Manipulator and robot

Abstract

The utility model discloses a manipulator and a robot, relates to the technical field of robots, and solves the technical problems that an information acquisition device in a manipulator is externally arranged and is easy to damage in related technologies. The mechanical arm comprises a body, a metacarpophalangeal mechanism and a first information collecting device, the body comprises a palm part and forms a containing cavity, the metacarpophalangeal mechanism comprises a metacarpophalangeal driving assembly and a metacarpophalangeal knuckle assembly which are arranged in the first direction, the metacarpophalangeal driving assembly is arranged in the containing cavity, and the metacarpophalangeal knuckle assembly is located outside the containing cavity; the metacarpophalangeal driving assembly is connected with the metacarpophalangeal knuckle assembly to drive the metacarpophalangeal knuckle assembly to grab an object to be grabbed, and in the direction away from the palm part, the side, close to the palm part, of the metacarpophalangeal driving assembly is higher than the side, close to the palm part, of the metacarpophalangeal knuckle assembly, so that the palm part and the side, close to the palm part, of the metacarpophalangeal driving assembly define a containing space; the first information collecting device is arranged in the containing cavity and used for collecting first to-be-grabbed information of the to-be-grabbed object.

Description

Technical Field

[0001] The present application relates to but is not limited to the field of robotics, and in particular to a manipulator and a robot. Background Art

[0002] With the improvement of intelligence, people use robotic arms to grasp objects.

[0003] In the related art, people will set an information collection device on the outer contour of the palm of the robot arm to collect the information of the object to be grasped. However, during use, the information collection device is prone to collision with the object to be grasped or external objects, resulting in increased maintenance costs of the information collection device. Utility Model Content

[0004] The present application provides a manipulator and a robot, in which a first information collection device is built into the manipulator near the palm, thereby reducing the possibility of the first information collection device colliding with an object to be grasped or an external object, thereby reducing the maintenance cost of the first information collection device.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0006] In a first aspect, the present application provides a manipulator, which includes a main body, a palm-finger mechanism and a first information collection device, wherein the main body includes a palm, the main body forms a accommodating cavity, the palm-finger mechanism includes a palm-finger drive assembly and a palm-finger knuckle assembly arranged along a first direction, the palm-finger drive assembly is arranged in the accommodating cavity, the palm-finger knuckle assembly is located outside the accommodating cavity, the palm-finger drive assembly and the palm-finger knuckle assembly are connected to drive the palm-finger knuckle assembly to grasp an object to be grasped, along a direction away from the palm, a side of the palm-finger drive assembly close to the palm is higher than a side of the palm-finger knuckle assembly close to the palm, so that the palm and a side of the palm-finger drive assembly close to the palm are surrounded by a accommodating space, a first information collection device, the first information collection device is arranged in the accommodating space, and is used to collect first information to be grasped of the object to be grasped, wherein the first direction is an extension direction of the plane where the palm is located, and the first direction is perpendicular to the direction away from the palm.

[0007] The manipulator provided by the present application forms an accommodation space between the palm and the side of the palm-finger drive assembly close to the palm by making the side of the palm-finger drive assembly close to the palm higher than the side of the palm-finger knuckle assembly close to the palm, and the side of the palm-finger drive assembly close to the palm avoids in a direction away from the palm compared to the side of the palm-finger knuckle assembly close to the palm. At this time, the first information collection device is arranged in the accommodation space, and the accommodation space provides a protective barrier for the first information collection device, thereby reducing the possibility of the first information collection device colliding with the object to be grasped or the external object, thereby reducing the maintenance cost of the first information collection device. Compared with the related art, in which the first information collection device is directly placed on the outside of the manipulator, the present application places the first information collection device inside the manipulator close to the palm, thereby reducing the possibility of the first information collection device colliding with the object to be grasped or the external object, thereby reducing the maintenance cost of the first information collection device.

[0008] In an implementable manner provided in the present application, the first information collection device is disposed in the accommodating space and is opposite to the center of the palm.

[0009] In an implementable method provided in the present application, the main body includes the back of the hand, and the palm and the back of the hand are arranged to form a accommodating cavity. Along the setting direction of the palm and the back of the hand, the size of the accommodating space is equal to the size of the first information collection device.

[0010] In an implementable method provided in the present application, a first through hole is opened on the palm, and the first collecting part of the first information collecting device is opposite to the first through hole. The first collecting part can collect the first information to be grasped of the object to be grasped through the first through hole.

[0011] In an implementable method provided in the present application, the manipulator includes a second information collection device, which is used to collect second information to be grasped of the object to be grasped. The second collection device is fixed to the back of the hand, and the second collection part of the second collection device is located on the side of the back of the hand away from the accommodating cavity.

[0012] In an implementable method provided in the present application, the manipulator includes a second information collection device, which is used to collect second information to be grasped of the object to be grasped. A second through hole is opened on the back of the hand, and the second collection device is fixed to the palm-finger drive assembly. The second collection part of the second information collection device passes through the second through hole and is exposed on the side of the back of the hand away from the accommodating cavity.

[0013] In an implementable manner provided in the present application, the manipulator includes a third information collection device, which is disposed on at least one of the palm and the palm-finger mechanism, and is used to collect grasping information of the object to be grasped.

[0014] In an implementable manner provided by the present application, in the direction away from the palm part, the side of the palm-finger driving assembly away from the palm part is higher than the side of the palm-finger phalanx assembly away from the palm part, and the height of the side of the palm-finger driving assembly away from the palm part being higher than the side of the palm-finger phalanx assembly away from the palm part is the same as the height of the side of the palm-finger driving assembly close to the palm part being higher than the side of the palm-finger phalanx assembly close to the palm part.

[0015] In an implementable manner provided by the present application, the palm-finger mechanism further includes a fixing plate, the fixing plate is arranged in the accommodating cavity, the palm-finger mechanism includes a palm-finger link assembly, the palm-finger link assembly is respectively connected to the palm-finger driving assembly and the palm-finger phalanx assembly, and the palm-finger driving assembly drives the palm-finger phalanx assembly to grasp the object to be grasped through the palm-finger link assembly. In the direction away from the palm part, the connection position of the palm-finger link assembly and the palm-finger driving assembly is higher than the connection position of the palm-finger link assembly and the palm-finger phalanx assembly.

[0016] In a second aspect, the present application provides a robot, which includes a robotic arm and the mechanical hand provided in any one of the first aspects, wherein the robotic arm is connected to the body of the mechanical hand.

[0017] The present application provides a robot. Since it includes the mechanical hand provided in any one of the first aspects, it has the same technical effects, that is, the first information acquisition device is built in at a position close to the palm part in the mechanical hand, reducing the possibility of collision between the first information acquisition device and the object to be grasped or external objects, and further reducing the maintenance cost of the first information acquisition device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of the first perspective of the first type of mechanical hand provided by the embodiment of the present application;

[0019] Figure 2 It is a schematic line connection diagram of the first perspective of the first type of mechanical hand provided by the embodiment of the present application;

[0020] Figure 3 It is a schematic line connection diagram of the second perspective of the first type of mechanical hand provided by the embodiment of the present application;

[0021] Figure 4 It is a schematic structural diagram of the first perspective of the second type of mechanical hand provided by the embodiment of the present application;

[0022] Figure 5 It is a schematic structural diagram of the first perspective of the first type of mechanical hand without the body provided by the embodiment of the present application;

[0023] Figure 6 It is a schematic structural diagram of the second perspective of the first type of mechanical hand without the body provided by the embodiment of the present application;

[0024] Figure 7 This is a schematic structural diagram of the third perspective of the first type of manipulator provided by the embodiment of the present application without including the body;

[0025] Figure 8 This is a schematic structural diagram of the palm-finger mechanism in the manipulator provided by the embodiment of the present application;

[0026] Figure 9 This is a schematic structural diagram of the palm-finger mechanism in the manipulator provided by the embodiment of the present application without including the proximal palm-finger phalanx.

[0027] Reference numerals:

[0028] 1-Manipulator; 11-Body; 111-Palm part; 112-Dorsal part of the hand; 113-Wrist part; 12-Palm-finger mechanism; 121-Palm-finger drive assembly; 1211-Connecting seat; 1212-Power push rod group; 12121-First power push rod; 12122-Second power push rod; 122-Palm-finger link assembly; 1221-First link; 1222-Second link; 1223-Third link; 1224-Fourth link; 123-Palm-finger phalanx assembly; 1231-Proximal palm-finger phalanx; 1232-First middle palm-finger phalanx; 1233-Second middle palm-finger phalanx; 1234-Distal palm-finger phalanx; 124-Fixing plate; 13-Thumb mechanism; 131-Thumb drive assembly; 132-Thumb phalanx assembly; 1321-Proximal thumb phalanx; 1322-First middle thumb phalanx; 1323-Second middle thumb phalanx; 1324-Distal thumb phalanx; 14-First rotating shaft; 15-Second rotating shaft; 16-Third rotating shaft; 17-Fourth rotating shaft; 18-Fifth rotating shaft; 19-Sixth rotating shaft; 20-Seventh rotating shaft; 21-Eighth rotating shaft; 22-Ninth rotating shaft; 23-Tenth rotating shaft; 24-Eleventh rotating shaft; 25-Twelfth rotating shaft; 26-First information acquisition device; 261-TOF sensor; 262-Infrared sensor; 27-Second information acquisition device; 271-Depth camera; 272-Light supplementing element; 28-Third information acquisition device; A-First direction; B-Second direction; C-Third direction. Detailed implementation manners

[0029] It should be noted that, without conflict, the embodiments and technical features in the embodiments of the present application can be combined with each other. The detailed description in the detailed implementation manners should be understood as an explanatory illustration of the purpose of the present application and should not be regarded as an improper limitation of the present application.

[0030] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail with reference to the accompanying drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but not to limit the scope of the present application.

[0031] In the embodiments of the present application, the terms "first" and "second" are used only for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0032] In addition, in the embodiments of the present application, orientation terms such as "upper", "lower", "left", and "right" are defined relative to the orientation in which the components in the drawings are schematically placed. It should be understood that these directional terms are relative concepts, which are used for relative description and clarification and may change accordingly with the change of the orientation in which the components in the drawings are placed.

[0033] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium.

[0034] In the embodiments of the present application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including that element, that is, it may also include a plurality.

[0035] In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean for example, illustration or explanation. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0036] Refer to Figure 1 、 Figure 2 and Figure 3, embodiments of the present application provide a robot, which includes a robotic arm and a robotic hand 1. Among them, the robotic arm is connected to the body 11 of the robotic hand 1. The robot can be a humanoid robot simulating a human form, or the robot can be a plant robot simulating a plant, such as a radish robot. Here, it should be supplemented that the type of the robot is not limited in the embodiments of the present application. The connection manner between the above-mentioned robotic arm and the body of the robotic hand 1 can be a threaded connection, or a shaft connection, or a snap connection. In this regard, the embodiments of the present application do not make any restrictions.

[0037] Specifically, referring to Figure 3 、 Figure 5 and Figure 6 , embodiments of the present application further provide a robotic hand 1, which includes a body 11, a palm-finger mechanism 12, and a first information acquisition device 26. Among them, the body 11 includes a palm part 111, the body 11 forms a receiving cavity, the palm-finger mechanism 12 includes a palm-finger driving component 121 and a palm-finger joint component 123 arranged along a first direction A. The palm-finger driving component 121 is arranged in the receiving cavity, the palm-finger joint component 123 is located outside the receiving cavity, and the palm-finger driving component 121 is connected to the palm-finger joint component 123 to drive the palm-finger joint component 123 to grasp an object to be grasped. Along the direction away from the palm part 111, the side of the palm-finger driving component 121 close to the palm part 111 is higher than the side of the palm-finger joint component 123 close to the palm part 111, so that the palm part 111 and the side of the palm-finger driving component 121 close to the palm part 111 enclose a receiving space. The first information acquisition device 26 is arranged in the receiving space and is used to acquire the first information to be grasped of the object to be grasped. Among them, the first direction A is the extending direction of the plane where the palm part 111 is located, and the first direction A is perpendicular to the direction away from the palm part 111. Here, it should be supplemented that the direction away from the palm part 111 is marked as the second direction B.

[0038] In the embodiments of the present application, the body 11 includes a palm part 111, the body 11 forms a receiving cavity, and the palm-finger driving component 121 is arranged in the receiving cavity. On this basis, the palm part 111 and the side of the palm-finger driving component 121 close to the palm part 111 enclose a receiving space. Here, the receiving space is a part of the receiving cavity. In other words, the receiving space is a subset of the receiving cavity and is formed by the part of the receiving cavity enclosed by the palm part 111 and the palm-finger driving component 121.

[0039] In the embodiment of the present application, the main body 11 includes a palm portion 111. The main body 11 forms a receiving cavity. Here, it should be supplemented that, in addition to the palm portion 111, it also includes a back-of-hand portion 112 and a wrist portion 113. Specifically, the direction away from the palm portion 111 can be the direction close to the back-of-hand portion 112, and the direction away from the palm portion 111 can be the direction close to the wrist portion 113. Of course, the direction away from the palm portion 111 can also be the direction close to both the back-of-hand portion 112 and the wrist portion 113. In this regard, the embodiment of the present application does not make any restrictions.

[0040] In the embodiment of the present application, the palm-finger driving assembly 121 is disposed in the receiving cavity, which means that the palm-finger driving assembly 121 is fixed to the inner wall of the receiving cavity. Here, the way the palm-finger driving assembly 121 is fixed to the inner wall can be detachable fixing, such as screw fixing, snap fixing, etc., or non-detachable fixing. In this regard, the embodiment of the present application does not make any restrictions.

[0041] In the embodiment of the present application, the palm-finger driving assembly 121 is connected to the palm-finger phalanx assembly 123 to drive the palm-finger phalanx assembly 123 to grasp the object to be grasped. Here, the way the palm-finger driving assembly 121 drives the palm-finger phalanx assembly 123 can be electric drive, such as an electric push rod; it can also be hydraulic drive, such as a hydraulic pump. Here, it should be supplemented that, in an implementable manner provided by the embodiment of the present application, the palm-finger driving assembly 121 is an electric push rod.

[0042] In the embodiment of the present application, with reference to Figure 2 and Figure 6, the metacarpophalangeal drive assembly 121 is connected to the metacarpophalangeal phalanx assembly 123 to drive the metacarpophalangeal phalanx assembly 123 to grasp the object to be grasped. Here, the metacarpophalangeal phalanx assembly 123 has multiple degrees of freedom. For example, the metacarpophalangeal phalanx assembly 123 can achieve two degrees of freedom. Another example is that the metacarpophalangeal phalanx assembly 123 can achieve three degrees of freedom. Here, it should be added that the embodiments of the present application do not limit this. In an implementable manner provided by the embodiments of the present application, the metacarpophalangeal phalanx assembly 123 can achieve three degrees of freedom. Exemplarily, the metacarpophalangeal phalanx assembly 123 can include a proximal metacarpophalangeal phalanx 1231, a first middle metacarpophalangeal phalanx 1232, a second middle metacarpophalangeal phalanx 1233, and a distal metacarpophalangeal phalanx 1234. The metacarpophalangeal drive assembly 121 can drive the proximal metacarpophalangeal phalanx 1231 to bend towards the palm part 111, and drive the proximal metacarpophalangeal phalanx 1231 to swing along the extension direction of the plane where the palm part 111 is located. In other words, it has actively controllable bending and side-swing degrees of freedom, and the first middle metacarpophalangeal phalanx 1232 and the second middle metacarpophalangeal phalanx 1233 drive the distal metacarpophalangeal phalanx 1234 to bend towards the palm part 111 simultaneously. In other words, the first middle metacarpophalangeal phalanx 1232 and the second middle metacarpophalangeal phalanx 1233 have actively controllable bending degrees of freedom, and the distal metacarpophalangeal phalanx 1234 has passively controllable bending degrees of freedom. In an example, solid lines represent actively controllable, and dashed lines represent passively controllable.

[0043] On this basis, the manipulator 1 can include only one metacarpophalangeal mechanism 12. Of course, the manipulator 1 can also include multiple metacarpophalangeal mechanisms 12. In this regard, the embodiments of the present application do not limit this. In an implementable manner provided by the embodiments of the present application, the manipulator 1 includes three metacarpophalangeal mechanisms 12. The metacarpophalangeal phalanx assemblies 123 of the three metacarpophalangeal mechanisms 12 are all located in the extension direction of the plane where the palm part 111 is located, and there is a certain gap between every two adjacent metacarpophalangeal mechanisms 12. The direction away from the palm part 111 of the metacarpophalangeal drive assembly 121 in the metacarpophalangeal mechanism 12 is the back of the hand 112, and the metacarpophalangeal mechanism 12 has 9 degrees of freedom.

[0044] On this basis, refer to Figure 1 , Figure 2 , Figure 3 and Figure 4, the robotic arm 1 may further include a thumb mechanism 13. It should be noted here that the structure of the thumb mechanism 13 may be the same as or different from that of the metacarpophalangeal mechanism 12. In this regard, the embodiments of the present application do not limit this. In an implementable manner provided by the embodiments of the present application, the structure of the thumb mechanism 13 is the same as that of the metacarpophalangeal mechanism 12, only the positions are different. The metacarpophalangeal drive components 121 and the metacarpophalangeal phalanx components 123 in the three metacarpophalangeal mechanisms 12 are arranged along the extension direction of the plane where the palm part 111 is located. The thumb drive component 131 and the thumb phalanx component 132 in the thumb mechanism 13 are located in a direction forming an angle with the extension direction of the plane where the palm part 111 is located. Here, the thumb drive component 131 in the thumb mechanism 13 is close to the wrist part 113 and may be parallel to the extension direction of the plane where the wrist part 113 is located. The thumb phalanx component 132 may be arranged on the side of the palm part 111 close to the wrist part 113 and away from the first information collection device 26, and may form an angle with the extension direction of the plane where the palm part 111 is located at the same time.

[0045] Here, it should be noted that if the thumb phalanx component 132 forms a non-90-degree angle with the extension direction of the plane where the palm part 111 is located, it can be called the first type of robotic arm 1. If the thumb phalanx component 132 forms a 90-degree angle with the extension direction of the plane where the palm part 111 is located, it can be called the second type of robotic arm 1.

[0046] Specifically, referring to Figure 2 , the thumb phalanx component 132 may include a proximal thumb phalanx 1321, a first middle thumb phalanx 1322, a second middle thumb phalanx 1323, and a distal thumb phalanx 1324. The thumb drive component 131 can drive the proximal thumb phalanx 1321 to bend towards the palm part 111 and drive the proximal thumb phalanx 1321 to swing along the extension direction of the plane where the palm part 111 is located. In other words, it has actively controllable bending and side plate degrees of freedom, and the first middle thumb phalanx 1322 and the second middle thumb phalanx 1323 drive the distal thumb phalanx 1324 to bend towards the palm part 111 at the same time. In other words, the first middle thumb phalanx 1322 and the second middle thumb phalanx 1323 have actively controllable bending degrees of freedom, and the distal thumb phalanx 1324 has passively controllable bending degrees of freedom. In an example, the solid line represents actively controllable, and the dashed line represents passively controllable.

[0047] In an example, if the thumb phalanx component 132 of the thumb mechanism 13 is located in a direction forming a 25-degree angle with the extension direction of the plane where the palm part 111 is located, and the thumb phalanx component 132 of the thumb mechanism 13 can swing along the palm part 111, and the range of its swing is plus or minus 27 degrees.

[0048] In yet another example, when the thumb phalanx component 132 of the thumb mechanism 13 is located in a direction forming a 90-degree angle with the extending direction of the plane where the palm part 111 is located, and when the vertical direction is at the zero position, the range of the thumb phalanx component 132 of the thumb mechanism 13 along the palm part 111 towards the outer side of the palm part 111 is from 0 degrees to 54 degrees.

[0049] For example, the robotic hand 1 includes three metacarpophalangeal mechanisms 12 and one thumb mechanism 13. The metacarpophalangeal mechanisms 12 and the thumb mechanism 13 have the same structure. Each metacarpophalangeal mechanism 12 has 3 degrees of freedom. Correspondingly, the thumb mechanism 13 also has three degrees of freedom. Then, the robotic hand 1 has 12 degrees of freedom and can better achieve various anthropomorphic actions at the grasping level.

[0050] In the embodiment of the present application, along the direction away from the palm part 111, the side of the metacarpophalangeal driving component 121 close to the palm part 111 is higher than the side of the metacarpophalangeal phalanx component 123 close to the palm part 111, so that a receiving space is enclosed by the palm part 111 and the side of the metacarpophalangeal driving component 121 close to the palm part 111. Here, the side of the metacarpophalangeal driving component 121 close to the palm part 111 being higher than the side of the metacarpophalangeal phalanx component 123 close to the palm part 111 can mean that the side of the metacarpophalangeal driving component 121 close to the palm part 111 is retracted relative to the side of the metacarpophalangeal phalanx component 123 close to the palm part 111. In other words, replace the metacarpophalangeal driving component 121 with a smaller size; it can also mean that the entire metacarpophalangeal driving component 121 is elevated relative to the metacarpophalangeal phalanx component 123 along the direction away from the palm part 111. In other words, the entire metacarpophalangeal driving component 121 is offset relative to the metacarpophalangeal phalanx component 123 along the direction away from the palm part 111 without replacing the metacarpophalangeal driving component 121. In an implementable manner provided by the embodiment of the present application, the entire metacarpophalangeal driving component 121 is offset relative to the metacarpophalangeal phalanx component 123 along the direction away from the palm part 111.

[0051] In the embodiment of the present application, the first information acquisition device 26 is arranged in the receiving space. Here, the first information acquisition device 26 can be only placed in the receiving space and has no connection structure with both the metacarpophalangeal driving component 121 and the palm part 111 that enclose the receiving space. Of course, the first information acquisition device 26 can also have a connection structure with at least one of the metacarpophalangeal driving component 121 and the palm part 111 that enclose the receiving space. The connection method of this connection structure can be welding, can be snap connection, can be threaded connection. In this regard, the embodiment of the present application does not make any restrictions.

[0052] In the embodiments of the present application, the first information acquisition device 26 is disposed in the accommodation space and is used to acquire the first information to be grabbed of the object to be grabbed. Here, the first information to be grabbed may be the relative distance information between the object to be grabbed and the first information acquisition device 26 itself, the first information to be grabbed may be the outer contour information of the object to be grabbed, the first information to be grabbed may be the temperature information of the object to be grabbed. Of course, the first information to be grabbed may also be a combination of the relative distance information between the object to be grabbed and the first information acquisition device 26 and the temperature information to be grabbed. Here, it should be added that the embodiments of the present application do not limit the type of the first information to be grabbed and the number of information types.

[0053] In the embodiments of the present application, the first information acquisition device 26 includes a Time of Flight (ToF) sensor 261 and an infrared sensor 262. It should be explained that the ToF sensor is a ranging method that measures the distance to an object by measuring the time difference between the irradiation wave and the reflected wave. It irradiates light such as infrared light, measures the distance of each pixel, and records the depth information, so as to know the three-dimensional structure of the target. The infrared sensor 262 is used to obtain the temperature change of the object to be grabbed. On this basis, the infrared sensor 262 is used to obtain the temperature change and can also obtain the outer contour information of the object to be grabbed.

[0054] Furthermore, the ToF sensor 261 and the infrared sensor 262 may be stacked in the accommodation space or laid flat in the accommodation space. In this regard, the embodiments of the present application do not limit this. In the embodiments of the present application, the TOF sensor 261 and the infrared sensor 262 are stacked in the accommodation space and are disposed near the center position of the palm part 111. Here, it should be added that the embodiments of the present application do not limit the stacking relationship between the TOF sensor 261 and the infrared sensor 262.

[0055] The manipulator 1 provided in the embodiment of the present application makes the side of the palm-finger drive component 121 close to the palm 111 higher than the side of the palm-finger knuckle component 123 close to the palm 111, and the side of the palm-finger drive component 121 close to the palm 111 avoids in a direction away from the palm 111 compared to the side of the palm-finger knuckle component 123 close to the palm 111, so that the palm 111 and the side of the palm-finger drive component 121 close to the palm 111 are surrounded by an accommodating space. At this time, the first information collection device 26 is arranged in the accommodating space, and the accommodating space provides a protective barrier for the first information collection device 26, thereby reducing the possibility of the first information collection device 26 colliding with the object to be grasped or external objects, thereby reducing the maintenance cost of the first information collection device 26. Compared to the related art, in which the first information collection device 26 is directly placed on the outside of the manipulator 1, the embodiment of the present application places the first information collection device 26 inside the manipulator 1 near the palm 111, thereby reducing the possibility of the first information collection device 26 colliding with the object to be grasped or external objects, thereby reducing the maintenance cost of the first information collection device 26.

[0056] Reference Figure 5 , Figure 6 and Figure 7 The embodiment of the present application provides a robot 1, wherein the first information collection device 26 is disposed in the accommodating space and is opposite to the center of the palm portion 111.

[0057] The robot arm 1 provided in the embodiment of the present application sets the first information collection device 26 in the accommodating space and opposite to the palm of the palm portion 111, so that the position of the first information collection device 26 coincides with the palm position of the palm portion 111, thereby reducing the occurrence of multiple reference points. During the conversion process of the reference points, the error phenomenon is excessive, resulting in a decrease in grasping reliability.

[0058] Reference Figure 5 , Figure 6 and Figure 7 The embodiment of the present application provides a robot 1, the main body 11 includes a hand back 112, the palm portion 111 and the hand back 112 are arranged to form a receiving cavity, and along the setting direction of the palm portion 111 and the hand back 112, the size of the receiving space is equal to the size of the first information collection device 26.

[0059] The manipulator 1 provided in the embodiment of the present application has a size of the accommodation space equal to the size of the first information collection device 26. At this time, along the setting direction of the palm 111 and the back of the hand 112, the palm-finger drive assembly 121 close to the side of the palm 111 abuts against the palm 111 and the two sides of the first information collection device 26, and the first information collection device 26 is limited to prevent the first information collection device 26 from shaking along the setting direction of the palm 111 and the back of the hand 112, causing the first information collection device 26 to be damaged, and at the same time, the noise of the manipulator 1 during the grasping process is reduced. In addition, the size of the accommodation space can also be larger than the size of the first information collection device 26, so that the placement of the first information collection device 26 can be facilitated.

[0060] Reference Figure 1 , Figure 5 , Figure 6 and Figure 7 The embodiment of the present application provides a manipulator 1, a first through hole is opened on the palm portion 111, a first collecting portion of the first information collecting device 26 is opposite to the first through hole, and the first collecting portion can collect the first information to be grasped of the object to be grasped through the first through hole.

[0061] In the embodiment of the present application, along the radial direction of the first through hole, the size of the first collecting portion may be smaller than the size of the first through hole, or the size of the first collecting portion may be equal to the size of the first through hole, which is not limited in the embodiment of the present application.

[0062] The manipulator 1 provided in the embodiment of the present application has a first through hole formed on the palm portion 111, and the first collecting portion of the first information collecting device 26 is opposite to the first through hole, thereby avoiding the phenomenon that when the first collecting portion collects the first information to be grasped, the palm portion 111 is blocked, causing the first information to be grasped to be inaccurate.

[0063] Reference Figure 1 , Figure 5 , Figure 6 and Figure 7 A manipulator 1 is provided in an embodiment of the present application. The manipulator 1 includes a second information acquisition device 27. The second information acquisition device 27 is used to collect second information to be grasped of the object to be grasped. The second acquisition device is fixed to the back of the hand 112, and the second acquisition part of the second acquisition device is located on the side of the back of the hand 112 away from the accommodating cavity.

[0064] In the embodiment of the present application, the second information to be grasped can be the relative distance information between the object to be grasped and the second information collection device 27 itself, the second information to be grasped can be the outer contour information of the object to be grasped, the second information to be grasped can be the temperature information of the object to be grasped, and of course, the second information to be grasped can also be a combination of the relative distance information between the object to be grasped and the second information collection device 27 and the temperature information to be grasped. Here, it should be supplemented that the embodiment of the present application does not limit the type of the second information to be grasped and the number of information types.

[0065] In the embodiment of the present application, the second information acquisition device 27 includes a high-precision real-sensing camera, which can identify the second information to be grasped of the object to be grasped at a long distance, such as the spatial three-dimensional geometric features and spatial position of the object to be grasped, and can also provide high-definition RGB images to achieve super strong perception capabilities.

[0066] On this basis, the second information collection device 27 may further include a fill light 272, which may be an LED fill light, so as to better adapt to work in a dark light environment.

[0067] The manipulator 1 provided in the embodiment of the present application has the second information acquisition device 27 fixed to the back of the hand 112, and the second acquisition part of the second information acquisition device 27 is located on the side of the back of the hand 112 away from the accommodating cavity, and the first information acquisition device 26 is arranged in the accommodating space enclosed by the palm 111 and the palm-finger drive assembly 121, so that the manipulator 1 can grasp more safely, flexibly, intelligently and accurately.

[0068] Reference Figure 1 , Figure 5 , Figure 6 and Figure 7 The embodiment of the present application provides a manipulator 1, which includes a second information collection device 27, which is used to collect second information to be grasped of the object to be grasped. A second through hole is opened on the back of the hand 112, and the second collection device is fixed to the palm-finger drive assembly 121. The second collection part of the second information collection device 27 passes through the second through hole and is exposed on the side of the back of the hand 112 away from the accommodating cavity.

[0069] In the embodiment of the present application, the second information acquisition device 27 is fixed to the palm-finger drive assembly 121. The fixing method can be a non-detachable fixing, such as welding, or a detachable fixing, such as a snap fixing, such as a threaded fixing. Here, it should be additionally explained that the embodiment of the present application does not limit this.

[0070] The manipulator 1 provided by the embodiment of the present application fixes the second acquisition device to the palm finger driving component 121, and the second acquisition part of the second information acquisition device 27 penetrates through the second through hole and is exposed on the side of the back of the hand 112 away from the accommodation cavity. In this way, the second information acquisition device 27 is fixed more securely.

[0071] Referring to Figure 1 , Figure 5 , Figure 6 and Figure 7 , the embodiment of the present application provides a manipulator 1. The manipulator 1 includes a third information acquisition device 28. The third information acquisition device 28 is arranged on at least one of the palm part 111 and the palm finger mechanism 12, and the third information acquisition device 28 is used to acquire the grasping information of the object to be grasped.

[0072] In the embodiment of the present application, the third information acquisition device 28 is used to acquire the grasping information of the object to be grasped. Here, the grasping information may be whether the object to be grasped is in contact with the palm part 111 or the palm finger mechanism 12, such as a tactile sensor; the grasping information may be the pressure between the object to be grasped and the palm part 111 or the palm finger mechanism 12, such as a pressure sensor. Here, it should be added that the embodiment of the present application does not limit this.

[0073] In the embodiment of the present application, the third information acquisition device 28 is arranged on at least one of the palm part 111 and the palm finger mechanism 12. Here, it means that the third information acquisition device 28 may be arranged only on the palm part 111, or may be arranged only on the palm finger mechanism 12. Of course, the third information acquisition device 28 may also be arranged on the palm part 111 and at the same time on the palm finger mechanism 12. The embodiment of the present application does not limit this. In an implementable manner provided by the embodiment of the present application, the third information acquisition device 28 is arranged on the palm part 111 and the proximal phalanx 1231 of the palm finger, the first middle phalanx 1232 of the palm finger, the second middle phalanx 1233 of the palm finger, and the distal phalanx 1234 of the palm finger of the palm finger mechanism 12.

[0074] In the embodiment of the present application, the third information acquisition device 28 is used to acquire the grasping information of the object to be grasped. During the process of grasping the object to be grasped, real-time detection is realized through the third information acquisition device 28, and closed-loop control is realized, so that the manipulator 1 has a more precise touch reaction, a stronger shape adaptation ability, and realizes the free control of the grasping force of the object.

[0075] Referring to Figure 1 , Figure 5 , Figure 6 and Figure 7, embodiments of the present application further provide a manipulator 1, and the manipulator 1 further includes a controller. The controller can be arranged in the accommodation cavity, or can be arranged on the outer contour of the back of the hand 112 facing away from the accommodation cavity. Of course, it can also be placed in the accommodation space. In this regard, the embodiments of the present application do not make any restrictions. In an implementable manner provided by the embodiments of the present application, the controller is arranged on the outer contour of the back of the hand 112 facing away from the accommodation cavity. The controller is electrically connected to the metacarpophalangeal drive assembly 121, the metacarpophalangeal phalanx assembly 123, the first information acquisition device 26, the second information acquisition device 27, and the third information acquisition device 28 respectively. The controller controls the metacarpophalangeal drive assembly 121 to drive the metacarpophalangeal phalanx assembly 123 to grasp the object to be grasped according to the first information to be grasped acquired by the first information acquisition device 26, the second information to be grasped acquired by the second information acquisition device 27, and the grasping information acquired by the third information acquisition device 28.

[0076] Specifically, when grasping the object to be grasped, the second information acquisition device 27 can acquire the second information to be grasped of the object to be grasped. The information to be grasped is used to determine the three-dimensional geometric characteristics of the object to be grasped and mark it relative to the base coordinate system. Here, it should be noted that the base coordinate system can be set on the ground or can be set within the manipulator 1 itself. Then, a feedback instruction is sent to the controller of the manipulator 1. The controller drives the manipulator 1 to move near the object to be grasped. At this time, the manipulator 1 will block the field of view of the second information acquisition device 27. Then, the first information to be grasped of the object to be grasped is acquired by the first information acquisition device 26 and fed back to the controller of the manipulator 1. The controller adjusts the distance and position of the manipulator 1 according to the first information to be grasped, so that the manipulator 1 reaches the target position. Finally, the manipulator 1 is fed back by the grasping information of the object to be grasped acquired by the third information acquisition device 28, so that the object to be grasped is accurately and correctly grasped, making the manipulator 1 a more anthropomorphic and intelligent dexterous manipulator 1, better meeting the needs of embodied intelligent generalization grasping.

[0077] Refer to Figure 8 and Figure 9 , embodiments of the present application provide a manipulator 1. Along the direction away from the palm part 111, the side of the metacarpophalangeal drive assembly 121 away from the palm part 111 is higher than the side of the metacarpophalangeal phalanx assembly 123 away from the palm part 111. The height of the side of the metacarpophalangeal drive assembly 121 away from the palm part 111 being higher than the side of the metacarpophalangeal phalanx assembly 123 away from the palm part 111 is the same as the height of the side of the metacarpophalangeal drive assembly 121 close to the palm part 111 being higher than the side of the metacarpophalangeal phalanx assembly 123 close to the palm part 111.

[0078] In the embodiment of the present application, the height of the side of the metacarpophalangeal drive assembly 121 away from the palm part 111 is the same as the height of the side of the metacarpophalangeal phalanx assembly 123 away from the palm part 111, and the height of the side of the metacarpophalangeal drive assembly 121 close to the palm part 111 is the same as the height of the side of the metacarpophalangeal phalanx assembly 123 close to the palm part 111. This is equivalent to the entire metacarpophalangeal drive assembly 121 being offset relative to the entire metacarpophalangeal phalanx assembly 123, and there is no need to replace the metacarpophalangeal drive assembly 121.

[0079] Referring to Figure 8 and Figure 9 , the embodiment of the present application provides a manipulator 1. The metacarpophalangeal mechanism 12 further includes a fixing plate 124. The fixing plate 124 is arranged in the accommodating cavity. The metacarpophalangeal mechanism 12 includes a metacarpophalangeal link assembly 122. The metacarpophalangeal link assembly 122 is respectively connected to the metacarpophalangeal drive assembly 121 and the metacarpophalangeal phalanx assembly 123. The metacarpophalangeal drive assembly 121 drives the metacarpophalangeal phalanx assembly 123 to grasp the object to be grasped through the metacarpophalangeal link assembly 122. Along the direction away from the palm part 111, the connection position of the metacarpophalangeal link assembly 122 and the metacarpophalangeal drive assembly 121 is higher than the connection position of the metacarpophalangeal link assembly 122 and the metacarpophalangeal phalanx assembly 123.

[0080] In the embodiment of the present application, the metacarpophalangeal link assembly 122 is respectively connected to the metacarpophalangeal mechanism 12 and the metacarpophalangeal phalanx assembly 123. The metacarpophalangeal drive assembly 121 drives the phalanx assembly to grasp the object to be grasped through the metacarpophalangeal link assembly 122. The metacarpophalangeal link assembly 122 can be in the form of two links, the metacarpophalangeal link assembly 122 can be in the form of three links, and the metacarpophalangeal link assembly 122 can also be in the form of six links. In this regard, the embodiment of the present application does not make any restrictions. In an implementable manner provided by the embodiment of the present application, the metacarpophalangeal link assembly 122 is in the form of six links.

[0081] Referring to Figure 8 and Figure 9, an embodiment of the present application provides a specific metacarpophalangeal mechanism 12. The metacarpophalangeal drive assembly 121 includes a connection seat 1211 and a power push rod group 1212. The connection seat 1211 is fixed to one side of the protection part along the second direction B. A sliding groove group is provided on the connection seat 1211. The power push rod group 1212 is located in the sliding groove group and slides relative to the sliding groove group to drive the metacarpophalangeal phalanx assembly 123 to grasp the object to be grasped. The power push rod group 1212 includes a first power push rod 12121. The sliding groove group includes a first sliding groove provided on the connection seat 1211 and extending along the first direction A. The first power push rod 12121 is arranged in the first sliding groove. The metacarpophalangeal link assembly 122 includes a first link 1221 and a second link 1222. The metacarpophalangeal phalanx assembly 123 includes a metacarpophalangeal proximal phalanx 1231. The first link 1221 is connected to the first power push rod 12121 through a first rotating shaft 14 and is connected to both sides of the metacarpophalangeal proximal phalanx 1231 along the third direction C through a second rotating shaft 15. The second link 1222 is connected to both sides of the metacarpophalangeal proximal phalanx 1231 along the third direction C through a third rotating shaft 16. The second link 1222 is connected to the connecting part through a fourth rotating shaft 17; wherein, the third direction C has an included angle with both the first direction A and the second direction B. The axial directions of the first rotating shaft 14, the second rotating shaft 15 and the third rotating shaft 16 are parallel to the third direction C, and the axial direction of the fourth rotating shaft 17 is parallel to the direction away from the palm part 111.

[0082] When the two first power push rods 12121 are pushed out simultaneously in the same direction at the same speed, the third rotating shaft 16 can rotate clockwise or counterclockwise, thereby driving the metacarpophalangeal proximal phalanx 1231 to bend, similar to the bending of the first phalanx of a human, so as to realize the degree of freedom of bending of the metacarpophalangeal proximal phalanx 1231 in the metacarpophalangeal finger mechanism. In an implementable manner provided by the present application, the rotation angle is from 0 degree to 90 degrees.

[0083] In an example, the two first power push rods 12121 are pushed out simultaneously in the direction close to the metacarpophalangeal proximal phalanx 1231 at the same speed. At this time, the metacarpophalangeal proximal phalanx 1231 rotates clockwise around the axial direction of the third rotating shaft 16, thereby driving the metacarpophalangeal proximal phalanx 1231 to bend along the side close to the palm part 111.

[0084] Refer to Figure 8 and Figure 9, Further, the power push rod group 1212 includes two first power push rods 12121. The sliding groove group includes first sliding grooves symmetrically arranged on the connecting seat 1211 along the third direction C. The two first power push rods 12121 are respectively arranged in the two first sliding grooves. The two first link rods 1221 are respectively connected to the two first power push rods 12121 through the first rotating shaft 14, and are respectively connected to both sides of the proximal phalanx of the metacarpophalangeal joint 1231 along the third direction C through the second rotating shaft 15. The second link rod 1222 is connected to both sides of the proximal phalanx along the third direction C through the third rotating shaft 16. The second link rod 1222 is connected to the connecting fixing plate 124 through the fourth rotating shaft 17. Moreover, the outer contours of the first rotating shaft 14 and the second rotating shaft 15 are both spherical.

[0085] Since the outer contours of the first rotating shaft 14 and the second rotating shaft 15 are both spherical, in other words, the two first link rods 1221 are respectively spherically hinged to the two first power push rods 12121 and the proximal phalanx of the metacarpophalangeal joint 1231. Here, the first link rod 1221 can deflect and swing along the axial direction of the first rotating shaft 14 relative to the first power push rod 12121. Correspondingly, the first link rod 1221 can also deflect and swing along the axial direction of the second rotating shaft 15 relative to the proximal phalanx of the metacarpophalangeal joint 1231 to realize the degrees of freedom of deflection and swing of the proximal phalanx of the metacarpophalangeal joint 1231 in the metacarpophalangeal finger mechanism. When the two first power push rods 12121 are pushed out at the same speed and in opposite directions simultaneously, the proximal phalanx of the metacarpophalangeal joint 1231 rotates relative to the fourth rotating shaft 17, and the rotation angle is plus or minus 27 degrees.

[0086] In an example, when one of the first power push rods 12121 moves in the direction close to the proximal phalanx of the metacarpophalangeal joint 1231 and the other power push rod moves in the direction away from the proximal phalanx of the metacarpophalangeal joint 1231, the first link rod 1221 connected to the first power push rod 12121 moving in the direction close to the proximal phalanx of the metacarpophalangeal joint 1231 deflects and swings towards the other first link rod 1221, and the other first link rod 1221 also deflects and swings towards the same direction. At this time, the proximal phalanx of the metacarpophalangeal joint 1231 rotates axially relative to the fourth rotating shaft, thereby realizing its deflection. Here, it should be supplemented that the direction of deflection and swing always faces the side where the first power push rod 12121 moves in the direction away from the proximal phalanx of the metacarpophalangeal joint 1231.

[0087] Refer to Figure 8 and Figure 9, Further, the power push rod group 1212 includes a second power push rod 12122. The sliding groove group includes a second sliding groove extending along the first direction A provided between two symmetric first sliding grooves on the connecting seat 1211. Along the direction away from the palm part 111, the first sliding groove is higher than the first sliding groove. The palm finger link assembly 122 includes a third link 1223 and a fourth link 1224. The third link 1223 is connected to the second power push rod 12122 through a fifth rotating shaft 18. The third link 1223 is connected to the second link 1222 through a sixth rotating shaft 19. The outer contours of the fifth rotating shaft 18 and the sixth rotating shaft 19 are both spherical. The third link 1223 is connected to the fourth link 1224 through a seventh rotating shaft 20. The palm finger proximal phalanx 1231 forms a first accommodating cavity with an opening provided along the first direction A. The third link 1223 and the fourth link 1224 are located in the first accommodating cavity. The palm finger phalanx assembly 123 includes a first palm finger middle phalanx 1232, a second palm finger middle phalanx 1233, and a terminal palm finger phalanx. The first palm finger middle phalanx 1232 is connected to the palm finger proximal phalanx 1231 on both sides along the third direction C through an eighth rotating shaft 21. The first palm finger middle phalanx 1232 is connected to the palm finger terminal phalanx 1234 on both sides along the third direction C through a ninth rotating shaft 22. The first palm finger middle phalanx 1232 forms a second accommodating cavity with an opening provided along the first direction A. At least a part of the second palm finger middle phalanx 1233 is located in the second accommodating cavity. The second palm finger middle phalanx 1233 is connected to the palm finger proximal phalanx 1231 on both sides along the third direction C through a tenth rotating shaft 23. The fourth link 1224 is connected to the second palm finger middle phalanx 1233 through an eleventh rotating shaft 24. The second palm finger middle phalanx 1233 is connected to the terminal palm finger phalanx on both sides along the third direction C through a twelfth rotating shaft 25; wherein, the axial directions of the fifth rotating shaft 18, the sixth rotating shaft 19, the seventh rotating shaft 20, the eighth rotating shaft 21, the ninth rotating shaft 22, the tenth rotating shaft 23, the eleventh rotating shaft 24, and the twelfth rotating shaft 25 are all the same as the third direction C.

[0088] When the second power push rod 12122 slides along the second sliding groove, the palm finger terminal phalanx 1234 drives the first palm finger middle phalanx 1232, the second palm finger middle phalanx 1233, and the palm finger terminal phalanx 1234 to rotate clockwise or counterclockwise under the rotation of the fifth rotating shaft 18, the sixth rotating shaft 19, the seventh rotating shaft 20, the eighth rotating shaft 21, the ninth rotating shaft 22, the tenth rotating shaft 23, the eleventh rotating shaft 24, and the second rotating shaft 15, thereby driving the palm finger terminal phalanx 1234 to bend, similar to the bending of the second phalanx of a human being, so as to realize the bendable degree of freedom of the palm finger terminal phalanx 1234 in the palm finger mechanism. In a feasible implementation provided in the embodiment of the present application, the bending angle of the palm finger terminal phalanx 1234 is from 0 degree to 76.3 degrees.

[0089] In one example, when the second power push rod 12122 moves in a direction away from the knuckle assembly, the third link 1223 moves in a direction away from the metacarpophalangeal knuckle assembly 123. At this time, the third link 1223 rotates counterclockwise about the third rotating shaft 16. At this time, the fourth link 1224 moves in a direction away from the metacarpophalangeal knuckle assembly 123, and the first metacarpophalangeal middle phalanx 1232 rotates clockwise about the axial direction of the eighth rotating shaft 21, and the second metacarpophalangeal middle phalanx 1233 rotates clockwise about the axial direction of the tenth rotating shaft 23, thereby driving the metacarpophalangeal terminal phalanx 1234 to rotate clockwise about the axial directions of the ninth rotating shaft 22 and the twelfth rotating shaft 25 to realize the bending of the metacarpophalangeal terminal phalanx 1234.

[0090] Refer to Figure 8 and Figure 9 Furthermore, the metacarpophalangeal finger mechanism further includes an elastic preloading member. The first end of the elastic preloading member is fixed on the third link 1223, and the second end of the elastic preloading member is fixed on the fourth link 1224.

[0091] The above is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A manipulator, characterized in that, include: A body, the body including a palm portion, the body forming a receiving cavity; A palm-finger mechanism, the palm-finger mechanism comprising a palm-finger driving assembly and a palm-finger knuckle assembly arranged along a first direction, the palm-finger driving assembly being arranged in the accommodating cavity, the palm-finger knuckle assembly being located outside the accommodating cavity, the palm-finger driving assembly being connected to the palm-finger knuckle assembly to drive the palm-finger knuckle assembly to grasp an object to be grasped, and in a direction away from the palm, a side of the palm-finger driving assembly close to the palm is higher than a side of the palm-finger knuckle assembly close to the palm, so that the palm and a side of the palm-finger driving assembly close to the palm are surrounded by a accommodating space; A first information collection device, which is disposed in the accommodating space and is used to collect first information of the object to be grasped; The first direction is an extension direction of a plane where the palm is located, and the first direction is perpendicular to a direction away from the palm.

2. The manipulator according to claim 1, wherein, The first information collection device is arranged in the accommodating space and is opposite to the center of the palm.

3. The manipulator according to claim 1, wherein The main body includes the back of the hand, and the palm and the back of the hand are arranged to form the accommodating cavity. Along the setting direction of the palm and the back of the hand, the size of the accommodating space is equal to the size of the first information collection device.

4. The manipulator according to claim 1, characterized in that, A first through hole is provided on the palm portion, and a first collecting portion of the first information collecting device is opposite to the first through hole. The first collecting portion can collect the first to-be-grasped information of the to-be-grasped object through the first through hole.

5. The manipulator according to claim 3, characterized in that, The manipulator includes a second information collection device, which is used to collect second information to be grasped of the object to be grasped. The second information collection device is fixed to the back of the hand, and the second collection part of the second information collection device is located on the side of the back of the hand away from the accommodating cavity.

6. The manipulator according to claim 3, characterized in that, The manipulator includes a second information collection device, which is used to collect second information to be grasped of the object to be grasped. A second through hole is opened on the back of the hand, and the second information collection device is fixed to the palm-finger drive assembly. The second collection part of the second information collection device passes through the second through hole and is exposed on the side of the back of the hand away from the accommodating cavity.

7. The manipulator according to any one of claims 1 to 6, characterized in that, The manipulator comprises a third information collection device, which is arranged on at least one of the palm and the palm-finger mechanism, and is used to collect grasping information of the object to be grasped.

8. The manipulator according to any one of claims 1 to 6, characterized in that Along the direction away from the palm, the side of the palm-finger drive assembly away from the palm is higher than the side of the palm-finger knuckle assembly away from the palm, and the height of the side of the palm-finger drive assembly away from the palm is higher than the side of the palm-finger knuckle assembly away from the palm, which is the same as the height of the side of the palm-finger drive assembly close to the palm higher than the side of the palm-finger knuckle assembly close to the palm.

9. The robot arm according to any one of claims 1 to 6, characterized in that, The palm-finger mechanism further includes a fixing plate, the fixing plate is disposed in the accommodating cavity, the palm-finger mechanism includes a palm-finger link assembly, the palm-finger link assembly is respectively connected to the palm-finger driving assembly and the palm-finger phalanx assembly, the palm-finger driving assembly drives the palm-finger phalanx assembly to grasp the object to be grasped through the palm-finger link assembly, along the direction away from the palm part, the connection position of the palm-finger link assembly and the palm-finger driving assembly is higher than the connection position of the palm-finger link assembly and the palm-finger phalanx assembly.

10. A robot, characterized in that, Comprising: The mechanical hand according to any one of claims 1 to 9; A robotic arm, the robotic arm is connected to the body of the mechanical hand.

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