Mechanical structure with tactile perception dexterous hand

Abstract

The utility model relates to a mechanical structure with a tactile perception dexterous hand, which comprises an installation unit, one side of the installation unit is provided with an installation unit, the other end of the installation unit is provided with at least three grabbing mechanisms, a plurality of grabbing mechanisms are uniformly distributed along the circumferential direction of the end face of the installation unit, and the structures of the grabbing mechanisms are the same. Tactile sensors are arranged on the opposite faces of all the grabbing mechanisms, each grabbing mechanism is controlled by a motor to rotate, and all the motors are installed in the installation unit. And the installation unit is used for being connected with external driving equipment. When the manipulator is used, the motor drives the bottom plate to rotate, so that the angle of a single manipulator can be adjusted, the manipulator is more attached to the surface of a grabbed object, a switch of the electric push rod is turned on, the overall length of the electric push rod is adjusted, and a touch sensor on the grabbing mechanism makes contact with the surface of the grabbed object to grab the grabbed object. The manipulator is high in grabbing reliability and wide in grabbing range.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical hands, in particular to a mechanical structure with a tactilely perceptive dexterous hand. Background Art

[0002] A robot is an automatic device that can imitate certain movements of a human hand and is used to grab, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and its structure and performance combine the advantages of both humans and robots.

[0003] At present, robots can replace people's heavy labor to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, they are widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other sectors.

[0004] The existing manipulator device still has the following disadvantages: the overall structure is too complicated, it is limited by product demand, the production cost is high, it is difficult to mass produce, and the reliability and operability of grasping heterogeneous objects are poor. Utility Model Content

[0005] To solve the problems raised in the above background technology, the utility model provides a mechanical structure with a tactile sensing dexterous hand, which has a grasping mechanism to solve the problems of overly complex structure, limited product demand, high production cost, difficulty in mass production, and poor reliability and operability in grasping heterogeneous objects.

[0006] The technical solution of the utility model is:

[0007] A mechanical structure with a tactile-sensing dexterous hand, comprising a mounting unit 1, a machine unit 2 is arranged on one side of the mounting unit 1, at least three gripping mechanisms 3 are arranged on the other end of the mounting unit 1, the plurality of gripping mechanisms are evenly distributed along the circumferential direction of the end surface of the mounting unit, each gripping mechanism has the same structure, tactile sensors are arranged on the opposite surfaces of all the gripping mechanisms, each gripping mechanism is controlled to rotate by a motor, and all the motors are installed in the mounting unit 1; the machine unit is used to connect to an external driving device;

[0008] The grabbing mechanism 3 includes a bottom plate 31, a first fixing seat 32, a second fixing seat 33, a first rotating shaft 34, a second rotating shaft 35, an electric push rod 36, a support plate 37, a support 313, a bracket 30, a connecting rod 318, an auxiliary rod 311 and a mounting frame 312;

[0009] The bottom plate 31 is rotatably mounted on one side of the mounting unit 1, the first fixing seat 32 and the second fixing seat 33 are both fixedly mounted on one side outer wall of the bottom plate 31, there are two first fixing seats 32, a first rotating shaft 34 is movably inserted between the two first fixing seats, and the mounting frame 312 and the bracket 30 are both movably sleeved on the first rotating shaft 34;

[0010] The second fixing seat 33 is hinged to the fixed end of the electric push rod through the second rotating shaft, and the extended end of the electric push rod 36 is connected to the upper part of the support 313;

[0011] The other end of the mounting frame 312 is connected to the output end of the electric push rod through a connecting rod, and the mounting frame is driven to move under the action of the electric push rod; the other end of the mounting frame 312 is rotatably connected to the support plate 37, and the support 313 is fixed to the support plate 37;

[0012] The other end of the bracket 30 is rotatably connected to one end of the auxiliary rod 311, and the other end of the auxiliary rod 311 is hinged to the middle of the support 313;

[0013] A first tactile sensor 38 and a second tactile sensor 39 are respectively installed on the inner sides of the support plate 37 and the mounting frame 312;

[0014] The other side of the bottom plate 31 is connected to the motor 12 , and the motor 12 controls the rotation of the bottom plate.

[0015] Furthermore, the maximum extension distance of the electric push rod is greater than the length of the auxiliary rod.

[0016] Furthermore, the mechanical structure also includes a controller, which is installed in the installation unit and is electrically connected to the motor and the electric push rod; the controller, the motor, and the electric push rod are all electrically connected to an external power supply and powered by the external power supply.

[0017] Furthermore, the tactile sensor is a pressure sensor or a proximity sensor. If it is a flexible pressure sensor, it is directly laid on the inner side of the support plate or the mounting frame. If it is a proximity sensor, a shell is provided on the outer surface of the proximity sensor, and the proximity sensor is encapsulated in the shell. The shell is rectangular in shape and is fixed to the support plate or the mounting frame by bolts.

[0018] Furthermore, the installation unit 1 includes an installation box 11, and the base plate is detachably and rotatably installed on the end face of the installation box. The base plate is a double-layer structure, the lower layer has a small diameter, and the upper layer has a large diameter. The upper layer is overlapped on the end face of the installation box to realize the rotation of the base plate relative to the installation box; a sealing cover for maintenance is provided on the side of the installation box, and a protective panel is provided on the outside of the installation box.

[0019] Furthermore, the bracket 30 includes a hollow sleeve 301 at the bottom and two identical frames 302 perpendicular to the hollow sleeve 301. Two through holes are arranged along the height direction on each frame 302. The two through holes at the top are used to rotate one end of the auxiliary rod 311 through the first short shaft 314; the hollow sleeve 301 is sleeved on the first rotating shaft 34.

[0020] Furthermore, the support 313 and the support plate 37 are an integral structure, the support 313 is provided with two axial holes along the height direction, the bottom of the support is fixedly connected to the support plate 37, the support plate 37 is provided with a through hole at the connection position with the base, the through hole enables the mounting frame and the support plate to be connected together by the third short axis 316, the support plate can rotate relative to the third short axis, and the mounting frame is located on the outside of the support plate on the third short axis.

[0021] Furthermore, the number of the grabbing mechanisms is 3-5.

[0022] Compared with the prior art, the mechanical structure of the utility model with tactile sensing dexterous hand has the following beneficial effects:

[0023] In the present invention, a grasping mechanism is independently controlled by an electric push rod and a motor, so that multi-degree-of-freedom control can be achieved with strong reliability. It can be completed with only one set of motors and electric push rods, which greatly reduces the production cost and facilitates mass production of products.

[0024] The utility model does not need to lay sensors on the installation box, and the tactile sensors are all arranged on the grasping mechanism. The installation unit, the installation unit and the grasping mechanism are detachable and installable, thus realizing a split design, a relatively simple structure, a more convenient and reliable drive, and easy later maintenance.

[0025] When the utility model is in use, the motor drives the bottom plate to rotate, so that the initial grasping angle of a single manipulator can be adjusted, so that the manipulator and the surface of the grasped object are more closely fitted, and the grasped object has better adaptability, so that it not only has a simple direct grasping function, but is also suitable for grasping surfaces with more diverse and complex shapes, especially spatial special-shaped surfaces. It can achieve adjustment of a larger grasping range of the first finger joint, and the control of the angle can adapt to the eversion scene, and can expand a larger package grasping range, which is more flexible to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The utility model is further explained below in conjunction with the accompanying drawings and embodiments:

[0027] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0028] Figure 2 It is a side perspective schematic diagram of the utility model;

[0029] Figure 3 It is a three-dimensional schematic diagram of the driving of the grabbing mechanism of the utility model;

[0030] Figure 4 It is a three-dimensional schematic diagram of the installation unit of the utility model;

[0031] Figure 5 It is a three-dimensional schematic diagram of a single grabbing mechanism of the utility model;

[0032] Figure 6 It is a three-dimensional schematic diagram of the bracket 30 of the utility model;

[0033] Figure 7 It is a three-dimensional schematic diagram of the support 313 and the support plate 37 of the utility model made into a connected piece;

[0034] Explanation of the reference numerals: 1. mounting unit; 11. mounting box; 12. motor; 13. output shaft; 14. sealing cover; 15. fixing bolt; 16. end face; 17. housing; 2. mounting unit; 21. positioning plate; 22. side plate; 23. plug-in slot; 3. grabbing mechanism; 31. bottom plate; 32. first fixing seat; 33. second fixing seat; 34. first rotating shaft; 35. second rotating shaft; 36. electric push rod; 37. support plate; 38. first tactile sensor; 313. support; 39. second tactile sensor; 30. bracket; 311. auxiliary rod; 312. mounting frame; 314. first short shaft; 315. second short shaft; 316. third short shaft; 317. fourth short shaft; 318. connecting rod. DETAILED DESCRIPTION

[0035] The following will be combined with the attached Figures 1 to 5 The utility model is described in detail, and the technical solutions in the embodiments of the utility model are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] The utility model provides a mechanical structure with a tactile sensing dexterous hand, such as Figure 1-5 As shown in the figure, it includes an installation unit 1, a mounting unit 2 is arranged on one side of the installation unit 1, and at least three grasping mechanisms 3 are arranged on the other end of the installation unit 1. The multiple grasping mechanisms are evenly distributed along the circumferential direction of the end face of the installation unit, and the structure of each grasping mechanism is the same. Tactile sensors are arranged on the opposite surfaces of all grasping mechanisms. Each grasping mechanism is controlled by a motor to rotate, and all motors are installed in the installation unit 1; the mounting unit is used to connect with an external driving device.

[0037] The gripping mechanism 3 includes a bottom plate 31, a first fixing seat 32, a second fixing seat 33, a first rotating shaft 34, a second rotating shaft 35, an electric push rod 36, a support plate 37, a first tactile sensor 38, a support seat 313, a second tactile sensor 39, a bracket 30, a first short shaft 314, a second short shaft 315, a third short shaft 316, a fourth short shaft 317, a connecting rod 318, an auxiliary rod 311 and a mounting frame 312;

[0038] The bottom plate 31 is rotatably mounted on one side of the mounting unit 1, the first fixing seat 32 and the second fixing seat 33 are both fixedly mounted on the outer wall of one side of the bottom plate 31, there are two first fixing seats 32, and the first rotating shaft 34 is movably inserted between the two first fixing seats, the mounting frame 312 and the bracket 30 are both movably sleeved on the first rotating shaft 34, and in this embodiment, the bracket 30 is located on the inner side of the mounting frame 312 when it is sleeved on the first rotating shaft 34; the other end of the mounting frame 312 is connected to the output end of the electric push rod through a connecting rod;

[0039] The other end of the bracket 30 is rotatably connected to one end of the auxiliary rod 311 through a first short shaft 314; the other end of the mounting frame 312 is rotatably connected to the support plate 37, the support 313 is fixed to the support plate 37, and the support 313 and the support plate 37 can be made into a connected piece; the upper part of the support 313 is connected to the extended end of the electric push rod 36 through a second short shaft 315, and the fixed end of the electric push rod is connected to the second fixed seat 33; the middle part of the support 313 is connected to the other end of the auxiliary rod 311 through a fourth short shaft 317;

[0040] A first tactile sensor 38 and a second tactile sensor 39 are respectively installed on the inner sides of the support plate 37 and the mounting frame 312. The connection position between the support plate and the mounting frame is the first finger joint, and the rotation connection position of the two fixing seats is the second finger joint.

[0041] The other side of the bottom plate 31 is fixedly connected to the output shaft 13 of the motor 12 , and the rotation of the bottom plate is controlled by the motor 12 .

[0042] A motor for driving each grabbing mechanism to rotate and a controller for controlling the operation of the mechanical structure are arranged in the installation unit. The controller, the motor and the electric push rod are all electrically connected to an external power source and powered by the external power source.

[0043] Furthermore, the maximum extension distance of the electric push rod is greater than the length of the auxiliary rod, so that multi-stage adjustment can be achieved.

[0044] Furthermore, the mounting frame is an I-shaped structure with a hollow design, and can provide a mounting plane for the second tactile sensor.

[0045] Furthermore, the tactile sensor can be a pressure sensor or a proximity sensor. If it is a flexible pressure sensor, it can be directly laid on the inner side of the support plate or the mounting frame. If it is a proximity sensor, a shell can be set on the outer surface of the proximity sensor, and the proximity sensor can be encapsulated in the shell and made into a rectangular shape. It is fixed together with the support plate or the mounting frame by bolts to ensure that the tactile sensor can be in a surface contact force state with the grasped object.

[0046] Furthermore, the installation unit 1 includes an installation box 11, and the base plate is detachably and rotatably installed on the end face of the installation box. The three base plates are spatially located at the three vertices of an equilateral triangle to form a triangular surface, which can be regarded as the palm of a hand. Each grasping mechanism can rotate around the base plate. The base plate is a double-layer structure, with a lower layer having a small diameter and an upper layer having a large diameter. The upper layer is overlapped on the end face of the installation box to realize the rotation of the base plate relative to the installation box.

[0047] The working principle of the mechanical structure of the utility model with tactile sensing dexterous hand is:

[0048] The motor rotates to preliminarily adjust the relative gripping angle of each gripping mechanism (one finger);

[0049] When in use, the switch of the electric push rod 36 is turned on, and the length of the electric push rod 36 is adjusted, so that the support 313 drives the support plate 37 and the auxiliary rod 311 to rotate, so that the support plate 37 drives the first tactile sensor 38 to contact the surface of the grasped object first for preliminary grasping, and changes with the change of the grasping surface. If the curvature radius of the grasping surface is larger, the first knuckle is turned outward;

[0050] At the same time, the length of the electric push rod 36 is adjusted, and the mounting bracket 312 also drives the second tactile sensor 39 to rotate, so that the second tactile sensor 39 contacts the surface of the grasped object, thereby performing a complete grasping operation on the grasped object.

[0051] The three parts are disassembled and installed, and adopt a split structure. The structure is relatively simple and the driving is very convenient. It can be completed by using only one set of motors 12 and electric push rods 36. The production cost is greatly reduced, which is convenient for mass production of products. In addition, when realizing multi-degree-of-freedom movements and grasping special-shaped objects, the driving scheme and transmission scheme adopted have strong reliability.

[0052] Example 1

[0053] The mechanical structure of the tactile sensing dexterous hand of this embodiment includes a mounting unit 1, a mounting unit 2 is arranged on one side of the mounting unit 1, and three grasping mechanisms 3 are arranged on the other end of the mounting unit 1. The three grasping mechanisms are evenly distributed along the circumferential direction of the end surface of the mounting unit, each grasping mechanism has the same structure, and tactile sensors are arranged on the opposite surfaces of all the grasping mechanisms;

[0054] The gripping mechanism 3 includes a bottom plate 31, a first fixing seat 32, a second fixing seat 33, a first rotating shaft 34, a second rotating shaft 35, an electric push rod 36, a support plate 37, a first tactile sensor 38, a support seat 313, a second tactile sensor 39, a bracket 30, a first short shaft 314, a second short shaft 315, a third short shaft 316, a fourth short shaft 317, a connecting rod 318, an auxiliary rod 311 and a mounting frame 312;

[0055] The support 30 (see Figure 6 ), including a hollow sleeve 301 at the bottom and two identical frames 302 perpendicular to the hollow sleeve 301, two through holes are set along the height direction on each frame 302, and the two through holes at the top are used to rotate and connect one end of the auxiliary rod 311 through the first short shaft 314; the hollow sleeve 301 is sleeved on the first rotating shaft 34.

[0056] One end of the auxiliary rod 311 is movably inserted into the inner side of the two frames of the bracket 30, and a first short shaft 314 is provided to penetrate and insert into the auxiliary rod 311 and the bracket 30 to rotatably connect the two together. A fourth short shaft 317 is fixedly inserted into the other end of the auxiliary rod 311, and the fourth short shaft 317 is movably inserted into the lower shaft hole of the support 313, so that the auxiliary rod can move under the action of the electric push rod.

[0057] The support 313 is provided with two axial holes along the height direction, and the support bottom is fixedly connected to the support plate 37. The support plate 37 is provided with a through hole at the connection position with the base, and the mounting frame and the support plate are connected together by the third short axis 316 through the through hole. The support plate can rotate relative to the third short axis. The mounting frame is located outside the support plate on the third short axis, and the mounting frame and one end of the connecting rod 318 are hinged on one side of the third short axis 316, and the other end of the connecting rod 318 is fixedly connected to the second short axis 315 fixedly connected to the output end of the electric push rod 36;

[0058] The second rotating shaft 35 is movably inserted into the second fixed seat 33, and one end of the electric push rod 36 is movably sleeved on the second rotating shaft 35. The output end of the electric push rod 36 is fixedly inserted with a second short shaft 315, and the second short shaft 315 is movably inserted into the upper shaft hole of the support 313, and the lower shaft hole of the support 313 is movably connected to the other end of the auxiliary rod;

[0059] Two extension parts with through holes are provided at both ends of the mounting frame, which are used to connect with the corresponding third short shaft 316 and the first rotating shaft 34 respectively.

[0060] The first tactile sensor 38 is fixed on one side of the support plate 37 by screws, and the second tactile sensor 39 is fixedly mounted on one side of the mounting bracket 312 .

[0061] One side of the bottom plate 31 is fixedly connected to the output shaft 13 of the motor 12, and the motor 12 controls the rotation of the bottom plate.

[0062] When in use, the motor 12 drives the output shaft 13 to rotate, thereby rotating the bottom plate 31, so that the angle of a single grasping mechanism can be adjusted, so that the dexterous hand can fit the surface of the grasped object more closely, and the functionality is increased, so that it not only has a simple direct grasping function, but also can be applied to grasping objects with more diverse and complex surfaces;

[0063] When the initial grasping is used, by turning on the switch of the electric push rod 36 and preliminarily adjusting the overall length of the electric push rod 36, the auxiliary rod 311 and the bracket 30 are driven to move. At the same time, the support 313 drives the support plate 37 to move together, so that the support plate 37 and the first tactile sensor 38 contact the surface of the grasped object, so that the support 313 drives the support plate 37 to rotate first, so that the support plate 37 drives the first tactile sensor 38 to contact the surface of the grasped object first for preliminary grasping. At this time, the auxiliary rod 311 rotates to a certain angle;

[0064] In order to better fit the gripping surface, the support plate 37 can be adaptively adjusted by following the gripping surface through the third short axis 316, so that the support plate 37 is turned outward, and the auxiliary rod 311 and the mounting frame 312 are immobile;

[0065] At the same time, the length of the electric push rod 36 is adjusted, and the auxiliary rod 311 and the bracket 30 will further move accordingly. The mounting frame 312 can rotate around the first rotating shaft 34 to adjust the angle, so that the mounting frame 312 drives the second tactile sensor 39 to rotate, thereby making the second tactile sensor 39 better fit and contact the surface of the grasped object, so that the grasped object can be completely grasped. The split structure is adopted, the structure is relatively simple, and the drive is also very convenient. Only one set of motors 12 and electric push rods 36 can be used to complete it, and the production cost is greatly reduced, which is convenient for mass production of products. In addition, when realizing multi-degree-of-freedom movements, the driving scheme and transmission scheme adopted have strong reliability. The motor and the electric push rod are connected to the controller, and the controller is set in the mounting box 11. The controller is a PLC board. The controller is electrically connected to the motor 12 and the electric push rod 36. The controller, the motor 12, and the electric push rod 36 are all connected to an external power supply to provide them with power.

[0066] In this embodiment, the tactile sensor is a pressure sensor.

[0067] The mounting unit 1 includes a mounting box 11, a motor 12, an output shaft 13, an end face 16, a sealing cover 14 and fixing bolts 15. The motor 12 is fixedly mounted inside the mounting box 11. There are three grasping mechanisms, three motors 12, and the output ends of the three motors are fixedly connected to the corresponding output shafts 13. The other end of the output shaft 13 is fixedly connected to the corresponding base plate 31.

[0068] A sealing cover 14 is provided on the side of the installation box 11 for sealing the maintenance port. When the equipment needs to be repaired, the sealing cover 14 can be opened to repair the equipment in the installation box 11. When not in use, it can be closed. The sealing cover 14 is fixed to the installation box by fixing bolts 15. The bottom and end face 16 of the installation box 11 are fixed by screws. A protective panel 17 is provided on the outside of the installation box 11, and the protective panel 17 is set as a special-shaped surface.

[0069] The installation unit 2 includes a positioning plate 21, a side plate 22 and a plug-in slot 23. The positioning plate 21 has a mounting hole inside, which can be plugged into the mounting hole by bolts to install the mechanical structure on the driving device, thereby making the mechanical structure movable, such as a rotating device, a lifting device, etc. The plug-in slot 23 is assembled and installed with the end face of the installation box 11 where no gripping mechanism is provided. The plug-in slot 23 is used for inserting parts such as wire connecting lines. A convex plate is fixedly installed on the end face of the installation box 11 where no gripping mechanism is provided. The side plates 22 are covered and connected on both sides of the convex plate, and the two are fixed by bolts.

[0070] The support 313 and the support plate 37 are an integral structure (see Figure 7 ). In this embodiment, the installation box 11 is in the shape of a hexagonal column.

[0071] The standard parts used in the utility model can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The content not described in detail in this specification belongs to the prior art known to professional and technical personnel in this field.

[0072] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mechanical structure with a tactile-sensing dexterous hand, characterized in that: It comprises a mounting unit, a machine unit is arranged on one side of the mounting unit, at least three gripping mechanisms are arranged on the other end of the mounting unit, the multiple gripping mechanisms are evenly distributed along the circumferential direction of the end surface of the mounting unit, each gripping mechanism has the same structure, tactile sensors are arranged on the opposite surfaces of all the gripping mechanisms, each gripping mechanism is controlled to rotate by a motor, and all the motors are installed in the mounting unit; the machine unit is used to connect with an external driving device; The grabbing mechanism includes a bottom plate, a first fixing seat, a second fixing seat, a first rotating shaft, a second rotating shaft, an electric push rod, a support plate, a support seat, a bracket, a connecting rod, an auxiliary rod and a mounting frame; The bottom plate is rotatably mounted on one side of the mounting unit, the first fixing seat and the second fixing seat are both fixedly mounted on one side outer wall of the bottom plate, there are two first fixing seats, a first rotating shaft is movably inserted between the two first fixing seats, and the mounting frame and the bracket are both movably sleeved on the first rotating shaft; The second fixing seat is hinged to the fixing end of the electric push rod through the second rotating shaft, and the extending end of the electric push rod is connected to the upper part of the support; The other end of the mounting frame is connected to the output end of the electric push rod through a connecting rod, and the mounting frame is driven to move under the action of the electric push rod; the other end of the mounting frame is rotatably connected to the support plate, and the support and the support plate are fixed together; The other end of the bracket is rotatably connected to one end of the auxiliary rod, and the other end of the auxiliary rod is hinged to the middle part of the support; A first tactile sensor and a second tactile sensor are respectively installed on the inner sides of the support plate and the mounting frame; The other side of the bottom plate is connected to a motor, and the motor controls the rotation of the bottom plate.

2. The mechanical structure of the dexterous hand with tactile perception according to claim 1, characterized in that: The maximum extension distance of the electric push rod is greater than the length of the auxiliary rod.

3. The mechanical structure of the dexterous hand with tactile perception according to claim 1, characterized in that: The mechanical structure also includes a controller, which is installed in the installation unit and is electrically connected to the motor and the electric push rod; the controller, the motor, and the electric push rod are all electrically connected to an external power supply and are powered by the external power supply.

4. The mechanical structure of the dexterous hand with tactile perception according to claim 1, characterized in that: The tactile sensor is a pressure sensor or a proximity sensor. If it is a flexible pressure sensor, it is directly laid on the inner side of the support plate or the mounting frame. If it is a proximity sensor, a shell is provided on the outer surface of the proximity sensor. The proximity sensor is encapsulated in the shell. The shell is rectangular in shape and is fixed to the support plate or the mounting frame by bolts.

5. The mechanical structure of the dexterous hand with tactile perception according to claim 1, characterized in that: The installation unit includes an installation box, and the base plate is detachably and rotatably installed on the end face of the installation box. The base plate is a double-layer structure, the lower layer has a small diameter, and the upper layer has a large diameter. The upper layer is overlapped on the end face of the installation box to realize the rotation of the base plate relative to the installation box; a sealing cover for maintenance is provided on the side of the installation box, and a protective panel is provided on the outside of the installation box.

6. The mechanical structure of the dexterous hand with tactile perception according to claim 1, characterized in that: The bracket includes a hollow sleeve at the bottom and two identical frames perpendicular to the hollow sleeve. Two through holes are arranged on each frame along the height direction. The two through holes at the top are used to rotate and connect one end of the auxiliary rod through the first short shaft. The hollow sleeve is sleeved on the first rotating shaft.

7. The mechanical structure of the dexterous hand with tactile perception according to claim 1, characterized in that: The support and the support plate are an integrated structure, the support is provided with two axial holes along the height direction, the bottom of the support is fixedly connected to the support plate, the support plate is provided with a through hole at the connection position with the base, the mounting frame and the support plate are connected together by the third short axis through the through hole, the support plate can rotate relative to the third short axis, and the mounting frame is located on the outside of the support plate on the third short axis.

8. The mechanical structure of the dexterous hand with tactile perception according to claim 1, characterized in that: The number of the grabbing mechanisms is 3-5.

9. The mechanical structure of the dexterous hand with tactile perception according to claim 1, characterized in that: The installation unit (2) comprises a positioning plate (21), a side plate (22) and a plug-in slot (23); a mounting hole is provided inside the positioning plate (21); and the plug-in slot (23) is assembled and installed with an end surface of the installation box (11).

10. The mechanical structure with tactilely sensitive dexterous hand according to claim 9, characterized in that: A convex plate is fixedly mounted on one end of the installation box (11) where the grabbing mechanism is not mounted, and the side plates (22) are arranged to cover both sides of the convex plate and are fixed therebetween by bolts.

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