, so that the mechanical hand enters the supporting state to support the product.

[0039] In a third aspect, the application provides a robot, which comprises:

[0040] A mechanical arm.

[0041] The mechanical hand according to any one of the first aspect, is arranged on the mechanical arm.

[0042] Advantages of the present application:

[0043] When clamping different products, according to the shape and size of the product, each finger is driven to rotate and bend by the driving mechanism, so that the plurality of fingers form a clamping posture or a supporting posture. When clamping a product with a small size, the plurality of fingers are bent in turn and relative to each other to form a small clamping space between the plurality of fingers, so as to stably clamp the product. When clamping a product with a large size, the plurality of fingers are all directed towards the palm to form a large clamping space between the plurality of fingers, so as to clamp the product. When grabbing a product with an inner cavity or a slot, the fingers are rotated by the driving mechanism and the clamping sides are bent outwards of the palm, so that the clamping sides of the plurality of fingers are supported on the inner wall of the product at the same time, so as to support the product in the inner cavity in the supporting state. Therefore, during use, the mechanical hand can be controlled by the driving mechanism to rotate and bend each finger according to different shapes and sizes of products, so that the whole mechanical hand is in different clamping states, thereby stably grabbing the corresponding product, and effectively reducing the possibility of product grabbing failure, product falling or damage. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a structural schematic view of the mechanical hand in the second clamping state in the embodiment of the present application;

[0045] Figure 2 is an exploded view of the structure of the mechanical hand in the embodiment of the present application;

[0046] Figure 3 is a structural schematic view of the mechanical hand when the fingers are in a cubic shape in the embodiment of the present application;

[0047] Figure 4 is a structural schematic view of the mechanical hand in the first clamping state clamping a product in the embodiment of the present application;

[0048] Figure 5 is a structural schematic view of the mechanical hand in the supporting state in the embodiment of the present application;

[0049] Figure 6 is a structural schematic view of the mechanical hand in the supporting state clamping a product in the embodiment of the present application;

[0050] Figure 7 is a structural schematic view of the fingers and the driving mechanism of the mechanical hand in the embodiment of the present application;

[0051] Figure 8 is a side view of the fingers and the driving mechanism of the mechanical hand in the embodiment of the present application after the outer sleeve and the inner sleeve are hidden;

[0052] Figure 9 is a front view of the finger and driving mechanism of the mechanical hand of the embodiment of the present application after the outer sleeve and the inner sleeve are hidden;

[0053] Figure 10 is a structural schematic view of the finger, the bending driving assembly and the rotation encoder of the mechanical hand of the embodiment of the present application;

[0054] Figure 11 is a sectional view along the direction of A-A in the implementation shown in the figure; Figure 10

[0055] Figure 12 is a front view of the finger and the bending driving assembly of the mechanical hand of the embodiment of the present application;

[0056] Figure 13 is a structural schematic view of the rotation driving member, the speed reducer, the gear and the gear ring of the mechanical hand of the embodiment of the present application;

[0057] Figure 14 is a front view of the finger and the driving mechanism of the mechanical hand of the embodiment of the present application;

[0058] Figure 15 is a sectional view along the direction of B-B in the implementation shown in the figure; Figure 14

[0059] Figure 16 is a structural schematic view of the finger, the first transmission module and the second transmission module of the mechanical hand of the embodiment of the present application;

[0060] Figure 17 is a structural schematic view of the fingers of the mechanical hand of the embodiment of the present application all bending towards the same direction;

[0061] Figure 18 is a structural schematic view of the fingers of the mechanical hand of the embodiment of the present application all lying flat towards different directions;

[0062] Figure 19 is a flow schematic view of the control method of the mechanical hand of the embodiment of the present application.

[0063] In the figure:

[0064] 1, palm; 11, control module; 111, interface circuit board; 112, control circuit board; 12, palm cover plate; 13, palm foot pad; 14, light bar; 15, wrist rotation joint;

[0065] 2, finger; 21, base phalange; 211, base rotation rod; 212, base encoder; 213, base magnetic steel; 214, base phalange skeleton; 22, end phalange; 221, end rotation rod; 222, first rotation shaft; 223, second rotation shaft; 224, connecting rod; 225, end encoder; 226, end magnetic steel; 227, end phalange skeleton; ​​

[0066] 3, driving mechanism; 31, rotating disc; 32, rotating driving member; 33, bending driving assembly; 331, first driving member; 332, second driving member; 333, first transmission module; 334, second transmission module; 34, outer sleeve; 341, upper cover plate; 342, gear ring; 35, inner sleeve; 351, bearing; 36, speed reducer; 361, driving gear; 37, inner cover plate;

[0067] 4, slip ring assembly;

[0068] 5, detection member; 51, first magnetic steel; 52, first encoder; 53, second magnetic steel; 54, second encoder; 55, rotation encoder; 551, encoder stator; 552, encoder rotor; 56, tactile sensor;

[0069] 6, gear set; 61, first base gear; 62, second base gear; 63, first end gear; 64, second end gear;

[0070] A, first clamping state; B, second clamping state; C, supporting state;

[0071] 10, first product; 20, third product. DETAILED DESCRIPTION

[0072] Embodiments of the present application are described in detail below with reference to the accompanying drawings, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.

[0073] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, can be fixedly connected, can be detachably connected, can be mechanically connected, can be electrically connected, can be directly connected, can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0074] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0075] The technical solutions of the present invention, including the robotic arm, robotic arm control method, and robot, will be further described below with reference to the accompanying drawings and specific embodiments.

[0076] like Figures 1 to 6 As shown, the robot includes a robotic arm and a robotic hand mounted on the robotic arm. The robotic hand includes a palm 1 and multiple fingers 2. The multiple fingers 2 are distributed circumferentially around the palm 1 and have gripping sides. The gripping sides are equipped with touch control modules. Each finger 2 is equipped with a drive mechanism 3, which is used to drive the finger 2 to rotate and bend. The robotic hand has a first gripping state A, a second gripping state B, and a supporting state C. In the first gripping state A, the multiple fingers 2 are bent alternately and the multiple gripping sides are opposite each other to grip the product. In the second gripping state B, the multiple fingers 2 are all facing inward towards the palm 1 to grip the product. In the supporting state C, the drive mechanism 3 drives the fingers 2 to rotate so that the gripping sides face outward towards the palm 1 and are supported against the inner wall of the product.

[0077] When clamping different products, according to the shape and size of the product, the driving mechanism 3 is used to drive each finger 2 to rotate and bend, that is, the plurality of fingers 2 can form a clamping posture or a supporting posture, and the product includes a first product 10 with a small size, a second product with a large size, and a third product 20 in a hollow shape or with a slot structure. When clamping the first product 10 with a small size, the plurality of fingers 2 are bent in turn and opposite to each other to form a small clamping space between the plurality of fingers 2, so as to stably clamp the first product 10, and when clamping the second product with a large size, the plurality of fingers 2 are all directed towards the palm 1 and a large clamping space is formed between the plurality of fingers 2, so as to clamp the second product, and when grabbing the third product 20 with an inner cavity or a slot, the driving mechanism 3 is used to drive the fingers 2 to rotate and make the clamping sides of the plurality of fingers 2 bend outwards from the palm 1, so that the clamping sides of the plurality of fingers 2 support the inner wall of the third product 20 at the same time, so as to abut against the inner cavity of the third product 20 in the supporting state C and support the third product 20. Therefore, during use, the mechanical hand can be in different clamping states by controlling the rotation and bending of each finger 2 through the driving mechanism 3 according to different shapes and sizes of the product, so as to stably grab the corresponding product, and effectively reduce the possibility of product grabbing failure, product sliding or damage.

[0078] Specifically, the palm 1 has a sleeve structure, which can also be a cubic structure (as shown in Figure 3 The bottom of the palm 1 is connected to the execution end of the mechanical arm through the wrist joint 15. The palm 1 is provided with a control module 11 on the bottom wall, which includes an interface circuit board 111 and a control circuit board 112 and the like to realize control. The palm 1 is also provided with a palm cover plate 12 and a palm foot pad 13 and the like on the top wall for protection. The palm 1 is also provided with a light bar 14 on the side, which has a plurality of groups of extended LED lights to indicate different states of the mechanical hand.

[0079] The driving mechanism 3 is partially embedded in the palm 1 to save space. The driving mechanism 3 can include a plurality of driving modules, which can be operated independently to control the rotation and bending of the fingers 2. The fingers 2 include a plurality of finger joints, which are connected in turn. The driving mechanism 3 can drive the fingers 2 to rotate more than 360° and drive the plurality of finger joints to bend more than 90°, so that the plurality of fingers 2 can form different grabbing states.

[0080] As Figures 7 to 9As shown, the fingers 2 optionally include base knuckles 21 and end knuckles 22. The base knuckles 21 are rotationally connected to the driving mechanism 3; the end knuckles 22 are rotationally connected to the base knuckles 21; wherein the side of the base knuckles 21 and the end knuckles 22 facing the palm 1 is a clamping side, in the first clamping state A, the plurality of base knuckles 21 are rotated inwardly to the palm 1 and staggered with each other, and the plurality of end knuckles 22 are opposite to each other so that the plurality of clamping sides are staggered and opposite to each other to clamp the first product 10, in the second clamping state B, the plurality of base knuckles 21 are rotated outwardly to the palm 1, and the plurality of end knuckles 22 are opposite to each other so that the plurality of clamping sides are clamped to the second product toward the palm 1, in the supporting state C, the clamping sides are turned to the outside of the palm 1 to support the inner side wall of the third product 20.

[0081] Specifically, the base knuckles 21 are rotationally connected to the driving mechanism 3 through base rotating rods 211, and the end knuckles 22 can be connected to the end of the base knuckles 21 through end rotating rods 221, and a first rotating shaft 222 is arranged at the eccentric position of the corresponding gear, a second rotating shaft 223 is arranged on the end knuckle 22, and a connecting rod 224 is arranged between the first rotating shaft 222 and the second rotating shaft 223, so as to form a quadrilateral linkage structure (in this embodiment, a parallelogram linkage structure) composed of the base knuckle framework 214, the connecting rod 224, the gear provided with the first rotating shaft 222, and the end knuckle framework 227, so that the end knuckle 22 can rotate relative to the base knuckle 21 to bend the finger 2.

[0082] In the first clamping state A, the plurality of base knuckles 21 are staggered with each other, for example, three fingers 2, wherein one base knuckle 21 is rotated between the other two base knuckles 21, and the three end knuckles 22 are opposite to each other, so as to form a first clamping space, due to the staggering of the fingers 2, the size of the first clamping space is small, and when the end knuckle 22 rotates relative to the base knuckle 21, it can more conveniently and stably abut against the first product 10 with small size.

[0083] In the second clamping state B, the plurality of base knuckles 21 can be bent outwardly to the palm 1, so that the plurality of end knuckles 22 are away from each other, thereby forming a second space with a larger size to clamp a product with a large size, in the supporting state C, the driving mechanism 3 drives the fingers 2 to rotate so that the plurality of fingers 2 are all back to the center of the palm 1, at this time, the end knuckles 22 are bent outwardly, and according to the size of the inner cavity of the third product 20, the base knuckles 21 can also be bent outwardly to ensure that the plurality of end knuckles 22 can stably abut against the inner side wall of the third product 20, thereby completing the clamping of the product. In another embodiment, in the supporting state C, the end knuckle 22 can also be provided with a self-rotation joint at the end, and the abutting portion is driven to rotate to the outside of the palm 1 to abut against the inner wall of the third product 20, at this time, the finger 2 itself does not need to rotate, thereby further optimizing the clamping effect, which can be designed according to the actual application scene, and the present application is not limited.

[0084] Referring to Figures 10 to 12 Optionally, the finger 2 has a plurality of detection members 5, which are connected with the control module 11 through a multi-layer circuit board. The multi-layer circuit board is arranged in the gap in the driving mechanism 3.

[0085] Specifically, an encoder can be arranged as the detection member 5 at each knuckle of the finger 2 and the corresponding driving element. For example, the base knuckle 21 is fixedly connected with the base rotating rod 211 through a top wire and a flat position, so that the base knuckle 21 can rotate synchronously with the base rotating rod 211. A groove is formed on the end face of the base rotating rod 211 to accommodate a first magnetic steel 51. The first magnetic steel 51 is coaxially arranged with a first encoder 52 as the detection member 5, so as to detect the rotation amplitude of the base knuckle 21 in real time. The first encoder 52 forms a closed-loop control with a base encoder 212 and a base magnetic steel 213 of the driving structure of the driving mechanism 3 for driving the base knuckle 21 to rotate.

[0086] Similarly, a second magnetic steel 53 is arranged on the end face of the end rotating rod 221 of the end knuckle 22. The second magnetic steel 53 is preferably a hollow annular magnetic steel. A second encoder 54 is arranged on the end knuckle skeleton 227 near the second magnetic steel 53. The second encoder 54 is an off-axis encoder, so as to reduce the axial length as much as possible, thereby reducing the width of the finger 2. The second encoder 54 can form a closed-loop control with an end encoder 225 and an end magnetic steel 226 on the driving element of the driving mechanism 3 for driving the end knuckle 22 to rotate.

[0087] A self-rotation encoder 55 is further arranged on the self-rotation driving structure of the driving mechanism 3. The self-rotation encoder 55 includes an encoder stator 551 and an encoder rotor 552. The encoder rotor 552 is connected with the self-rotation part of the finger 2, and the encoder stator 551 is connected with the non-rotation part, so as to detect the self-rotation angle and position of the finger 2. The self-rotation encoder 55 forms a closed-loop control with the encoder of the self-rotation driving element. In this way, the angle of each movement of the finger 2 can form an angle closed-loop control independently, so as to ignore the transmission gap caused by the transmission chain, and directly obtain the real-time angle and rotation information of each knuckle, which is beneficial to optimize the control strategy.

[0088] A touch sensor 56 is further arranged on the clamping side of the end knuckle 22 as a detection member. The touch sensor 56 can detect the rotation of the knuckle and the clamping of the product. The detected data can be directly transmitted through the multi-layer circuit board, so as to further reduce the layout of the cable and avoid the problem of internal wiring entanglement. Meanwhile, the multi-layer circuit board is customized in shape to adapt to the size of the gap in the driving mechanism 3, so that the multi-layer circuit board can be closely arranged in the driving mechanism 3, thereby ensuring stable signal transmission and effectively reducing the occupation of space.

[0089] Referring to Figure 13 andFigure 16 In order to drive the multi-section knuckles to bend in a range of more than 90°, the manipulator further comprises a gear set 6. The gear set 6 is arranged on the base knuckle 21 and connected with the driving mechanism 3 to isolate the base knuckle 21 from the driving mechanism 3, and is configured to rotate the base knuckle 21 in a range of 180° by the driving mechanism 3.

[0090] Specifically, the gear set 6 comprises a first base gear 61, a second base gear 62, a first end gear 63 and a second end gear 64. The first base gear 61 is fixedly connected with the base knuckle 21 through the base rotating rod 211; the second base gear 62 is engaged with the first base gear 61 and arranged on the driving mechanism 3; the first end gear 63 is rotatably connected with the base rotating rod 211 and connected with the end knuckle 22 through the connecting rod assembly; and the second end gear 64 is engaged with the first end gear 63 and arranged on the driving mechanism 3.

[0091] Through the first base gear 61, the second base gear 62, the first end gear 63 and the second end gear 64, the base knuckle 21 can be connected with the driving mechanism 3 while being distributed out of phase with the driving mechanism 3. When the driving mechanism 3 operates, the driving mechanism 3 can drive the second base gear 62 and the second end gear 64 to rotate, respectively, and in turn drive the first base gear 61 and the first end gear 63 to rotate, respectively. The first base gear 61 and the first end gear 63 can drive the base knuckle 21 and the end knuckle 22 to rotate through the base rotating rod 211 and the connecting rod assembly, respectively. At this time, under the cooperation of the first base gear 61 and the second base gear 62, the base knuckle 21 can be bent to the horizontal direction without interfering with the driving mechanism 3, so that the finger 2 can rotate in a range of 180°.

[0092] Optionally, the manipulator further comprises a slip ring assembly 4. The slip ring assembly 4 is communicatively connected with the driving mechanism 3 and the control module 11 to enable the driving mechanism 3 to drive the finger 2 to rotate in a range of more than 360°.

[0093] Specifically, the control module 11 is mainly responsible for power supply and input and output of related signals, and generally adopts a cable to be connected with the driving mechanism 3. In the present application, the slip ring assembly 4 is adopted instead of the cable. The slip ring assembly 4 comprises a stator and a rotor, which are respectively installed on the control module 11 and the driving mechanism 3 to realize power supply and signal transmission. In this way, the driving mechanism 3 does not need to consider the problem of line winding when driving rotation, so that the finger 2 can rotate in a range of more than 360°, and the end knuckle 22 has a clamping side, which in the first clamping state A and the second clamping state B faces the inside of the palm 1, and in the supporting state C, the driving mechanism 3 can drive the finger 2 to rotate and make the clamping side face the outside of the palm 1 to abut against the inner side wall of the third product 20.

[0094] Optionally, the driving mechanism 3 comprises a rotating disc 31, a rotating driving member 32 and a bending driving assembly 33. The rotating disc 31 is rotationally connected to the palm 1; the rotating driving member 32 is connected to the rotating disc 31 to drive the rotating disc 31 to rotate; and the bending driving assembly 33 is arranged in the rotating disc 31 and connected to the fingers 2 to drive the fingers 2 to bend.

[0095] Specifically, the driving mechanism 3 comprises an outer sleeve 34 and an inner sleeve 35. The outer sleeve 34 is embedded in a designated part of the palm 1 and fixedly connected to the palm 1. The inner sleeve 35 is rotationally connected inside the outer sleeve 34 through a plurality of bearings 351 arranged along the axis of the outer sleeve 34. An upper cover plate 341 is arranged on the top of the outer sleeve 34 in a threaded connection manner. The inner side of the upper cover plate 341 has a boss to press the upper bearings 351. A limiting step capable of receiving the outer ring of the bearings 351 is arranged on the inner side of the outer sleeve 34. A limiting step capable of receiving the inner ring of the bearings 351 is also arranged at the corresponding position of the inner sleeve 35. The rotating driving member 32 is arranged inside the inner sleeve 35. The slip ring assembly 4 is arranged at the bottom of the outer sleeve 34. The slip ring assembly 4 comprises a slip ring stator 41 and a slip ring rotor 42. The slip ring stator 41 is arranged in the outer sleeve 34 and electrically connected to the control module 11. The slip ring rotor 42 corresponds to the slip ring stator 41 and is arranged in the inner sleeve 35, so that the fingers 2 can rotate in a range greater than 360°.

[0096] The rotating driving member 32 is fixed in the inner sleeve 35, and a speed reducer 36 is arranged in parallel on the outer side of the rotating driving member 32 to effectively reduce the overall length and improve the utilization of space. A driving gear 361 is arranged at the end of the speed reducer 36. A gear ring 342 is fixedly arranged in the outer sleeve 34. The gear ring 342 is engaged with the driving gear 361, and the axis of the gear ring 342 coincides with the rotation axis of the fingers 2. In this way, when the rotating driving member 32 drives the driving gear 361 to rotate relative to the gear ring 342 through the speed reducer 36, the outer sleeve 34 can be driven to rotate synchronously.

[0097] The rotating disc 31 is mounted on the top wall of the inner sleeve 35. The bending driving assembly 33 is arranged in the rotating disc 31 to rotate with the rotating disc 31. The bending driving assembly 33 is connected to the base knuckle 21 and the end knuckle 22 of the fingers 2 respectively to drive the base knuckle 21 and the end knuckle 22 to rotate. In order to improve the sealing performance, an inner cover plate 37 can be arranged inside the upper cover plate 341. The transmission structure of the bending driving assembly 33 can be mounted on the inner cover plate 37. The base rotating rod 211 of the base knuckle 21 can also be arranged on the inner cover plate 37.

[0098] Optionally, the bending driving assembly 33 comprises a first driving member 331 and a second driving member 332. The first driving member 331 is connected with the base phalange 21 of the finger 2 through a first transmission module 333 to drive the base phalange 21 to rotate; the second driving member 332 is connected with the end phalange 22 of the finger 2 through a second transmission module 334 to drive the end phalange 22 to rotate relative to the base phalange 21.

[0099] Specifically, the first driving member 331 and the second driving member 332 can both adopt servo motors and are configured with corresponding speed reduction modules. The first transmission module 333 and the second transmission module 334 can both adopt turbine worm structures.

[0100] When the finger 2 is driven to bend, the first driving member 331 drives the base phalange 21 to rotate through the first transmission module 333, and the base phalange 21 can rotate within a range of 180° under the action of the gear set 6, so that the base phalange 21 can realize a "lying flat" action relative to the finger 2. Similarly, the second driving member 332 drives the parallelogram linkage 224 mechanism composed of the end phalange 22 and the base phalange 21 to act through the second transmission module 334, so as to drive the end phalange 22 to rotate and realize the bending of the end phalange 22 relative to the base phalange 21.

[0101] With reference to Figure 17 and Figure 18 When the first driving member 331 and the second driving member 332 rotate at the same speed in the same direction, the bending and swinging of all the fingers 2 relative to the palm 1 can be realized, and if the first driving member 331 does not operate and only the second driving member 332 operates, the base phalange 21 does not move and only the end phalange 22 bends can be realized. When the first driving member 331 and the second driving member 332 move at different speeds, the coupled bending motion of the base phalange 21 and the end phalange 22 can be realized, and the bending amplitude and direction of the base phalange 21 and the end phalange 22 can be designed according to the actual need to hold the product, which is not limited by the present application.

[0102] With reference to Figure 19 The mechanical hand control method is applied to the mechanical hand described above, and comprises the following steps:

[0103] The size and shape of the product are obtained.

[0104] When the size of the product meets the first condition, the driving mechanism is started to drive the fingers to rotate and bend, so that the mechanical hand enters the first clamping state to clamp the product.

[0105] When the size of the product meets the second condition, the driving mechanism is started to drive the fingers to bend, so that the mechanical hand enters the second clamping state to clamp the product.

[0106] When the shape of the product meets the third condition, the driving mechanism is started to drive the fingers to rotate so as to make the mechanical hand enter the supporting state to support the product.

[0107] Specifically, the center of gravity and the part capable of being gripped of products of different sizes and shapes are different, and therefore when the sizes and shapes of the products are different, the shape of the mechanical hand must also be adjusted correspondingly to ensure that the mechanical hand can safely and stably grip the product, and the sizes and shapes of the product can be obtained by scanning the information code of the product or identifying the product by taking a photo.

[0108] After the sizes and shapes of the product are obtained, and according to the preset conditions, when the product is a solid structure and the outer diameter is less than a first threshold value, it is judged that the product meets the first condition, at which time the driving mechanism drives the multiple fingers to be staggered so as to form a smaller clamping space between the multiple clamping sides to clamp the outer side of the product.

[0109] When the product is a solid structure and the outer diameter is greater than the first threshold value, it is judged that the product meets the second condition, at which time the driving mechanism drives the fingers to be directed inwardly between the multiple clamping sides to form a larger clamping space to clamp the outer side of the product.

[0110] When the end face of the product has a slot hole or a cavity is provided in the middle, and the size meets a preset supporting value, it is judged that the product meets the third condition, at which time the driving mechanism drives the fingers to be directed outwardly of the palm and extends the fingers into the product to make the clamping sides abut against the inner wall of the product, thereby supporting the product. When the product does not meet the first condition, the second condition and the third condition, an alarm signal is generated to alert the operator to detect in time.

[0111] Obviously, the above embodiments of the present application are merely exemplary and are not intended to limit the embodiments of the present application. Based on the above description, other different forms of changes or modifications can be made by those skilled in the art. Here, it is not necessary or possible to exhaust all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A robot, characterized in that Comprise: A palm (1); A plurality of fingers (2) are distributed around the circumference of the palm (1) and have clamping sides provided with touch modules, each of the fingers (2) is provided with a driving mechanism (3) for driving the fingers (2) to rotate and bend; The mechanical hand has a first clamping state (A), a second clamping state (B) and a supporting state (C), in the first clamping state (A), a plurality of the fingers (2) are staggered and bent in turn and a plurality of the clamping sides are opposite to clamp the product, in the second clamping state (B), a plurality of the clamping sides are all directed inward of the palm (1) to clamp the product, in the supporting state (C), the driving mechanism (3) drives the fingers (2) to rotate so that the clamping sides are directed outward of the palm (1) and supported on the inner wall of the product.

2. The robot according to claim 1, characterized in that The finger (2) comprises: A base phalanx (21) rotatably connected to the driving mechanism (3); A terminal phalanx (22) rotatably connected to the base phalanx (21); Wherein, the side of the base phalanx (21) and the terminal phalanx (22) directed inward of the palm (1) is the clamping side, in the first clamping state (A), a plurality of the base phalanxes (21) are rotated inward of the palm (1) and staggered with each other, a plurality of the terminal phalanxes (22) are opposite to make a plurality of the clamping sides staggered and opposite to clamp the product, in the second clamping state (B), a plurality of the base phalanxes (21) are rotated outward of the palm (1), a plurality of the terminal phalanxes (22) are opposite to make a plurality of the clamping sides directed inward of the palm (1) to clamp the product, in the supporting state (C), the clamping sides are turned to the outer side of the palm (1) to be supported on the inner side wall of the product.

3. The robot of claim 2, wherein, Also comprising: A gear set (6) is arranged on the base phalanx (21) and connected with the driving mechanism (3) to isolate the base phalanx (21) from the driving mechanism (3), the gear set (6) is configured to drive the base phalanx (21) to rotate within a range of 180° through the driving mechanism (3).

4. The robot of claim 3, wherein The gear set (6) comprises: A first base gear (61) is fixedly connected with the base phalanx (21) through a base rotating rod (211); A second base gear (62) is engaged with the first base gear (61) and arranged on the driving mechanism (3); A first terminal gear (63) is rotatably connected with the base rotating rod (211) and connected with the terminal phalanx (22) through a connecting rod assembly; A second terminal gear (64) is engaged with the first terminal gear (63) and arranged on the driving mechanism (3).

5. The robot of claim 4, wherein, The driving mechanism (3) comprises a bending driving assembly (33), the bending driving assembly (33) comprises: A first driving member (331) is connected with the second base gear (62) through a first transmission module (333) to drive the base phalanx (21) to rotate; A second driving member (332) is connected with the second terminal gear (64) through a second transmission module (334) to drive the terminal phalanx (22) to rotate relative to the base phalanx (21).

6. The robot of claim 5, wherein, The driving mechanism (3) further comprises: A rotating disc (31), the bending driving assembly (33) is arranged on the rotating disc (31); A rotating driving member (32) is connected with the rotating disc (31) to drive the rotating disc (31) to rotate.

7. The robot of claim 6, wherein, The driving mechanism (3) comprises: An outer sleeve (34) is fixed on the palm (1); An inner sleeve (35) is rotatably connected in the outer sleeve (34) and connected with the rotating driving member (32), and the rotating disc (31) is arranged on the inner sleeve (35); Wherein, the outer sleeve (34) is provided with a slip ring stator (41) electrically connected with the control module (11), and the inner sleeve (35) is provided with a slip ring rotor (42) corresponding to the slip ring stator (41), so that the fingers (2) can rotate in a range greater than 360°.

8. The robot of claim 6, wherein, The fingers (2) have a plurality of detection members (5) therein, and the detection members (5) are connected with the control module (11) through a plurality of layers of circuit boards; and / or, A reducer (36) is arranged on the outer side of the rotating driving member (32) in parallel.

9. A robot control method, characterized by, The mechanical hand according to any one of claims 1 to 8, comprising: acquiring the size and shape of the product; when the size and shape of the product meet the first condition, starting the driving mechanism to drive the fingers to rotate and bend so that the mechanical hand enters the first clamping state to clamp the product; when the size and shape of the product meet the second condition, starting the driving mechanism to drive the fingers to bend so that the mechanical hand enters the second clamping state to clamp the product; when the size and shape of the product meet the third condition, starting the driving mechanism to drive the fingers to rotate so that the mechanical hand enters the supporting state to support the product.

10. A robot, characterised in that comprising: a mechanical arm; the mechanical hand according to any one of claims 1 to 8 is arranged on the mechanical arm.

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