Mechanical finger structure and manipulator

Abstract

The utility model discloses a mechanical finger structure and a manipulator, and belongs to the technical field of perovskite solar cell devices. The mechanical finger structure comprises a U-shaped plate, a supporting plate and a resistance sensor. The supporting plates are arranged on the U-shaped plate in a protruding mode, at least two supporting plates are oppositely arranged on the U-shaped plate at intervals, and perovskite solar cell devices are placed on the supporting plates. One part of the resistance sensor is arranged on the U-shaped plate, the other part of the resistance sensor is arranged on the supporting plates, and when the perovskite solar cell devices are placed on the supporting plates, the resistance sensor is used for abutting against the film surfaces of the perovskite solar cell devices so as to detect the resistance of the film surfaces. According to the mechanical finger structure, the resistance sensor is integrated under the condition that the resistances of the glass surface and the film surface of the perovskite solar cell device are different, that is, the glass surface has no resistance, and the film surface has the resistance, so that the film surface and the glass surface of the perovskite solar cell device can be distinguished by measuring the resistance of the film surface; the distinguishing operation is simple and convenient; and the distinguishing result is high in accuracy.

Description

Technical Field

[0001] The utility model relates to the technical field of perovskite solar cell devices, in particular to a mechanical finger structure and a mechanical hand. Background Art

[0002] During the thermal evaporation process of perovskite solar cell devices, the process personnel need to manually place the perovskite solar cell device on the mechanical finger structure of the robot, and then use the robot to transport the perovskite solar cell device and place it in the thermal evaporation process chamber.

[0003] Among them, the perovskite solar cell device has two opposite sides, namely the glass side and the film side, and the components of the perovskite solar cell device are mainly on the film side; at the same time, combined with the principle of thermal evaporation process, a robot is required to place the film side of the perovskite solar cell device downward in the thermal evaporation process chamber.

[0004] However, since the colors of the two sides of the perovskite solar cell device after being coated with the perovskite film layer are almost the same, it is difficult for the process workers to accurately distinguish the glass surface and the film surface with the naked eye. It is easy for the process workers to manually place the glass surface downward on the robotic finger structure, causing the robotic arm to place the glass surface downward in the thermal evaporation process chamber, affecting the production rhythm and causing waste of resources, resulting in higher production costs of perovskite solar cell devices.

[0005] In view of the above problems, a mechanical finger structure and a mechanical hand are urgently needed to solve the above problems. Utility Model Content

[0006] The purpose of the utility model is to provide a mechanical finger structure and a manipulator, which makes it easier and more convenient to distinguish between the film surface and the glass surface of a perovskite solar cell device, so as to ensure the placement accuracy of the perovskite solar cell device in a thermal evaporation process chamber.

[0007] To achieve this purpose, the present invention adopts the following technical solutions:

[0008] The mechanical finger structure includes:

[0009] U-shaped plate;

[0010] A support plate protruding from the U-shaped plate, wherein at least two support plates are spaced apart and arranged opposite to each other on the U-shaped plate, and each support plate is used to place a perovskite solar cell device;

[0011] A resistance sensor, wherein a portion of the resistance sensor is provided on the U-shaped plate and the other portion is provided on the support plate. When the perovskite solar cell device is placed on each of the support plates, the resistance sensor is used to abut the film surface of the perovskite solar cell device to detect the resistance of the film surface.

[0012] As an optional solution, the U-shaped plate includes:

[0013] A first plate, an arc-shaped connecting plate and a second plate, wherein the first plate and the second plate are opposite to each other and spaced apart, the arc-shaped connecting plate is connected between the first plate and the second plate, and the first plate and / or the arc-shaped connecting plate and / or the second plate are provided with weight-reducing holes.

[0014] As an optional solution, three support plates are provided, including:

[0015] A first support plate, a second support plate and a third support plate, wherein the first support plate is protruded on the end of the arc-shaped connecting plate away from the first plate, the second support plate is protruded on the end of the first plate away from the arc-shaped connecting plate, and the third support plate is protruded on the end of the second plate away from the arc-shaped connecting plate, and the second support plate and the third support plate are located on the same straight line.

[0016] As an optional solution, at least one first clamping hole is provided at the connection position between the first support plate and the arc-shaped connecting plate, and the first clamping hole is used for clamping and limiting the resistance sensor.

[0017] As an optional solution, at least one second clamping hole is provided at the connection position between the second support plate and the first plate, and the second clamping hole is used for clamping and limiting the resistance sensor.

[0018] As an optional solution, at least one third clamping hole is provided at the connection position between the third support plate and the second plate, and the third clamping hole is used to clamp and limit the resistance sensor.

[0019] As an optional solution, the mechanical finger structure further includes:

[0020] a first limiting plate protruding from one side of the first supporting plate, wherein when the perovskite solar cell device is placed on the first supporting plate, the first limiting plate abuts against one end of the perovskite solar cell device;

[0021] Two second limiting plates are respectively protruded from one side of the second support plate and one side of the third support plate. When the perovskite solar cell device is placed on the second support plate and the third support plate, the second limiting plates abut against the other end of the perovskite solar cell device.

[0022] As an optional solution, the U-shaped plate, the support plate, the first limiting plate and the second limiting plate are an integrally formed structure.

[0023] As an optional solution, a wire hole is provided on the first limiting plate.

[0024] The robot comprises a mechanical body and the mechanical finger structure as described above, wherein the first limit plate of the mechanical finger structure is connected to the driving end of the mechanical body.

[0025] The beneficial effects of the utility model are:

[0026] The mechanical finger structure of the present invention is to place the perovskite solar cell device directly on each support plate by arranging at least two support plates spaced and relatively on the U-shaped plate, so that the U-shaped plate and the perovskite solar cell device do not directly contact each other, thereby avoiding damage to the perovskite solar cell device by the U-shaped plate and better protecting the perovskite solar cell device; at the same time, a part of the resistance sensor is arranged on the U-shaped plate, and the other part of the resistance sensor is arranged on the support plate; when the perovskite solar cell device is manually placed on each support plate, if the membrane surface of the perovskite solar cell device is placed downward on each support plate, the resistance sensor directly contacts the membrane surface of the perovskite solar cell device to detect the resistance of the membrane surface, that is, at this time The resistance sensor can feedback a resistance signal; if the glass surface of the perovskite solar cell device is placed downward on each support plate, the resistance sensor directly contacts the glass surface of the perovskite solar cell device. Since the glass surface has no resistance, the resistance sensor cannot feedback a resistance signal at this time; thus, the glass surface and the film surface can be accurately judged based on whether the resistance sensor sends a resistance signal, making it easier and more accurate to distinguish between the film surface and the glass surface of the perovskite solar cell device, thereby avoiding the process personnel manually placing the glass surface downward on each support plate, thereby ensuring that the robot subsequently places the perovskite solar cell device with the film surface downward in the thermal evaporation process chamber, thereby ensuring the placement accuracy of the perovskite solar cell device in the thermal evaporation process chamber.

[0027] Since the robot arm in the present invention includes the above-mentioned mechanical finger structure, it can place the film surface of the perovskite solar cell device downward in the thermal evaporation process chamber, thereby ensuring the production rhythm and avoiding waste of resources, thereby ensuring that the production cost of the perovskite solar cell device is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a front structural diagram of the mechanical finger structure provided by the utility model;

[0029] Figure 2 This is a schematic diagram of the back structure of the mechanical finger structure provided by the present invention.

[0030] Description of reference numerals:

[0031] 1-U-shaped plate; 11-first plate; 12-arc-shaped connecting plate; 13-second plate; 14-weight-reducing hole;

[0032] 21 - first support plate; 22 - second support plate; 221 - second clamping hole; 23 - third support plate; 231 - third clamping hole;

[0033] 3-resistance sensor; 4-first limit plate; 41-wire hole; 5-second limit plate. DETAILED DESCRIPTION

[0034] All features disclosed in this specification, or all steps in the disclosed methods or processes, except mutually exclusive features and / or steps, can be combined in any manner.

[0035] Any feature disclosed in this specification, unless otherwise stated, may be replaced by an equivalent or similar alternative feature. That is, unless otherwise stated, each feature is merely an example of a set of equivalent or similar features. Throughout this specification, like reference numerals refer to like elements.

[0036] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the present invention are further explained below with reference to the accompanying drawings and through specific implementation methods.

[0037] This embodiment proposes a robotic finger structure and a robotic arm including the robotic finger structure. The robotic arm also includes a mechanical body. The robotic finger structure is connected to the driving end of the mechanical body so that the mechanical finger structure can be driven by the mechanical body to move, thereby transporting and placing the perovskite solar cell device placed on the robotic finger structure in a thermal evaporation process chamber. The robotic finger structure can simply and accurately distinguish between the film surface and the glass surface of the perovskite solar cell device, thereby avoiding the process personnel manually placing the glass surface downward on the robotic finger structure, thereby ensuring that the robotic arm subsequently places the perovskite solar cell device with the film surface downward in the thermal evaporation process chamber. Among them, the mechanical body is a common mechanical structure in the prior art, and the structure and working principle of the mechanical body are not described in detail here.

[0038] Specifically, if Figure 1 and Figure 2As shown, the mechanical finger structure includes a U-shaped plate 1, a support plate and a resistance sensor 3; wherein, the support plate is convexly provided on the U-shaped plate 1, and at least two support plates are spaced and arranged opposite to each other on the U-shaped plate 1, and each support plate is used to place a perovskite solar cell device; a part of the resistance sensor 3 is provided on the U-shaped plate 1, and the other part of the resistance sensor 3 is provided on the support plate; when the perovskite solar cell device is placed on each support plate, the resistance sensor 3 is used to abut the film surface of the perovskite solar cell device to detect the resistance of the film surface.

[0039] By arranging at least two support plates spaced apart and opposite to each other on the U-shaped plate 1, the perovskite solar cell device can be stably placed on each support plate, so that there is no direct contact between the U-shaped plate 1 and the perovskite solar cell device, thereby preventing the U-shaped plate 1 from damaging the perovskite solar cell device and better protecting the perovskite solar cell device. The perovskite solar cell device in this embodiment is specifically a sheet-like structure.

[0040] It is worth noting that due to the small area of the support plate, the contact area between the support plate and the perovskite solar cell device is small, thereby reducing the damage of the support plate to the perovskite solar cell device and better protecting the perovskite solar cell device.

[0041] Compared with the prior art, the mechanical finger structure in this embodiment integrates a resistance sensor 3, based on the different resistances between the glass surface and the film surface of the perovskite solar cell device, that is, the glass surface has no resistance, while the film surface has resistance, so that the film surface and the glass surface of the perovskite solar cell device can be accurately distinguished by measuring the resistance of the film surface; a part of the resistance sensor 3 is provided on the U-shaped plate 1, and the other part of the resistance sensor 3 is provided on the support plate; when the perovskite solar cell device is manually placed on each support plate, if the film surface of the perovskite solar cell device is placed downward on each support plate, the resistance sensor 3 directly contacts the film surface of the perovskite solar cell device to detect the resistance of the film surface, that is, at this time the resistance sensor 3 can It can feedback the resistance signal; if the glass surface of the perovskite solar cell device is placed downward on each support plate, the resistance sensor 3 directly contacts the glass surface of the perovskite solar cell device. Since the glass surface has no resistance, the resistance sensor 3 cannot feedback the resistance signal at this time; thereby, the glass surface and the film surface can be accurately judged according to whether the resistance sensor 3 sends a resistance signal, so that the distinction between the film surface and the glass surface of the perovskite solar cell device is relatively simple and accurate, so as to avoid the process personnel manually placing the glass surface downward on each support plate, and then ensuring that the robot will subsequently place the film surface of the perovskite solar cell device downward in the thermal evaporation process chamber, thereby ensuring the placement accuracy of the perovskite solar cell device in the thermal evaporation process chamber.

[0042] It is worth noting that, in this embodiment, after adding the resistance sensor 3, the weight of the entire mechanical finger structure is not increased too much. Therefore, the problem of the perovskite solar cell device tilting and sliding due to the downward tilt of the mechanical finger structure when picking up the perovskite solar cell device can be avoided, thereby ensuring the placement stability and reliability of the perovskite solar cell device on each support plate.

[0043] Further, if Figure 1 and Figure 2 As shown, the U-shaped plate 1 includes a first plate 11, an arc-shaped connecting plate 12 and a second plate 13. The first plate 11 and the second plate 13 are opposite to each other and spaced apart. The arc-shaped connecting plate 12 is connected between the first plate 11 and the second plate 13, so that the perovskite solar cell device can be directly placed in the thermal evaporation process chamber through the gap space between the first plate 11 and the second plate 13. This makes the placement operation of the perovskite solar cell device in the thermal evaporation process chamber simpler and more convenient, saving time and effort.

[0044] Specifically, if Figure 1 and Figure 2 As shown, the first plate 11 and / or the arc-shaped connecting plate 12 and / or the second plate 13 are provided with weight-reducing holes 14 to make the weight of the U-shaped plate 1 lighter, thereby better reducing the weight of the entire mechanical finger structure, so as to better avoid the problem of the perovskite solar cell device tilting and sliding due to the mechanical finger structure tilting downward when picking up the perovskite solar cell device due to the excessive weight of the mechanical finger structure, further ensuring the placement stability and reliability of the perovskite solar cell device on each support plate. In this embodiment, a plurality of weight-reducing holes 14 are respectively provided on the first plate 11, the arc-shaped connecting plate 12, and the second plate 13. Here, the location and number of the weight-reducing holes 14 are not specifically limited.

[0045] Further, if Figure 1 and Figure 2 As shown, three support plates are provided, including a first support plate 21, a second support plate 22 and a third support plate 23; wherein, the first support plate 21 is protruded from the end of the arc-shaped connecting plate 12 away from the first plate 11, the second support plate 22 is protruded from the end of the first plate 11 away from the arc-shaped connecting plate 12, and the third support plate 23 is protruded from the end of the second plate 13 away from the arc-shaped connecting plate 12, and the second support plate 22 and the third support plate 23 are located on the same straight line, so that the perovskite solar cell device can be supported simultaneously by the first support plate 21, the second support plate 22 and the third support plate 23, thereby ensuring the support stability of the perovskite solar cell device on the mechanical finger structure.

[0046] By making the first support plate 21 protrude from the end of the arc-shaped connecting plate 12 away from the first plate 11, the second support plate 22 protrude from the end of the first plate 11 away from the arc-shaped connecting plate 12, and the third support plate 23 protrude from the end of the second plate 13 away from the arc-shaped connecting plate 12, that is, the first support plate 21, the second support plate 22 and the third support plate 23 can all contact and support the edge portion of the perovskite solar cell device, so that the more critical and sensitive middle portion of the perovskite solar cell device is suspended above the U-shaped plate 1, that is, the first support plate 21, the second support plate 22 and the third support plate 23 will not contact the middle portion of the perovskite solar cell device, thereby further reducing the damage of each support plate to the perovskite solar cell device and better protecting the perovskite solar cell device.

[0047] Specifically, if Figure 1 and Figure 2 As shown, at least one first clamping hole is provided at the connection position between the first support plate 21 and the arc-shaped connecting plate 12, and the first clamping hole is used to clamp the position limiting resistor sensor 3; and at least one second clamping hole 221 is provided at the connection position between the second support plate 22 and the first plate 11, and the second clamping hole 221 is used to clamp the position limiting resistor sensor 3; at the same time, at least one third clamping hole 231 is provided at the connection position between the third support plate 23 and the second plate 13, and the third clamping hole 231 is used to clamp the position limiting resistor sensor 3.

[0048] And, as Figure 1 As shown, after the resistance sensor 3 is snapped into the first snapping hole, the second snapping hole 221 and the third snapping hole 231, the top surface of the resistance sensor 3 is flush with the top surface of the first support plate 21, the top surface of the second support plate 22 and the top surface of the third support plate 23, respectively, so as to ensure the fit and abutment between the resistance sensor 3 and the membrane surface, thereby ensuring that the detection result of the membrane surface resistance by the resistance sensor 3 is more accurate and reliable.

[0049] The resistance sensor 3 is limitedly installed by clamping the first clamping hole, the second clamping hole 221 and the third clamping hole 231, so that the installation of the resistance sensor 3 is relatively simple and detachable, which is conducive to the disassembly, assembly and replacement of the resistance sensor 3; and the clamping method can realize the limited installation of the resistance sensor 3 without adding additional structure, so that the structure of the entire mechanical finger structure is simple and the cost is low.

[0050] In this embodiment, Figure 1 and Figure 2As shown, two first engaging holes are provided at intervals, and one second engaging hole 221 and one third engaging hole 231 are provided. A resistance sensor 3 is engaged in each of the two first engaging holes, while no resistance sensor 3 is engaged in the second engaging hole 221 or the third engaging hole 231. This allows the resistance sensors 3 in the two first engaging holes to simultaneously detect the resistance of the membrane surface, thereby further ensuring that the resistance detection result is more accurate and reliable. The specific number of resistance sensors 3 provided is not limited herein.

[0051] And, as Figure 1 and Figure 2 As shown, by setting a first clamping hole at the connection position between the first support plate 21 and the arc-shaped connecting plate 12, that is, a part of the first clamping hole is located on the first support plate 21, and the other part of the first clamping hole is located on the arc-shaped connecting plate 12, so that the area of the first support plate 21 does not need to be set very large and the setting integrity of the first clamping hole can be guaranteed, thereby reducing the setting area of the first support plate 21, and further reducing the weight of the entire mechanical finger structure; and, the contact area between the first support plate 21 and the perovskite solar cell device can be further reduced, so as to better protect the perovskite solar cell device.

[0052] It is worth noting that the setting effect of the second clip hole 221 and the third clip hole 231 is the same as the setting effect of the first clip hole. The setting effect of the second clip hole 221 and the third clip hole 231 will not be described in detail here. Please refer to the above description of the setting effect of the first clip hole.

[0053] Furthermore, if Figure 1 and Figure 2 As shown, the mechanical finger structure also includes a first limit plate 4 and two second limit plates 5; wherein, the first limit plate 4 is protruded on one side of the first support plate 21, and the two second limit plates 5 are respectively protruded on one side of the second support plate 22 and one side of the third support plate 23; when the perovskite solar cell device is placed on the first support plate 21, the second support plate 22 and the third support plate 23 respectively, the first limit plate 4 abuts against one end of the perovskite solar cell device, and the second limit plate 5 abuts against the other end of the perovskite solar cell device.

[0054] The limiting and abutting effect of the first limiting plate 4 and the second limiting plate 5 on the perovskite solar cell device can ensure better placement stability and reliability of the perovskite solar cell device on each support plate, thereby avoiding the problem of the perovskite solar cell device tilting and falling from each support plate.

[0055] It is worth noting that if Figure 1As shown, since the first limiting plate 4 and the second limiting plate 5 abut the outer edge of the perovskite solar cell device, there will be no problem of the first limiting plate 4 and the second limiting plate 5 causing damage to the perovskite solar cell device.

[0056] Furthermore, if Figure 1 and Figure 2 As shown, the first plate 11, the arc-shaped connecting plate 12, the second plate 13, the first support plate 21, the second support plate 22, the third support plate 23, the first limit plate 4, and the second limit plate 5 are an integrated structure to ensure the stability and reliability of the connection between the various plates, while also making the processing of each plate simple and convenient, and reducing the processing cost. Among them, the mechanical finger structure is connected to the drive end of the mechanical body through the first limit plate 4, and the size of the entire mechanical finger structure matches the size of the perovskite solar cell device.

[0057] Specifically, since the resistance sensor 3 needs to be electrically connected to the external control structure via a wire, a wire hole 41 is provided on the first limit plate 4. The wire connected to the resistance sensor 3 passes through the wire hole 41 and is then electrically connected to the external control structure. This facilitates unified routing of the wires, thereby ensuring a neat and aesthetically pleasing appearance for the entire robotic finger structure. The external control structure is a common control structure in the prior art.

[0058] The working process of the mechanical finger structure in this embodiment is as follows:

[0059] First, a perovskite solar cell device of corresponding size is placed on the first support plate 21, the second support plate 22 and the third support plate 23. At this time, the perovskite solar cell device is suspended above the first plate 11, the arc-shaped connecting plate 12 and the second plate 13, and the perovskite solar cell device is in contact with the resistance sensor 3.

[0060] When the perovskite solar cell device is placed with the membrane surface facing downward on the first support plate 21, the second support plate 22 and the third support plate 23, the resistance sensor 3 directly contacts the membrane surface of the perovskite solar cell device to detect the resistance of the membrane surface, so that the resistance sensor 3 emits a resistance signal to directly determine that the perovskite solar cell device is placed correctly.

[0061] When the glass surface of the perovskite solar cell device is placed downward on the first support plate 21, the second support plate 22 and the third support plate 23, the resistance sensor 3 directly contacts the glass surface of the perovskite solar cell device, so that the resistance sensor 3 does not emit a resistance signal, thereby directly judging that the placement of the perovskite solar cell device is incorrect; at this time, it is necessary to manually adjust the placement of the perovskite solar cell device so that the film surface of the perovskite solar cell device is placed downward.

[0062] Then, the mechanical body drives the mechanical finger structure and the perovskite solar cell device correctly placed thereon to move as a whole to the thermal evaporation process chamber, and the mechanical body drives the perovskite solar cell device through the gap space between the first plate 11 and the second plate 13 to be automatically placed in the thermal evaporation process chamber, so as to facilitate thermal evaporation of the perovskite solar cell device in the thermal evaporation process chamber.

[0063] The mechanical finger structure in this embodiment, by providing a resistance sensor 3, can detect the resistance of the film surface while placing the perovskite solar cell device, thereby judging whether the perovskite solar cell device is correctly placed on each support plate, reducing the process beat and resource loss problems caused by human observation and judgment factors, and ensuring the smooth progress of the entire production beat of the perovskite solar cell device; moreover, in the process of placing and transporting the perovskite solar cell device, it can be judged whether the placement of the perovskite solar cell device is accurate, without the need to stop the machine for offline separate judgment, saving time and cost, and greatly improving work efficiency.

[0064] Moreover, the mechanical finger structure in this embodiment does not increase in weight much after the resistance sensor 3 is provided, so that the weight of the entire mechanical finger structure is relatively light, thereby ensuring the placement stability of the perovskite solar cell device on the mechanical finger structure; and, in the process of placing the perovskite solar cell device on the mechanical finger structure, it can ensure that the perovskite solar cell device is not damaged, thereby better protecting the perovskite solar cell device.

[0065] The above contents are only preferred embodiments of the present invention. For ordinary technicians in this field, according to the concept of the present invention, there may be changes in the specific implementation methods and application scope. The content of this specification should not be understood as limiting the present invention.

Claims

1. A mechanical finger structure, characterized in that: include: U-shaped plate (1); A support plate is convexly arranged on the U-shaped plate (1), at least two support plates are spaced apart and arranged opposite to each other on the U-shaped plate (1), and each support plate is used to place a perovskite solar cell device; A resistance sensor (3), wherein a portion of the resistance sensor (3) is provided on the U-shaped plate (1), and another portion is provided on the support plate; when the perovskite solar cell device is placed on each of the support plates, the resistance sensor (3) is used to abut against the film surface of the perovskite solar cell device to detect the resistance of the film surface.

2. The mechanical finger structure according to claim 1, characterized in that: The U-shaped plate (1) comprises: A first plate (11), an arc-shaped connecting plate (12) and a second plate (13), wherein the first plate (11) and the second plate (13) are opposite to each other and spaced apart, the arc-shaped connecting plate (12) is connected between the first plate (11) and the second plate (13), and the first plate (11) and / or the arc-shaped connecting plate (12) and / or the second plate (13) are provided with weight-reducing holes (14).

3. The mechanical finger structure according to claim 2, characterized in that: The support plates are provided in three pieces, including: A first support plate (21), a second support plate (22) and a third support plate (23), wherein the first support plate (21) is protruded on the end of the arc-shaped connecting plate (12) away from the first plate (11), the second support plate (22) is protruded on the end of the first plate (11) away from the arc-shaped connecting plate (12), and the third support plate (23) is protruded on the end of the second plate (13) away from the arc-shaped connecting plate (12), and the second support plate (22) and the third support plate (23) are located on the same straight line.

4. The mechanical finger structure according to claim 3, characterized in that: At least one first clamping hole is provided at the connection position between the first support plate (21) and the arc-shaped connecting plate (12), and the first clamping hole is used for clamping and limiting the resistance sensor (3).

5. The mechanical finger structure according to claim 3, characterized in that: At least one second clamping hole (221) is provided at the connection position between the second support plate (22) and the first plate (11), and the second clamping hole (221) is used for clamping and limiting the resistance sensor (3).

6. The mechanical finger structure according to claim 3, characterized in that: At least one third clamping hole (231) is provided at the connection position between the third support plate (23) and the second plate (13), and the third clamping hole (231) is used for clamping and limiting the resistance sensor (3).

7. The mechanical finger structure according to any one of claims 3 to 6, characterized in that: The mechanical finger structure also includes: a first limiting plate (4) protruding from one side of the first supporting plate (21), wherein when the perovskite solar cell device is placed on the first supporting plate (21), the first limiting plate (4) abuts against one end of the perovskite solar cell device; Two second limiting plates (5) are respectively protruded on one side of the second support plate (22) and one side of the third support plate (23); when the perovskite solar cell device is placed on the second support plate (22) and the third support plate (23), the second limiting plates (5) abut against the other end of the perovskite solar cell device.

8. The mechanical finger structure according to claim 7, characterized in that: The U-shaped plate (1), the support plate, the first limiting plate (4) and the second limiting plate (5) are an integrally formed structure.

9. The mechanical finger structure according to claim 7, wherein: The first limiting plate (4) is provided with a wire hole (41).

10. A manipulator, characterized in that It comprises a mechanical body and a mechanical finger structure according to any one of claims 1 to 9, wherein a first limiting plate (4) of the mechanical finger structure is connected to a driving end of the mechanical body.

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