Five-finger manipulator

Abstract

The utility model discloses a five-finger manipulator which comprises a palm assembly, a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly and a little finger assembly, and the thumb assembly, the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly are connected to the palm assembly. The thumb assembly, the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly are hinged to the framework. The manipulator is high in universality, can meet the grabbing requirements of complex products, and further has the advantage of being small in size.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a five-finger manipulator. Background Art

[0002] In recent years, the robot-related industry has developed rapidly, and the end effector is a key part of it. At present, most of the end effector structures are single-degree-of-freedom clamp-type, parallel moving type, or vacuum suction cup-type mechanisms for handling. These end effectors have simple structures, convenient control, and strong load capacity, but weak versatility, low intelligence, and poor precision. These simple end operating mechanisms can no longer meet the growing complexity requirements, and also limit the development and use of robots in many fields. Utility Model Content

[0003] In order to overcome the defects in the prior art, an embodiment of the utility model provides a five-finger manipulator, which is used to solve at least one of the above problems.

[0004] The embodiment of the present application discloses: a five-finger manipulator, comprising: a palm assembly and a thumb assembly, an index finger assembly, a middle finger assembly, a ring finger assembly and a little finger assembly connected to the palm assembly, the palm assembly comprising a base and a skeleton arranged on the base, and the thumb assembly, the index finger assembly, the middle finger assembly, the ring finger assembly and the little finger assembly are respectively hinged to the skeleton.

[0005] Specifically, the base includes a front plate and a rear plate which are arranged opposite to each other, and the frame includes a front frame connected to the front plate and a rear frame connected to the rear plate.

[0006] Specifically, the front skeleton includes the front bone of the index finger, the front bone of the middle finger, the front bone of the ring finger and the front bone of the little finger connected in sequence, and the rear skeleton includes the back bone of the index finger, the back bone of the middle finger and the back bone of the ring finger connected in sequence. The index finger component is hinged to the front bone of the index finger and the back bone of the index finger at the same time, the middle finger component is hinged to the front bone of the middle finger and the back bone of the middle finger at the same time, the ring finger component is hinged to the front bone of the ring finger and the back bone of the ring finger at the same time, and the little finger component is hinged to the front bone of the little finger.

[0007] Specifically, the thumb assembly includes a support plate, a first electric push rod, a first connecting rod, a first cover plate and a first distal finger, the support plate is connected to the front bone of the index finger, the main body of the first electric push rod is hinged to the support plate, the first connecting rod is hinged to the support plate and the piston rod of the first electric push rod at the same time, the first distal finger is hinged to the first connecting rod and the first cover plate at the same time, and the first cover plate is also hinged to the support plate.

[0008] Specifically, the support plate is rotatably connected to the front bone of the index finger, and the thumb assembly further includes a second electric push rod, a body of the second electric push rod is hinged to the base, and a piston rod of the second electric push rod is hinged to the support plate.

[0009] Specifically, the second electric push rod is arranged between the front plate and the rear plate of the base.

[0010] Specifically, the index finger assembly includes a third electric push rod, a second connecting rod, a second cover plate and a second distal finger. The main body of the third electric push rod is hinged to the posterior bone of the index finger, the second connecting rod is hinged to the front bone of the index finger and the piston rod of the third electric push rod at the same time, the second distal finger is hinged to the second connecting rod and the second cover plate at the same time, and the second cover plate is also hinged to the front bone of the index finger.

[0011] Specifically, the five-finger manipulator also includes a protective cover arranged on the base.

[0012] The utility model has at least the following beneficial effects: the five-finger manipulator of this embodiment, each of which includes a corresponding electric push rod, a connecting rod, a cover plate and a distal finger, which are connected to form a four-bar linkage. When the piston rod of the electric push rod is extended and retracted, the corresponding connecting rod and the distal finger can be driven to move, thereby simulating the grasping and releasing actions of a human hand, realizing the six-degree-of-freedom movement of the five fingers, improving the versatility of the manipulator, and meeting the grasping requirements of complex objects. In addition, this embodiment uses a compact electric push rod as a drive, which is conducive to reducing the overall volume of the manipulator.

[0013] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 This is a schematic diagram of the structure of a five-finger manipulator in an embodiment of the utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the palm assembly in the embodiment of the utility model;

[0017] Figure 3It is a structural schematic diagram of the thumb assembly in an embodiment of the utility model at a certain viewing angle;

[0018] Figure 4 is a structural schematic diagram of the thumb assembly in another viewing angle in an embodiment of the utility model;

[0019] Figure 5 It is a schematic structural diagram of each finger assembly connected to the palm assembly in an embodiment of the utility model at a certain viewing angle;

[0020] Figure 6 It is a schematic structural diagram of each finger assembly connected to the palm assembly in another viewing angle in an embodiment of the utility model.

[0021] The figure markings of the above drawings are: 1. palm assembly; 11. base; 111. front plate; 112. back plate; 12. skeleton; 121. front bone of index finger; 1211. connecting column; 122. front bone of middle finger; 123. front bone of ring finger; 124. front bone of little finger; 125. back bone of index finger; 126. back bone of middle finger; 127. back bone of ring finger; 2. thumb assembly; 21. support plate; 22. first electric push rod; 23. first connecting rod; 24. first cover plate; 25. first distal finger; 26. second electric push rod; 3. index finger assembly; 31. third electric push rod; 32. second connecting rod; 33. second cover plate; 34. second distal finger; 4. middle finger assembly; 5. ring finger assembly; 6. little finger assembly; 7. protective cover. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0023] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "fixed", 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 internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0024] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "below" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0025] In the description of this embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application.

[0026] In addition, the terms "first", "second", etc. are only used to distinguish in description and have no special meaning.

[0027] Combination Figure 1 and Figure 2 As shown, the five-finger manipulator of this embodiment mainly includes a palm assembly 1 and a thumb assembly 2, an index finger assembly 3, a middle finger assembly 4, a ring finger assembly 5 and a little finger assembly 6 which are sequentially connected to the palm assembly 1. The palm assembly 1 mainly includes a base 11 and a skeleton 12 arranged on the base 11, and the thumb assembly 2, the index finger assembly 3, the middle finger assembly 4, the ring finger assembly 5 and the little finger assembly 6 are respectively hinged to the skeleton 12 of the palm assembly 1.

[0028] Specifically, Figure 2 As shown, the base 11 includes a front plate 111 and a rear plate 112 which are arranged opposite to each other, and the frame 12 includes a front frame and a rear frame which are arranged opposite to each other, wherein the front frame is connected to the front plate 111 on the base 11, and the rear frame is connected to the rear plate 112 on the base 11. The front frame and the rear frame are arranged at intervals, and part of the front frame is connected to the rear frame.

[0029] Further, the front skeleton includes the front bone of the index finger 121, the front bone of the middle finger 122, the front bone of the ring finger 123 and the front bone of the little finger 124 connected in sequence, and the rear skeleton includes the back bone of the index finger 125, the back bone of the middle finger 126 and the back bone of the ring finger 127 connected in sequence. The index finger component 3 is hinged to the front bone of the index finger 121 and the back bone of the index finger 125 at the same time, the middle finger component 4 is hinged to the front bone of the middle finger 122 and the back bone of the middle finger 126 at the same time, the ring finger component 5 is hinged to the front bone of the ring finger 123 and the back bone of the ring finger 127 at the same time, and the little finger component 6 is hinged to the front bone of the little finger 124.

[0030] like Figures 3 to 5 As shown, the thumb assembly 2 of this embodiment mainly includes a support plate 21, a first electric push rod 22, a first connecting rod 23, a first cover plate 24 and a first distal finger 25. The support plate 21 is connected to the connecting column 1211 on the front bone 121 of the index finger; the main body of the first electric push rod 22 is hinged to the support plate 21, and the piston rod of the first electric push rod 22 is hinged to the first connecting rod 23; the first connecting rod 23 is also hinged (or rotatably connected) to the support plate 21, and the first connecting rod 23 can rotate relative to the support plate 21 under the drive of the first electric push rod 22; the first distal finger 25 is hinged to the first connecting rod 23 and the first cover plate 24 at the same time, and the first cover plate 24 is also hinged to the support plate 21. With the above structure, the first electric push rod 22, the first connecting rod 23, the first cover plate 24 and the first distal finger 25 are connected to form a four-bar linkage. When the piston rod of the first electric push rod 22 is extended or retracted, the first connecting rod 23 and the first distal finger 25 can be opened or contracted to simulate the joint movement of the human thumb.

[0031] Preferably, the support plate 21 of the thumb assembly 2 is rotatably connected to the connecting column 1211 of the front bone of the index finger 121, so that the thumb assembly 2 can rotate relative to the front bone of the index finger 121 to achieve the movement of the thumb joint. Figure 6 As shown, the thumb assembly 2 further includes a second electric push rod 26, the body of which is hinged to the base 11, and the piston rod of which is hinged to the support plate 21. Specifically, the second electric push rod 26 can be inserted into the space formed by the front plate 111 and the rear plate 112 of the base 11, so as to reduce the overall volume of the manipulator.

[0032] like Figure 5 and Figure 6As shown, the index finger assembly 3 of this embodiment mainly includes a third electric push rod 31, a second connecting rod 32, a second cover plate 33, and a second distal finger 34. Among them, the main body of the third electric push rod 31 is hinged to the posterior bone 125 of the index finger, and its piston rod is hinged to the second connecting rod 32 hinged to the front bone 121 of the index finger to drive the second connecting rod 32 to rotate; the second distal finger 34 is hinged to the second connecting rod 32 and the second cover plate 33 at the same time, and the second cover plate 33 is also hinged to the front bone 121 of the index finger. With the above structure, the third electric push rod 31, the second connecting rod 32, the second cover plate 33 and the second distal finger 34 are connected to form a four-bar linkage mechanism. When the piston rod of the third electric push rod 31 is extended and retracted, the second connecting rod 32 and the second distal finger 34 can be extended and retracted to simulate the joint movement of the human index finger.

[0033] The structures of the middle finger component 4 , the ring finger component 5 and the little finger component 6 of this embodiment are substantially the same as that of the index finger component 3 .

[0034] Preferably, if Figure 1 As shown, the five-finger manipulator of this embodiment further includes a protective cover 7 disposed on the base 11 , and the protective cover 7 can accommodate part of the palm assembly 1 therein to protect the palm assembly 1 .

[0035] In summary, the five-finger manipulator of this embodiment, each of its fingers includes a corresponding electric push rod, a connecting rod, a cover plate and a distal finger, which are connected to form a four-bar linkage. When the piston rod of the electric push rod is extended and retracted, the corresponding connecting rod and the distal finger can be driven to move, thereby simulating the grasping and releasing actions of human hands, realizing the six degrees of freedom (bending of the five fingers and rotation of the thumb) of the five fingers, improving the versatility of the manipulator, and meeting the needs of grasping complex objects. In addition, this embodiment uses a compact electric push rod as a drive, which is conducive to reducing the overall volume of the manipulator.

[0036] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A five-finger manipulator, characterized in that: include: A palm component and a thumb component, an index finger component, a middle finger component, a ring finger component and a little finger component connected to the palm component, the palm component comprising a base and a skeleton arranged on the base, and the thumb component, the index finger component, the middle finger component, the ring finger component and the little finger component are respectively hinged to the skeleton.

2. The five-finger manipulator according to claim 1, characterized in that: The base includes a front plate and a rear plate which are arranged opposite to each other, and the frame includes a front frame connected to the front plate and a rear frame connected to the rear plate.

3. The five-finger manipulator according to claim 2, characterized in that: The front skeleton includes the front bone of the index finger, the front bone of the middle finger, the front bone of the ring finger and the front bone of the little finger connected in sequence, and the rear skeleton includes the back bone of the index finger, the back bone of the middle finger and the back bone of the ring finger connected in sequence. The index finger component is hinged to the front bone of the index finger and the back bone of the index finger at the same time, the middle finger component is hinged to the front bone of the middle finger and the back bone of the middle finger at the same time, the ring finger component is hinged to the front bone of the ring finger and the back bone of the ring finger at the same time, and the little finger component is hinged to the front bone of the little finger.

4. The five-finger manipulator according to claim 3, characterized in that: The thumb assembly includes a support plate, a first electric push rod, a first connecting rod, a first cover plate and a first distal finger. The support plate is connected to the front bone of the index finger, the main body of the first electric push rod is hinged to the support plate, the first connecting rod is hinged to the support plate and the piston rod of the first electric push rod at the same time, the first distal finger is hinged to the first connecting rod and the first cover plate at the same time, and the first cover plate is also hinged to the support plate.

5. The five-finger manipulator according to claim 4, characterized in that: The support plate is rotatably connected to the front bone of the index finger. The thumb assembly also includes a second electric push rod, a body of the second electric push rod is hinged to the base, and a piston rod of the second electric push rod is hinged to the support plate.

6. The five-finger manipulator according to claim 5, characterized in that: The second electric push rod is arranged between the front plate and the rear plate of the base.

7. The five-finger manipulator according to claim 3, characterized in that: The index finger assembly includes a third electric push rod, a second connecting rod, a second cover plate and a second distal finger. The main body of the third electric push rod is hinged to the posterior bone of the index finger, the second connecting rod is hinged to the front bone of the index finger and the piston rod of the third electric push rod at the same time, the second distal finger is hinged to the second connecting rod and the second cover plate at the same time, and the second cover plate is also hinged to the front bone of the index finger.

8. The five-finger manipulator according to claim 1, characterized in that: The five-finger manipulator also includes a protective cover arranged on the base.

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