Manipulator

Abstract

The utility model provides a mechanical arm which comprises a palm center base, a mechanical thumb and a plurality of mechanical fingers, the mechanical thumb comprises a rotary driving assembly, a first linear driver, a thumb root and a thumb tip, and the rotary driving assembly is arranged on the inner side of the palm center base; the rotary driving assembly is used for driving the thumb root and the thumb tip to rotate relative to the palm center base, the first linear drivers are arranged in the thumb root and the thumb tip, and each mechanical finger comprises a second linear driver, a finger root and a finger tip. The second linear drivers are arranged on the sides, away from the finger tips, of the finger roots, and the second linear drivers of the multiple mechanical fingers are arranged on the outer side of the palm center base. The manipulator provided by the utility model is simple in overall structure and small in occupied space.

Description

Technical Field

[0001] The present application relates to the field of hand technology, and in particular to a manipulator. Background Art

[0002] As the most complex structure of a humanoid robot, the operation of the manipulator needs to meet various conditions such as gripping force, gripping accuracy, adaptability, and degrees of freedom in order to be closer to a real human hand. The thumb structure of the current manipulator is complex and occupies a large space, which is not conducive to grasping objects and is prone to damage. In addition, the existing thumb structure and finger structure have external linear drives to avoid contact with the grasped object during operation, which affects the convenience of work.

[0003] Therefore, it is necessary to provide a kind of manipulator to solve the above-mentioned technical problems. Utility Model Content

[0004] The present application provides a robot arm to solve the technical problems existing in the prior art such as occupying a large space.

[0005] In a first aspect, a manipulator comprises:

[0006] Palm seat;

[0007] A mechanical thumb, the mechanical thumb comprising a rotation drive component, a first linear drive, a thumb base and a thumb tip, the rotation drive component being arranged on the inner side of the palm seat, the rotation drive component being used to drive the thumb base and the thumb tip to rotate relative to the palm seat, so as to achieve the thumb base and the thumb tip to approach and move away from the palm seat, the first linear drive being arranged in the thumb base and the thumb tip, the first linear drive being used to drive the thumb base and the thumb tip to rotate, so as to achieve the bending and unfolding of the mechanical thumb;

[0008] Multiple mechanical fingers, each of which includes a second linear drive, a finger base and a finger tip, the second linear drive is arranged on the side of the finger base away from the finger tip, the second linear drive of the mechanical finger is arranged on the outer side of the palm seat, and the second linear drive drives the finger base and the finger tip to rotate to achieve the bending and unfolding of the mechanical finger.

[0009] In combination with the first aspect, in a possible embodiment, the multiple robotic fingers are arranged side by side, and among the multiple robotic fingers, any two of the second linear drives are arranged non-parallel, and the distance between two adjacent robotic fingers gradually increases from the proximal end to the distal end of the same robotic finger; and / or, the rotational drive assembly and each of the second linear drives extend in the same direction, and the rotational drive assembly and the adjacent second linear drives at least partially overlap.

[0010] In combination with the first aspect, in a possible embodiment, the palm seat has an outer mounting surface and an inner mounting surface arranged back to back, the shells of the multiple second linear drives are fixedly mounted on the outer mounting surface, and the mechanical thumb also includes a mounting piece, which is fixedly connected to the rotation drive assembly, and the mounting piece is connected to the inner mounting surface of the palm seat so that the rotation drive assembly is installed on the inner side of the palm seat.

[0011] In combination with the first aspect, in a possible implementation, the base of the thumb and the tip of the thumb are hinged to each other, and the mechanical thumb further includes a first swing rod, a first connecting rod and a second connecting rod, the first swing rod, the first connecting rod and the second connecting rod are sequentially arranged from the proximal end to the distal end of the mechanical thumb, the rotation drive assembly is connected to the first swing rod, the first linear drive is arranged inside the base of the thumb and connected to the base of the thumb, the output end of the first linear drive is hinged to the distal end of the first connecting rod and the second connecting rod, the proximal end of the first connecting rod is hinged to the first swing rod, and the second connecting rod is hinged to the tip of the thumb, the rotation drive assembly is used to drive the first swing rod to rotate, thereby driving the base of the thumb and the tip of the thumb to rotate, the output end of the first linear drive telescopes, driving the first connecting rod and the second connecting rod to move, so that the base of the thumb and the tip of the thumb hinged to the first connecting rod and the second connecting rod rotate, thereby realizing the bending and unfolding of the mechanical thumb.

[0012] In combination with the first aspect, in a possible implementation, the mechanical thumb further includes a first elastic member, the proximal end of the first connecting rod is connected to one end of the first elastic member, and the other end of the first elastic member is connected to the first rocker arm.

[0013] In combination with the first aspect, in a possible implementation, the base of the thumb and the tip of the thumb are hollow structures, the proximal end of the first connecting rod, the first elastic member and the shell of the first linear drive are arranged inside the base of the thumb, and the second connecting rod, the distal end of the first connecting rod and the output end of the first linear drive are arranged inside the tip of the thumb.

[0014] In combination with the first aspect, in a possible embodiment, the base of the finger and the finger tip are hinged to each other, and the mechanical finger also includes a support seat, a second rocker arm and a third connecting rod, the support seat is connected to the second linear drive, the proximal end of the third connecting rod is hinged to the output end of the second linear drive, the distal end of the third connecting rod is hinged to the proximal end of the finger base, the proximal end of the second rocker arm and the proximal end of the finger base are hinged to the support seat, the distal end of the finger base and the distal end of the second rocker arm are hinged to the finger tip, the mechanical finger has an expanded state and a bent state, the output end of the second linear drive can move linearly relative to the support seat, drive the third connecting rod and the second rocker arm to move, so that the finger base rotates relative to the support seat, and the finger tip rotates relative to the finger base, thereby switching the mechanical finger between the expanded state and the bent state.

[0015] In combination with the first aspect, in a possible implementation, the mechanical finger further includes a second elastic member, a proximal end of the second elastic member is hinged to a proximal end of the root of the finger, and a distal end of the second elastic member is connected to a middle section of the second rocker arm.

[0016] In combination with the first aspect, in a possible implementation manner, the base of the finger is a hollow structure, and the second rocker arm, the third connecting rod and the second elastic member are disposed in the base of the finger.

[0017] In combination with the first aspect, in a possible embodiment, the support base is fixedly connected to the housing of the second linear drive, and a first hinge structure and a second hinge structure are provided at one end of the support base away from the housing of the second linear drive. Compared with the second hinge structure, the first hinge structure is closer to the inner side of the mechanical finger, the proximal end of the second rocker arm is hinged to the support base through the first hinge structure, and the proximal end of the finger root is hinged to the support base through the second hinge structure.

[0018] The robot provided in the embodiment of the present application can save the volume of the robot after installation by installing the rotation drive component of the robot thumb and the second linear drive of the robot finger on the opposite sides of the palm seat respectively, thereby making the space occupied by the robot more compact and flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of the robot provided in the embodiment of the present application.

[0020] Figure 2 yes Figure 1 A three-dimensional schematic diagram of the robot from another angle.

[0021] Figure 3It is a three-dimensional schematic diagram of the robot arm provided in an embodiment of the present application after removing the palm cover.

[0022] Figure 4 It is a three-dimensional schematic diagram of the robot arm provided in an embodiment of the present application after removing the back of the hand cover.

[0023] Figure 5 It is a three-dimensional schematic diagram of the mechanical thumb in the embodiment of the present application.

[0024] Figure 6 yes Figure 5 A three-dimensional schematic diagram of the mechanical thumb after removing the thumb base and thumb tip.

[0025] Figure 7 yes Figure 6 A three-dimensional schematic diagram of the mechanical thumb from another angle.

[0026] Figure 8 It is a schematic diagram of the connection relationship of various components of the mechanical thumb in the embodiment of the present application when it is unfolded.

[0027] Fig. 9 It is a three-dimensional schematic diagram of the mechanical finger provided in an embodiment of the present application when it is in an unfolded state.

[0028] Fig.10 yes Fig. 9 Schematic diagram of the cross-section of the robotic finger.

[0029] Fig.11 It is a three-dimensional schematic diagram from another angle when the mechanical finger provided in an embodiment of the present application is in an unfolded state.

[0030] Fig. 12A It is a schematic diagram of the connection relationship of various components when the mechanical finger is in the unfolded state in the embodiment of the present application.

[0031] Fig. 12B It is a schematic diagram of the connection relationship of various components when the mechanical finger is in a bent state in an embodiment of the present application.

[0032] Fig.13 It is a cross-sectional schematic diagram of the mechanical finger provided in an embodiment of the present application when it is in a bent state.

[0033] Main component symbol description: manipulator-10; mechanical thumb-100; thumb root-110; first hinge-111; thumb tip-120; rotation drive assembly-130; rotation motor-131; reducer-132; rotation bearing-133; bearing seat-134; mounting member-135; first swing arm-140; rotation connection part-141; mounting plate-142; second hinge-1421; connecting rod-1422; first linear drive-150; housing of first linear drive-151; output end 152; hinge shaft-1521; third hinge-153; first connecting rod-160; proximal end-161; turning part-162; extension part-163; distal end-164; connecting block-165; connecting ring-166; second Connecting rod 170; first connecting end 171; second connecting end 172; hinge pin 173; first elastic member 180; mechanical finger 200; finger base 210; inner plate 211; outer plate 212; finger tip 220; connecting part 221; working part 222; third hinge structure 223; fourth hinge structure 224; second linear drive 230; housing 231 of second linear drive; output end 232; supporting seat 240; first hinge structure 241; second hinge structure 242; second swing arm 250; third connecting rod 260; second elastic member 270; palm seat 300; inner mounting surface 310; outer mounting surface 320; palm cover 400; back of hand cover 500. DETAILED DESCRIPTION

[0034] The following embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0035] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be detachably connected or non-detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Among them, "fixed connection" can be connected to each other and the relative position relationship after connection remains unchanged. "Rotational connection" can be connected to each other and can rotate relative to each other after connection. The term "integrated molding" means that in the process of forming one of the multiple components, the component is connected to other components, and there is no need to connect the two components together by reprocessing (such as bonding, welding, snap connection, screw connection). The orientation terms mentioned in the embodiments of the present application, such as "top", "bottom", "inside", "outside", "side", etc., are only reference directions of the accompanying drawings. Therefore, the orientation terms used are for better and clearer explanation and understanding of the embodiments of the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0036] See also Figures 1 to 4 , Figures 1 to 4 1 is a three-dimensional schematic diagram of a manipulator provided in an embodiment of the present application at different angles and states. In this embodiment, the manipulator 10 includes a palm seat 300, a mechanical thumb 100 and a plurality of mechanical fingers 200. The mechanical thumb 100 and the plurality of mechanical fingers 200 are both mounted on the palm seat 300.

[0037] The mechanical thumb 100 includes a rotation drive component 130, a first linear driver 150, a thumb base 110 and a thumb tip 120. The rotation drive component 130 is arranged on the inner side of the palm seat 300. The rotation drive component 130 is used to drive the thumb base 110 and the thumb tip 120 to rotate relative to the palm seat 300 to achieve the thumb base 110 and the thumb tip 120 to approach and move away from the palm seat 300. The first linear driver 150 is arranged in the thumb base 110 and the thumb tip 120, and is used to drive the thumb base 110 and the thumb tip 120 to rotate to achieve the bending and unfolding of the mechanical thumb 100.

[0038] The number of mechanical fingers 200 can be set according to actual needs. In this embodiment, the manipulator 10 is provided with four mechanical fingers 200. Each mechanical finger 200 includes a second linear drive 230, a finger root 210 and a finger tip 220. The second linear drive 230 is arranged on the side of the finger root 210 away from the finger tip 220. The second linear drives 230 of the plurality of mechanical fingers 200 are arranged on the outside of the palm seat 300. The second linear drive 230 drives the finger root 210 and the finger tip 220 to rotate so as to realize the bending and unfolding of the mechanical finger 200.

[0039] The robot 10 provided in the embodiment of the present application can save the volume of the robot 10 after installation by installing the rotation drive component 130 of the robot thumb 100 and the second linear driver 230 of the robot finger 200 respectively on the opposite sides of the palm seat 300, thereby making the space occupied by the robot more compact and flexible.

[0040] In this embodiment, the plurality of mechanical fingers 200 are arranged side by side, and any two of the second linear actuators 230 in the plurality of mechanical fingers 200 are arranged non-parallel, and the distance between two adjacent mechanical fingers 200 gradually increases from the proximal end to the distal end of the same mechanical finger 200. The mechanical fingers 200 are installed on the mounting base 300 in a divergent manner, so that the overall structure of the manipulator 10 is closer to the structure of a human hand.

[0041] In some embodiments, the rotary drive assembly 130 and all the second linear drives 230 extend in the same direction, and the rotary drive assembly 130 and adjacent second linear drives 230 at least partially overlap. By such a configuration, the volume of the robot 10 can be saved.

[0042] In order to make the structure of the robot 10 closer to a human hand, the length of each robot finger 200 can be set according to actual needs.

[0043] Specifically, the palm seat 300 has an outer mounting surface 310 and an inner mounting surface 320 that are arranged opposite to each other, and the housings 231 of the plurality of second linear actuators 230 are fixedly mounted on the outer mounting surface 310. The mechanical thumb 100 further includes a mounting member 135, which is fixedly connected to the rotation drive assembly 130. The mounting member 135 is used to connect with the inner mounting surface 320 of the palm seat 300, so that the rotation drive assembly 130 is mounted on the inner side of the palm seat 300. In this embodiment, the mounting member 135 is installed on a side close to the palm seat 300, so that the rotation drive assembly 130 is located on the inner mounting surface 320 of the palm seat 300 and on one side of the palm seat 300, so that the mechanical thumb 100 can rotate relative to the palm seat 300.

[0044] The palm cover plate 400 is arranged on the inner side of the palm seat 300, and the back of hand cover plate 500 is arranged on the outer side of the palm seat 300. The palm cover plate 400 and the back of hand cover plate 500 adopt a contour design. The palm cover plate 400 and the back of hand cover plate 500 are detachably installed on the palm seat 300, and a receiving space is formed between the palm seat 300, so that the rotation drive assembly 130 and the plurality of second linear drivers 230 are correspondingly received in the receiving space to protect the rotation drive assembly 130 and the plurality of second linear drivers 230. And during the working process, the palm cover plate 400 and the back of hand cover plate 500 contact with the object to be grasped or operated, and the operation is more convenient. It can be understood that according to different work requirements, the palm cover plate 400 and the back of hand cover plate 500 can adopt different structures or materials.

[0045] See also Figures 5 to 7 In this embodiment, the mechanical thumb 100 includes a thumb base 110 and a thumb tip 120 that are hinged to each other, a rotation drive assembly 130, a first swing rod 140, a first linear driver 150, a first connecting rod 160, a second connecting rod 170 and a first elastic member 180. The first swing rod 140, the first connecting rod 160 and the second connecting rod 170 are arranged in sequence from the proximal end to the distal end of the mechanical thumb 100. The rotation drive assembly 130 is rotationally connected to the first swing rod 140, and the first linear driver 150 is arranged inside the thumb base 110 and connected to the thumb base 110. The output end 152 of the first linear driver 150 is hinged to the distal end of the first connecting rod 160 and the second connecting rod 170, and the second connecting rod 170 is connected to the thumb tip 120. Specifically, as Figure 5-7 As shown, the output end 152 of the first linear drive 150, the distal end of the first connecting rod 160 and the second connecting rod 170 are hinged at the same position, so that the structure among the three is reasonable and compact.

[0046] In one embodiment, the mechanical thumb 100 further includes a first elastic member 180, the proximal end of the first connecting rod 160 is connected to one end of the first elastic member 180, and the other end of the first elastic member 180 is connected to the first swing rod 140, for providing elastic force when the first connecting rod 160 moves relative to the first swing rod 140. The first elastic member 180 is connected to the proximal end of the first connecting rod 160 by hinge, and the first elastic member 180 and the first swing rod 140 may also be connected by hinge.

[0047] In the present application, the rotation drive assembly 130 is used to drive the first swing rod 140 to rotate, thereby driving the thumb base 110 and the thumb tip 120 to rotate. The output end 152 of the first linear actuator 150 contracts and moves, driving the first connecting rod 160 and the second connecting rod 170 to move, and causing the first elastic member 180 to elastically deform, so that the thumb base 110 and the thumb tip 120 hinged to the first connecting rod 160, the second connecting rod 170 and the first elastic member 180 rotate, thereby realizing the bending and unfolding of the mechanical thumb 100.

[0048] The mechanical thumb 100 provided in this embodiment has the first linear driver 150 disposed inside the thumb base 110, thereby avoiding the exposure of the driving device such as the motor and causing inconvenience when the mechanical thumb is working. In addition, the connection mode between the first connecting rod 160, the second connecting rod 170, the first elastic member 180, the thumb base 110 and the thumb tip 120 provided in this embodiment makes the entire mechanical thumb 100 compact in structure and flexible in driving.

[0049] In this embodiment, the thumb root 110 and the thumb tip 120 are both hollow shell structures. The thumb root 110 is hinged to the first swing rod 140 and the first connecting rod 160, and is fixedly connected to the shell 151 of the first linear drive 150. It can be understood that since the thumb root 110 is fixedly connected to the shell 151 of the first linear drive 150, the thumb root 110 is also hinged to the first swing rod 140 and the first connecting rod 160, which is equivalent to the shell 151 of the first linear drive 150 being hinged to the first swing rod 140 and the first connecting rod 160, but not limited to this. The appearance of the thumb root 110 is designed to imitate the shape of the thumb root. The thumb tip 120 is hinged to the second connecting rod 170 and the shell 151 of the first linear drive 150.

[0050] In this embodiment, since the base of the thumb 110 and the tip of the thumb 120 are both hollow structures, the proximal end of the first connecting rod 160, the first elastic member 180 and the housing 151 of the first linear driver 150 are all disposed inside the base of the thumb 110. The second connecting rod 170, the distal end of the first connecting rod 160 and the output end 152 of the first linear driver 150 are disposed inside the tip of the thumb 120.

[0051] The rotation drive assembly 130 includes a rotation motor 131, a reducer 132, a rotation bearing 133 and a bearing seat 134 connected in sequence, the first swing arm 140 is connected between the reducer 132 and the rotation bearing 133, the rotation motor 131 and the reducer 132 cooperate to drive the first swing arm 140 to rotate along the rotation axis of the output end of the rotation motor 131, and the rotation bearing 133 and the bearing seat 134 are used to support the rotation of the first swing arm 140. In this embodiment, the rotation axis of the output end of the rotation motor 131 is arranged along the extension direction of the four fingers of the manipulator, so that the rotation drive assembly 130 can drive the mechanical thumb 100 to rotate around the rotation axis.

[0052] The first swing rod 140 is used to connect the thumb base 110, the thumb tip 120, and the elements disposed in the thumb base 110 and the thumb tip 120 with the rotation drive assembly 130. In this embodiment, the first swing rod 140 is rotationally connected to the rotation drive assembly 130, is hinged to the proximal end of the first connecting rod 160 and the thumb base 110, and is hinged to the proximal end of the first elastic member 180.

[0053] Specifically, the first rocker arm 140 includes a rotating connection portion 141 and two mounting plates 142 that are connected to each other. The rotating connection portion 141 is connected to the rotating drive assembly 130. The two mounting plates 142 are arranged opposite to each other and at intervals. Each mounting plate 142 is hinged to a proximal end of a first connecting rod 160, and the first linear drive 150 is arranged between the two mounting plates 142.

[0054] In this embodiment, the rotary connection part 141 is connected between the reducer 132 and the rotary bearing 133, and is used to generate rotation under the drive of the rotary motor 131. Two mounting plates 142 are located in the base of the thumb 110. Each mounting plate 142 is provided with a first hinge hole and a second hinge hole. The first hinge hole of each mounting plate 142 is used to be hinged to the base of the thumb 110 through the first hinge 111. Each second hinge hole is used to be hinged to the first connecting rod 160 through the second hinge 1421. The first hinge hole is opposite to the second hinge hole, and the first hinge hole is located on the outside of the mechanical thumb 100, and the second hinge hole is located on the inside of the mechanical thumb 100. The first hinge 111 and the second hinge 1421 can be hinge shafts.

[0055] In this embodiment, a connecting rod 1422 is further connected between the two mounting plates 142, and the connecting rod 1422 is used to connect the proximal end of the first elastic member 180. By providing the connecting rod 1422, the proximal end of the first elastic member 180 can be hinged to the middle of the two mounting plates 142 to prevent the elastic force generated by the deformation of the first elastic member 180 from being applied to the two mounting plates 142 in an uneven manner, resulting in a deviation in the movement direction of the mechanical thumb 100.

[0056] The first linear driver 150 is used to drive the thumb base 110 and the thumb tip 120 to move. The first linear driver 150 can be a linear motor, which directly converts electrical energy into linear motion mechanical energy without the need for any intermediate transmission device of a conversion mechanism. In this embodiment, the first linear driver 150 includes a housing 151 and an output end 152. The housing 151 can drive the output end 152 to telescopically move, and is used to drive the movement of the element connected thereto. In this embodiment, the housing 151 is disposed at the proximal end of the mechanical thumb 100, and the output end 152 is disposed at the distal end of the mechanical thumb 100. Specifically, the housing 151 is disposed inside the thumb base 110, and the output end 152 is disposed inside the thumb tip 120.

[0057] In this embodiment, the housing 151 is disposed between the two mounting plates 142. The housing 151 is fixedly connected to the base of the thumb 110, so when the mechanical thumb 100 is bent or rotated, the first linear drive 150 moves synchronously with the base of the thumb 110. In this embodiment, the housing 151 and the thumb tip 120 and the base of the thumb 110 are hinged to each other. Specifically, third hinges 153 are respectively disposed on opposite sides of the housing 151, and each third hinge 153 is used to hinge the base of the thumb 110, the thumb tip 120 and the housing 151 at one point. It can be understood that the base of the thumb 110, the thumb tip 120 and the housing 151 are hinged at one point, so that the structure of the mechanical thumb 100 is compact.

[0058] The output end 152 is used to perform telescopic movement under the drive of the housing 151. The output end 152 is hinged to the distal end of the first connecting rod 160 and the second connecting rod 170. Specifically, the output end 152 is connected to a hinge shaft 1521, and the distal end of the first connecting rod 160 and the second connecting rod 170 are respectively provided with hinge holes, and are sleeved on the hinge shaft 1521, so that the output end 152 is hinged to the first connecting rod 160 and the second connecting rod 170 through the hinge shaft 1521, and then when the output end 152 is extended, the first connecting rod 160 and the second connecting rod 170 are driven to rotate around the hinge shaft 1521 and move along the extension direction of the output end 152.

[0059] The proximal end of the first connecting rod 160 is hinged to the first swing rod 140, and the distal end of the first connecting rod 160 is hinged to the second connecting rod 170 and the output end 152, respectively. In this embodiment, in order to make the mechanical thumb 100 move more accurately, there are two first connecting rods 160. The two first connecting rods 160 are arranged on opposite sides of the first linear actuator 150. Specifically, each first connecting rod 160 is arranged between the corresponding mounting plate 142 and the first linear actuator 150.

[0060] In this embodiment, each first connecting rod 160 includes a proximal portion 161, a turning portion 162, an extension portion 163 and a distal portion 164 which are connected in sequence. The proximal portion 161 is hinged to the first swing rod 140, and the first elastic member 180 is hinged at the connection between the proximal portion 161 and the turning portion 162. The second connecting rod 170 and the output end 152 of the first linear actuator 150 are connected to the distal portion 164. The extension directions of the proximal portion 161 and the extension portion 163 are parallel to each other, and the extension direction of the turning portion 162 is perpendicular to the extension direction of the extension portion 163. The length of the extension portion 163 is greater than the length of the proximal portion 161. The proximal portion 161 and the turning portion 162 are located inside the thumb base 110, and the extension portion 163 extends from the inside of the thumb base 110 to the inside of the thumb tip 110. The distal portion 164 extends obliquely from the extension portion 163 to the outside of the mechanical thumb 100, and the distal portion 164 is located inside the thumb tip 120.

[0061] A connecting block 165 is provided between the two first connecting rods 160, and the connecting block 165 is provided at the connection between the proximal end portion 161 and the turning portion 162. A connecting ring 166 is provided in the middle of the connecting block 165, and the connecting ring 166 is used to hinge the distal end of the first elastic member 180. In this way, the distal end of the first elastic member 180 is also located in the middle of the two first connecting rods 160, so that the first elastic member 180 acts on the two first connecting rods 160 in a balanced manner. In this embodiment, along the direction from the distal end to the proximal end, the second hinge hole is located between the connecting rod 1422 and the connecting block 165.

[0062] One end of the second connecting rod 170 is hinged to the distal end of the first connecting rod 160 and the output end 152 of the first linear actuator 150 , and the other end of the second connecting rod 170 extends from the distal end of the first connecting rod 160 to the outside of the mechanical thumb 100 .

[0063] In this embodiment, the second connecting rod 170 has two first connecting ends 171 and one second connecting end 172. The two first connecting ends 171 are respectively hinged to the opposite sides of the output end 152 of the first linear actuator 150, and the second connecting end 172 is used to connect with the thumb tip 120. Specifically, each first connecting end 171 is sleeved on the hinge shaft 1521 of the output end 152 of the first linear actuator 150, so that each first connecting end 171 is arranged between the distal end of the corresponding first connecting rod 160 and the output end 152 of the first linear actuator 150. Such a symmetrical arrangement makes the forces of the components inside the mechanical thumb 100 balanced, and the movement and force application are more precise.

[0064] Two hinge pins 173 are provided at the second connecting end 172 for being hinged to the hinge hole provided at the thumb tip 120 , so that when the second connecting rod 170 moves under the drive of the first linear drive 150 , the thumb tip 120 is driven to move.

[0065] Please also read Figure 8 When the output end 152 of the first linear actuator 150 is extended, the first connecting rod 160 is driven to swing inward under the pull of the first elastic member 180, thereby driving the thumb base 110 and the first linear actuator 150 fixedly connected to the thumb base 110 to deflect inward. At the same time, the second connecting rod 170 deflects outward, thereby driving the thumb tip 120 to deflect inward, that is, the mechanical thumb 100 is bent inward.

[0066] Correspondingly, when the output end 152 of the first linear drive 150 expands and contracts, the first connecting rod 160 is driven to swing outward under the pull of the first elastic member 180, thereby driving the thumb base 110 and the first linear drive 150 fixedly connected to the thumb base 110 to deflect inward and outward. At the same time, the second connecting rod 170 deflects inward, thereby driving the thumb tip 120 to deflect outward, thereby realizing the outward expansion of the mechanical thumb 100.

[0067] The mechanical thumb provided by the present application can conveniently realize the movement of the mechanical thumb 100 by setting a hinged structure between the rotation drive assembly 130, the first swing arm 140, the first linear driver 150, the first connecting rod 160 and the second connecting rod 170. The overall structure is simple and occupies a small space. Furthermore, the first swing arm 140, the first linear driver 150, the first connecting rod 160 and the second connecting rod 170 are built into the base of the thumb 110 and the tip of the thumb 120, which can avoid too many components being exposed to the outside, and facilitate operation when performing actual work.

[0068] See also Figures 9 to 11 , Fig. 9 and Fig.11 is a three-dimensional schematic diagram of a mechanical finger 200 provided in an embodiment of the present application, Fig.10 2 is a cross-sectional schematic diagram of a mechanical finger 200 provided in an embodiment of the present application. In this embodiment, the mechanical finger 200 includes a finger root 210, a finger tip 220, a second linear actuator 230, a support seat 240, a second swing rod 250 and a third connecting rod 260. The support seat 240 is connected to the second linear actuator 230, the proximal end of the third connecting rod 260 is hinged to the output end of the second linear actuator 230, and the distal end of the third connecting rod 260 is hinged to the proximal end of the finger root 210. The proximal end of the second swing rod 250 and the proximal end of the finger root 210 are both hinged to the support seat 240, and the distal end of the finger root 210 and the distal end of the second swing rod 250 are both hinged to the finger tip 220.

[0069] The mechanical finger 200 may further include a second elastic member 270, the proximal end of which is hinged to the proximal end of the finger root 210, and the distal end of which is connected to the middle section of the second swing rod 250. The second elastic member 270 is used to maintain the relative position relationship of the various components of the mechanical finger 200.

[0070] The mechanical finger 200 has the following features: Figure 9-12A The expanded state shown and Figure 12B-13 In the bending state shown, the output end of the second linear drive 230 can move linearly relative to the support base 240, driving the third connecting rod 260 and the second rocker arm 250 to move, so that the finger base 210 rotates relative to the support base 240, and the finger tip 220 rotates relative to the finger base 210, thereby switching the mechanical finger 200 between the unfolded state and the bent state.

[0071] The second linear drive 230 is used to drive the finger base 210 and the finger tip 220 to move. The second linear drive 230 can be a linear motor, which directly converts electrical energy into linear motion mechanical energy without the need for any intermediate transmission device of a conversion mechanism. In this embodiment, the second linear drive 230 includes a housing 231 of the second linear drive and an output end 232 of the second linear drive 230. The housing 231 of the second linear drive can drive the output end 232 to telescopically move, and is used to drive the movement of the element connected thereto. In this embodiment, the output end 232 of the second linear drive 230 is provided with a hinge structure for being hinged to the third connecting rod 260.

[0072] The support seat 240 is connected to the second linear drive 230. In the present embodiment, the support seat 240 is fixedly connected to the housing 231 of the second linear drive. It extends from the housing 231 of the second linear drive to the far end of the robot finger 200. The support seat 240 is provided with a first hinge structure 241 and a second hinge structure 242 at one end of the housing away from the second linear drive 230. Compared with the first hinge structure 242, the first hinge structure 241 is located on the inner side of the robot finger 200. In other words, the first hinge structure 241 is closer to the inner side of the robot finger 200 than the second hinge structure 242. In some embodiments, the axis direction of the rotation of the second swing arm 250 relative to the first hinge structure 241 and the axis direction of the rotation of the finger root 210 relative to the second hinge structure 242 are both perpendicular to the telescopic movement direction of the output end 232 of the second linear drive 230.

[0073] It is understandable that the hinge structures described in this embodiment can be realized by the cooperation of holes and protrusions between two mutually hinged elements; or the two mutually hinged elements are both provided with hinge holes and then realized by the cooperation of a pin; or the two mutually hinged elements are realized by the cooperation of a cylindrical structure; or other methods that can realize the hinge between elements. In this embodiment, the form of the hinge structure is not limited, and it can be selected and designed according to actual needs or the convenience of installation operation.

[0074] The third connecting rod 260 is connected between the output end 232 of the second linear actuator 230 and the finger base 210, and is connected to one end of the second elastic member 270. The proximal end of the third connecting rod 260 is hinged to the output end 232 of the second linear actuator 230, so as to generate movement when the output end 232 of the second linear actuator 230 is extended and retracted, and transmit the movement to the finger base 210 and the second elastic member 270. In this embodiment, the axis direction of the proximal end of the third connecting rod 260 relative to the output end 232 of the second linear actuator 230 is parallel to the axis direction of the second swing rod 250 relative to the first hinge structure 241, and is also parallel to the axis direction of the finger base 210 relative to the second hinge structure 242. The distal end of the third connecting rod 260 is provided with a hinge structure for hinge connection with the proximal end of the finger base 210. A connection point 261 is also provided at the distal end of the third connecting rod 260, and the connection point 261 is used to connect with the second elastic member 270. Compared with the hinge structure at the distal end of the third connecting rod 260, the connection point 261 is closer to the inner side of the mechanical finger 200 and farther away from the output end 232 of the second linear actuator 230. Specifically, the second elastic member 270 and the third connecting rod 260 can also be connected in a hinged manner. The third connecting rod 260 is hinged to the outer side of the finger root 210, and the support seat 240 is hinged to the inner side of the finger root 210.

[0075] The second swing rod 250 is connected between the support base 240 and the finger tip 220, and the middle section of the second swing rod 250 is connected to the distal end of the second elastic member 270. In this embodiment, there are two second swing rods 250, which are arranged on opposite sides of the support base 240. The proximal end of each second swing rod 250 is connected to one side of the support base 240, and the distal end of each second swing rod 250 is hinged to the proximal end of the finger tip 220. Each second swing rod 250 is inclined relative to the telescopic direction of the output end 232 of the second linear actuator 230, that is, compared with the distal end of the second swing rod 250, the proximal end of the second swing rod 250 is close to the inner side of the mechanical finger 200.

[0076] The finger root 210 is connected between the second linear drive 230 and the finger tip 220, and is used to accommodate the support seat 240, the second swing rod 250, the third connecting rod 260 and the second elastic member 270. Specifically, the appearance of the finger root 210 is a contoured design, and the finger root 210 is a hollow structure, roughly cylindrical, and the outer diameter of the proximal end is greater than the outer diameter of the distal end. The proximal end of the finger root 210 is hinged to the support seat 240 and the distal end of the third connecting rod 260. In this embodiment, the finger root 210 includes an inner plate 211 located on the inner side of the mechanical finger 200 and an outer plate 212 located on the outer side of the mechanical finger 200. The inner plate 211 is hinged to the second hinge structure 242 of the support seat 240. The outer plate 212 is hinged to the distal end of the third connecting rod 260.

[0077] In a specific embodiment, the inner plate 211 of the finger base 210 is provided with two hinge holes for correspondingly cooperating with the second hinge structure 242 of the support seat 240, so that the finger base 210 is hinged to the support seat 240 through a pivot. The outer plate 212 of the finger base 210 is provided with a hinge hole inside for hinge connection with the distal end of the third connecting rod 260, so that the distal end of the third connecting rod 260 is hinged to the finger base 210 through a pivot. The second elastic member 270 is located inside the finger base 210, the proximal end of the second elastic member 270 is connected to the connection point 261 of the third connecting rod 260, and the distal end of the second elastic member 270 is connected to the middle section of the second swing rod 250. Inside the finger base 210, the second swing rod 250 is closer to the outer side of the finger base 210 than the second elastic member 270, and the second elastic member 270 is closer to the outer side of the finger base 210. Specifically, the second elastic member 270 is close to the outer plate 212 of the base 210 of the finger, and the second swing rod 250 is close to the inner plate 211 of the base 210 of the finger.

[0078] The outside of the finger tip 220 is smoothly connected to the finger root 210. The external shape of the finger tip 220 is also a contoured design. It is understandable that the external shape or material of the finger tip can be designed according to actual needs. In the present embodiment, the finger tip 220 includes a connecting portion 221 and a working portion 222 that are connected to each other, the working portion 222 is fixedly connected to the connecting portion 221, and the working portion 222 is located on the inner side of the mechanical finger 200. In the present embodiment, the proximal end of the connecting portion 221 is provided with a third hinge structure 223 and a fourth hinge structure 224, the third hinge structure 223 is close to the inner side of the mechanical finger 200 relative to the fourth hinge structure 224, the distal end of the finger root 210 is hinged to the finger tip 220 through the third hinge structure 223, and the distal end of the second swing rod 250 is hinged to the finger tip 220 through the fourth hinge structure 224.

[0079] In a preferred embodiment, the directions of the axes of relative rotation between two connected parts of all hinged structures in the robot finger 200 are parallel to each other.

[0080] Please also read Figure 9-13 The mechanical finger 200 provided in the embodiment of the present application is implemented as follows Fig. 12A The expanded state shown switches to Fig. 12B The process of the bending state shown is described as follows: the output end 232 of the second linear drive 230 extends, that is, Fig. 12A The proximal end of the third connecting rod 260 and the portion connected to the output end 232 move toward the distal end along with the output end 232 ( Fig. 12A The third link 260 and the part connected to the finger root 210 swing toward the inner side of the mechanical finger 200 ( Fig. 12A The finger root 210 is driven to pivot toward the inner side of the mechanical finger 200 relative to the support base 140 ( Fig. 12A The finger root 210 drives a part of the finger tip 220 to swing toward the inner side of the mechanical finger 200 ( Fig. 12A The other part of the finger tip 220 drives the second swing rod 250 to pivot toward the inner side of the robot finger 200 relative to the support seat 140 ( Fig. 12A The finger tip 220 pivots toward the inside of the mechanical finger 200 relative to the finger base 210 ( Fig. 12A The elastic force of the second elastic member 270 is tightened to maintain the relative relationship between the components.

[0081] Please also read Figure 9-13 The mechanical finger 200 provided in the embodiment of the present application is implemented as follows Fig. 12A The bending state shown is switched to Fig. 12B The process of the unfolded state shown is described as follows: the output end 232 of the second linear drive 230 is retracted, that is, Fig. 12B The proximal end of the third connecting rod 260 and the portion connected to the output end 232 move toward the proximal end along with the output end 232 ( Fig. 12B The portion where the third link 260 and the finger root 210 are connected swings toward the outside of the mechanical finger 200 ( Fig. 12B The finger root 210 is driven to pivot toward the outside of the mechanical finger 200 relative to the support base 140 ( Fig. 12B The finger root 210 drives a part of the finger tip 220 to swing outward of the mechanical finger 200 ( Fig. 12B The other part of the finger tip 220 drives the second swing rod 250 to pivot toward the outside of the robot finger 200 relative to the support seat 140 ( Fig. 12BThe finger tip 220 of the finger relative to the finger root 210 is pivoted toward the outside of the mechanical finger 200 ( Fig. 12B The elastic force of the second elastic member 270 is tightened to maintain the relative relationship between the components.

[0082] like Figure 1-4 As shown, the thumb tip 120 and the thumb base 110 are located on one side of the palm seat 300, and the finger tips 220 and the finger base 210 are located on the adjacent side thereof, and the thumb tip 120 is close to the inner side of the palm seat 300 when bent, and the finger tips 220 are also close to the inner side of the palm seat 300 when bent, so as to form a human hand holding state.

[0083] like Figure 1-4 As shown, the thumb tip 120 and the thumb base 110 are away from the palm seat 300 when unfolded, and the finger tip 220 and the finger base 210 are unfolded. When the thumb tip 120 and the thumb base 110 are unfolded, the thumb tip 120 and the thumb base 110 are in a straight state, and the thumb tip 120 and the thumb base 110 are in a straight state, forming an angle therebetween, and the angle is (0°, 90°], preferably, [30°, 90°], but not limited thereto.

[0084] The manipulator 10 provided by the present application can conveniently realize the movement of the manipulator finger 200 through the second linear driver 230 by setting a hinge structure between the second linear driver 230, the support seat 240, the second swing rod 250, the third connecting rod 260, the second elastic member 270, the finger root 210 and the finger tip 220. The overall structure is simple and occupies a small space. Furthermore, the support seat 240, the second swing rod 250, the third connecting rod 260 and the second elastic member 270 are built into the finger root 210 to avoid too many components being exposed to the outside, which is convenient for operation when performing actual work.

[0085] It can be understood that the proximal end mentioned in the present application refers to the end close to the palm seat 300 of the manipulator 10, or it can be said that the proximal end refers to the end away from the thumb tip 120, or the proximal end refers to the end away from the finger tip 220; the distal end mentioned in this embodiment refers to the end away from the palm seat 300, or it can be said that the distal end refers to the end close to the thumb tip 120, or the distal end refers to the end close to the finger tip 220, but it is not limited to this.

[0086] It can be understood that the inner side of the mechanical thumb 100 mentioned in the present application refers to the side in the bending direction of the mechanical thumb 100, or it can be said that the inner side of the mechanical thumb 100 is the side corresponding to the inner side of the palm seat 300; the outer side of the mechanical thumb 100 refers to the side opposite to the inner side of the mechanical thumb 100, or it can be said that the outer side of the mechanical thumb 100 is the side corresponding to the outer side of the palm seat 300, but it is not limited to this.

[0087] It is understandable that the inner side of the robotic finger 200 mentioned in the present application refers to the side in the bending direction of the robotic finger 200, or it can be said that the inner side of the robotic finger 200 is the side corresponding to the inner side of the palm seat 300; the outer side of the robotic finger 200 refers to the side opposite to the inner side of the robotic finger 200, or it can be said that the outer side of the robotic finger 200 is the side corresponding to the outer side of the palm seat 300, but it is not limited to this.

[0088] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A manipulator, comprising: Palm seat; A mechanical thumb, the mechanical thumb comprising a rotation drive component, a first linear drive, a thumb base and a thumb tip, the rotation drive component being arranged on the inner side of the palm seat, the rotation drive component being used to drive the thumb base and the thumb tip to rotate relative to the palm seat, so as to achieve the thumb base and the thumb tip to approach and move away from the palm seat, the first linear drive being arranged in the thumb base and the thumb tip, the first linear drive being used to drive the thumb base and the thumb tip to rotate, so as to achieve the bending and unfolding of the mechanical thumb; Multiple mechanical fingers, each of which includes a second linear drive, a finger base and a finger tip, the second linear drive is arranged on the side of the finger base away from the finger tip, the second linear drives of the multiple mechanical fingers are arranged on the outside of the palm seat, and the second linear drive drives the finger base and the finger tip to rotate to achieve the bending and unfolding of the mechanical fingers.

2. The robot according to claim 1, characterized in that: The multiple robotic fingers are arranged side by side, and among the multiple robotic fingers, any two of the second linear drives are arranged non-parallel, and the distance between two adjacent robotic fingers gradually increases from the proximal end to the distal end of the same robotic finger; and / or the rotational drive assembly and each of the second linear drives extend in the same direction, and the rotational drive assembly and adjacent second linear drives at least partially overlap.

3. The robot according to claim 2, characterized in that: The palm seat has an outer mounting surface and an inner mounting surface arranged back to back, and the shells of the multiple second linear drives are fixedly mounted on the outer mounting surface. The mechanical thumb also includes a mounting piece, which is fixedly connected to the rotation drive assembly. The mounting piece is connected to the inner mounting surface of the palm seat so that the rotation drive assembly is installed on the inner side of the palm seat.

4. The robot according to claim 1, characterized in that: The base of the thumb and the tip of the thumb are hinged to each other. The mechanical thumb also includes a first swing rod, a first connecting rod and a second connecting rod. The first swing rod, the first connecting rod and the second connecting rod are arranged in sequence from the proximal end to the distal end of the mechanical thumb. The rotation drive component is connected to the first swing rod. The first linear driver is arranged inside the base of the thumb and connected to the base of the thumb. The output end of the first linear driver is hinged to the distal end of the first connecting rod and the second connecting rod. The proximal end of the first connecting rod is hinged to the first swing rod, and the second connecting rod is hinged to the tip of the thumb. The rotation drive component is used to drive the first swing rod to rotate, thereby driving the base of the thumb and the tip of the thumb to rotate. The output end of the first linear driver telescopes and drives the first connecting rod and the second connecting rod to move, so that the base of the thumb and the tip of the thumb hinged to the first connecting rod and the second connecting rod rotate, thereby realizing the bending and unfolding of the mechanical thumb.

5. The robot according to claim 4, characterized in that: The mechanical thumb further includes a first elastic member, the proximal end of the first connecting rod is connected to one end of the first elastic member, and the other end of the first elastic member is connected to the first swing rod.

6. The robot according to claim 5, characterized in that: The base of the thumb and the tip of the thumb are hollow structures, the proximal end of the first connecting rod, the first elastic member and the housing of the first linear actuator are arranged inside the base of the thumb, and the second connecting rod, the distal end of the first connecting rod and the output end of the first linear actuator are arranged inside the tip of the thumb.

7. The robot according to claim 1, characterized in that: The finger base and the finger tip are hinged to each other, and the mechanical finger also includes a support seat, a second rocker arm and a third connecting rod. The support seat is connected to the second linear actuator, the proximal end of the third connecting rod is hinged to the output end of the second linear actuator, and the distal ends of the third connecting rod are hinged to the proximal end of the finger base, the proximal ends of the second rocker arm and the proximal ends of the finger base are hinged to the support seat, the distal ends of the finger base and the distal ends of the second rocker arm are hinged to the finger tips, and the mechanical finger has an expanded state and a bent state, and the output end of the second linear actuator can move linearly relative to the support seat, driving the third connecting rod and the second rocker arm to move, so that the finger base rotates relative to the support seat, and the finger tip rotates relative to the finger base, thereby switching the mechanical finger between the expanded state and the bent state.

8. The robot according to claim 7, characterized in that: The mechanical finger also includes a second elastic member, the proximal end of the second elastic member is hinged to the proximal end of the root of the finger, and the distal end of the second elastic member is connected to the middle section of the second swing rod.

9. The robot according to claim 8, characterized in that: The base of the finger is a hollow structure, and the second swing rod, the third connecting rod and the second elastic member are arranged in the base of the finger.

10. The robot according to claim 8 or 9, characterized in that: The support seat is fixedly connected to the housing of the second linear drive, and a first hinge structure and a second hinge structure are provided at one end of the support seat away from the housing of the second linear drive. Compared with the second hinge structure, the first hinge structure is closer to the inner side of the mechanical finger, the proximal end of the second rocker arm is hinged to the support seat through the first hinge structure, and the proximal end of the root of the finger is hinged to the support seat through the second hinge structure.

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