Manipulator

Abstract

A manipulator, comprising a palm (1) and a plurality of fingers (2), wherein the plurality of fingers (2) are sequentially spaced along the periphery of the palm (1), each finger (2) comprises a first knuckle (23), a second knuckle (24), a third knuckle (25), a first driving mechanism (26), a second driving mechanism (27), and a third driving mechanism (28), the first knuckle (23), the second knuckle (24), and the third knuckle (25) are sequentially hinged, and the end of the third knuckle (25) away from the second knuckle (24) is hinged to the periphery of the palm (1); the first driving mechanism (26) is mounted on the second knuckle (24), and the first driving mechanism (26) is used for driving the first knuckle (23) to rotate around one end of the second knuckle (24); the second driving mechanism (27) is mounted on the third knuckle (25), and the second driving mechanism (27) is used for driving the second knuckle (24) to rotate around one end of the third knuckle (25); the third driving mechanism (28) is mounted on the palm (1), and the third driving mechanism (28) is used for driving the third knuckle (25) to rotate around the palm (1). All joints of the manipulator can be controlled independently, the positions of the fingers can be accurately adjusted, and thus the manipulator has a wide range of application environments.

Description

A robotic arm Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to a manipulator. Background Art

[0002] A manipulator is an automatic operating device that can imitate certain movements and functions of human hands and arms, and is used to grasp, carry objects or operate tools according to a fixed program. Currently, most manipulators use a structure that uses wire ropes to pull the fingers to move, and some use connecting rods to push the three joints of the fingers to move simultaneously. Among them, the wire rope drive structure used specifically uses a driving mechanism to pull the wire rope to make the three joints of a finger move simultaneously, so it cannot stably and accurately control the movement of the joints, which limits the application scenarios of the manipulator; and the structure that uses connecting rods to control the movement of the three joints of a finger cannot achieve independent control of all joints, resulting in low control accuracy. Therefore, the technical solution of this application is urgently needed to solve the above problems.

[0003] Summary of the Invention

[0004] The purpose of the present invention is to provide a robotic arm in which each joint can be independently controlled and the finger positions can be precisely adjusted, thereby making the application scenarios wide.

[0005] To achieve the above-mentioned object, the present invention provides a robot arm, comprising a palm and a plurality of fingers, wherein the plurality of fingers are sequentially spaced along the periphery of the palm, the fingers comprising a first knuckle, a second knuckle, a third knuckle, a first drive mechanism, a second drive mechanism, and a third drive mechanism, wherein the first knuckle, the second knuckle, and the third knuckle are hinged in sequence, and an end of the third knuckle away from the second knuckle is hinged to the periphery of the palm;

[0006] The first driving mechanism is installed on the second knuckle, and the first driving mechanism is used to drive the first knuckle to rotate around one end of the second knuckle; the second driving mechanism is installed on the third knuckle, and the second driving mechanism is used to drive the second knuckle to rotate around one end of the third knuckle; the third driving mechanism is installed on the palm, and the third driving mechanism is used to drive the third knuckle to rotate around the outer periphery of the palm.

[0007] Preferably, it further comprises a first rotating shaft and a second rotating shaft, the first knuckle and the second knuckle are hinged via the first rotating shaft, and the second knuckle and the third knuckle are hinged via the second rotating shaft.

[0008] Preferably, a first mounting seat is provided at one end of the first phalanx close to the second phalanx, the first mounting seat is integrally formed with the first phalanx, and the first mounting seat extends into the second phalanx.

[0009] Preferably, a first transmission assembly is provided in the second finger joint, one end of the first transmission assembly is connected to the power output end of the first driving mechanism, and the other end of the first transmission assembly is hinged to the first mounting seat. The first driving mechanism drives the first transmission assembly to drive the first finger joint integrally formed with the first mounting seat to rotate around the first rotating axis.

[0010] Preferably, the first transmission assembly includes a first fastener, a first connecting rod, a first swing shaft and a first swing plate;

[0011] The first fastener is hinged in the first mounting seat, and the two ends of the first connecting rod are respectively hinged to the end of the first fastener away from the first mounting seat and the outer periphery of the bottom of the first swing shaft. The top of the first swing shaft is installed in the first swing plate. A mounting hole is provided in the first swing plate on one side of the mounting position of the first swing shaft, and the power output end of the first driving mechanism is installed in the mounting hole.

[0012] Preferably, a second mounting seat is provided at one end of the second knuckle close to the third knuckle, the second mounting seat is integrally formed with the second knuckle, and the second mounting seat extends into the third knuckle.

[0013] Preferably, a second transmission assembly is provided in the third finger joint, one end of the second transmission assembly is connected to the power output end of the second drive mechanism, and the other end of the second transmission assembly is hinged to the second mounting seat. The second drive mechanism drives the second transmission assembly to drive the second finger joint integrally formed with the second mounting seat to rotate around the second rotating axis.

[0014] Preferably, the second transmission assembly includes a second fastener, a second connecting rod, a second swing shaft and a second swing plate;

[0015] The second fastener is hinged in the second mounting seat, and the two ends of the second connecting rod are respectively hinged to the end of the second fastener away from the second mounting seat and the outer periphery of the bottom of the second swing shaft. The top of the second swing shaft is installed in the second swing plate. The second swing plate on one side of the second swing shaft installation position also includes a mounting hole, and the power output end of the second driving mechanism is installed in the mounting hole.

[0016] Preferably, the power output end of the third driving mechanism is connected to a swing arm, the end of the third knuckle close to the palm is hinged with a third connecting rod and a third rotating shaft is installed, one end of the third connecting rod is hinged to the middle part of the swing arm, and the third driving mechanism can drive the third connecting rod to swing by driving the swing arm so that the third knuckle rotates around the third rotating shaft.

[0017] Preferably, one of the fingers located at the end is defined as a thumb, and a first swing mechanism is further installed on the palm, the power output end of the first swing mechanism is connected to a rotating mechanism, a first rotating pin is installed at the bottom of the rotating mechanism, the rotating mechanism is hinged to the palm through the first rotating pin, the power output end of the rotating mechanism is connected to a fixing frame, the fixing frame is sleeved on the outside of the third joint of the thumb, the fixing frame is hinged to the third joint of the thumb through the third rotating shaft, the rotating mechanism is used to drive the third joint of the thumb to rotate along its axial direction, and the first swing mechanism is used to drive the rotating mechanism to rotate around the first rotating pin;

[0018] The remaining finger is defined as a little finger, and the little finger further includes a swing frame and a second rotating pin installed at the bottom of the swing frame;

[0019] The swing frame is mounted on the palm via the second rotating pin, one end of the swing frame is hinged to the third joint of the little finger via the third rotating shaft, a third swing shaft is mounted in the other end of the swing frame, a strip-shaped through hole is provided in the middle of the third swing shaft, a second swing mechanism is mounted on the palm near the third swing shaft, a power output end of the second swing mechanism is connected to a third swing disk, a swing rod is further mounted on the third swing disk, one end of the swing rod is mounted in the through hole of the third swing shaft;

[0020] The second swing mechanism is used to drive the swing frame to rotate around the second rotation shaft pin.

[0021] The present invention provides a manipulator, which has the following advantages compared with the prior art:

[0022] The first driving mechanism is installed on the second knuckle, and the first driving mechanism is used to drive the first knuckle to rotate around one end of the second knuckle; the second driving mechanism is installed on the third knuckle, and the second driving mechanism is used to drive the second knuckle to rotate around one end of the third knuckle; the third driving mechanism is installed on the palm, and the third driving mechanism is used to drive the third knuckle to rotate around the outer periphery of the palm, thereby ensuring that the three joints of the finger can be independently controlled, and the finger position can be accurately adjusted, which makes it have a wide range of application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is a schematic diagram of the three-dimensional structure of a manipulator provided by an embodiment of the present invention.

[0024] FIG2 is a schematic diagram of the top view of the structure of the manipulator provided in an embodiment of the present invention.

[0025] FIG3 is a schematic diagram of the bottom-up structure of the manipulator provided by an embodiment of the present invention.

[0026] FIG4 is a schematic diagram of an enlarged three-dimensional structure of the thumb of the manipulator provided by an embodiment of the present invention.

[0027] FIG5 is a schematic diagram of an enlarged structure of the bottom of the thumb of the manipulator provided by an embodiment of the present invention.

[0028] FIG6 is a schematic diagram of an enlarged internal structure of the thumb of a manipulator provided by an embodiment of the present invention.

[0029] FIG7 is a schematic diagram of a three-dimensional enlarged structure of the little finger of the manipulator provided by an embodiment of the present invention.

[0030] FIG8 is a schematic diagram of an enlarged structure of the installation of the third swing axis and the third swing plate of the little finger of the manipulator provided by an embodiment of the present invention.

[0031] FIG9 is a schematic diagram of an enlarged structure of the interior of the little finger of the manipulator provided by an embodiment of the present invention.

[0032] In the figure: 1, palm; 2, finger; 20, rotating mechanism; 201, first rotating pin; 202, fixed frame; 21, swing frame; 211, second rotating pin; 212, third swing axis; 2120, through hole; 22, second swing mechanism; 221, third swing plate; 2210, swing rod; 23, first finger joint; 231, first rotating shaft; 232, first mounting seat; 24, second finger joint; 241, second rotating shaft; 242, first fastener; 243, first connecting rod Rod; 244, first swing axis; 245, first swing plate; 246, first mounting hole; 247, second mounting seat; 25, third finger joint; 251, third rotating shaft; 252, second fastener; 253, second connecting rod; 254, second swing axis; 255, second swing plate; 256, second mounting hole; 257, third connecting rod; 26, first driving mechanism; 27, second driving mechanism; 28, third driving mechanism; 281, swing arm; 29, first swing mechanism. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0034] It should be understood that in the description of this application, the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, that is, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In addition, unless otherwise specified, "multiple" means two or more.

[0035] As shown in Figures 1-9, an embodiment of the present invention provides a robotic hand comprising a palm 1 and a plurality of fingers 2. The plurality of fingers 2 are sequentially spaced along the periphery of the palm 1. Each finger 2 comprises a first knuckle 23, a second knuckle 24, a third knuckle 25, a first drive mechanism 26, a second drive mechanism 27, and a third drive mechanism 28. The first knuckle 23, the second knuckle 24, and the third knuckle 25 are hingedly connected in sequence, and the end of the third knuckle 25 away from the second knuckle 24 is hingedly connected to the periphery of the palm 1.

[0036] The first driving mechanism 26 is installed on the second knuckle 24, and the first driving mechanism 26 is used to drive the first knuckle 23 to rotate around one end of the second knuckle 24; the second driving mechanism 27 is installed on the third knuckle 25, and the second driving mechanism 27 is used to drive the second knuckle 24 to rotate around one end of the third knuckle 25; the third driving mechanism 28 is installed on the palm 1, and the third driving mechanism 28 is used to drive the third knuckle 25 to rotate around the outer periphery of the palm 1.

[0037] Based on the above settings, the first driving mechanism 26 is installed on the second knuckle 24, and the first driving mechanism 26 is used to drive the first knuckle 23 to rotate around one end of the second knuckle 24; the second driving mechanism 27 is installed on the third knuckle 25, and the second driving mechanism 27 is used to drive the second knuckle 24 to rotate around one end of the third knuckle 25; the third driving mechanism 28 is installed on the palm 1, and the third driving mechanism 28 is used to drive the third knuckle 25 to rotate around the outer periphery of the palm 1, so that the three joints of the finger can be independently controlled, and the finger position can be precisely adjusted, which makes it have a wide range of application scenarios.

[0038] Specifically, the manipulator further includes a first rotating shaft 231 and a second rotating shaft 241. The first knuckle 23 and the second knuckle 24 are hinged via the first rotating shaft 231, and the second knuckle 24 and the third knuckle 25 are hinged via the second rotating shaft 241. This allows the first knuckle 23, the second knuckle 24, and the third knuckle 25 to rotate flexibly.

[0039] In one embodiment, a first mounting seat 232 is provided at one end of the first knuckle 23 close to the second knuckle 24 . The first mounting seat 232 is integrally formed with the first knuckle 23 , and the first mounting seat 232 extends into the second knuckle 24 .

[0040] A first transmission assembly is disposed within the second finger joint 24. One end of the first transmission assembly is connected to the power output end of the first drive mechanism 26, and the other end of the first transmission assembly is hingedly connected to the first mounting seat 232. The first drive mechanism 26 drives the first transmission assembly to cause the first finger joint 23, which is integrally formed with the first mounting seat 232, to rotate about the first rotation axis 231, thereby achieving independent control of the movement of the first finger joint 23.

[0041] Specifically, the first transmission assembly includes a first fastener 242, a first connecting rod 243, a first swing shaft 244 and a first swing plate 245;

[0042] The first fastener 242 is hingedly connected to the first mounting seat 232. The two ends of the first connecting rod 243 are respectively hingedly connected to the end of the first fastener 242 away from the first mounting seat 432 and the outer periphery of the bottom of the first swing shaft 244. The top of the first swing shaft 244 is mounted in the first swing plate 245. A mounting hole 246 is provided in the first swing plate 245 on one side of the mounting position of the first swing shaft 244. The power output end of the first driving mechanism 26 is mounted in the mounting hole 246. During use, the first driving mechanism 26 drives the first swing plate 245 to rotate eccentrically, thereby driving the first connecting rod 243 to reciprocate. The first fastener 242, which is hinged to one end of the first connecting rod 243, also reciprocates with the first connecting rod 243. The first fastener 242 is hingedly connected to the first mounting seat 232. The first mounting seat 232 is integrally formed with the first finger joint 23, thereby enabling the first finger joint 23 to rotate about the first rotation axis 231.

[0043] In one embodiment, a second mounting seat 247 is provided at one end of the second knuckle 24 close to the third knuckle 25 . The second mounting seat 247 is integrally formed with the second knuckle 24 , and the second mounting seat 247 extends into the third knuckle 25 .

[0044] A second transmission assembly is provided in the third finger joint 25, one end of the second transmission assembly is connected to the power output end of the second drive mechanism 27, and the other end of the second transmission assembly is hinged to the second mounting seat 247. The second drive mechanism drives the second transmission assembly to drive the second finger joint 24 integrally formed with the second mounting seat 247 to rotate around the second rotating shaft 241.

[0045] Specifically, the second transmission assembly includes a second fastener 252, a second connecting rod 253, a second swing shaft 254 and a second swing plate 255;

[0046] The second fastener 252 is hingedly connected to the second mounting seat 247. The two ends of the second connecting rod 253 are respectively hingedly connected to the end of the second fastener 252 away from the second mounting seat 247 and the outer periphery of the bottom of the second swing shaft 254. The top of the second swing shaft 254 is mounted in the second swing plate 255. The second swing plate 255 on the side where the second swing shaft 254 is mounted also includes a mounting hole 256. The power output end of the second driving mechanism 27 is mounted in the mounting hole 256. In actual use, the movement mode of the second transmission assembly is the same as that of the first transmission assembly.

[0047] Furthermore, the power output end of the third drive mechanism 28 is connected to a swing arm 281. The end of the third knuckle 25 closest to the palm 1 is hingedly connected to a third connecting rod 257 and a third rotating shaft 251. One end of the third connecting rod 257 is hingedly connected to the middle of the swing arm 281. The third drive mechanism 28 drives the swing arm 281 to swing the third connecting rod 257, causing the third knuckle 25 to rotate about the third rotating shaft 251. The third knuckle 25 can be driven independently by the third drive mechanism 28, enabling precise adjustment of the position of the third knuckle 25.

[0048] In one embodiment, as shown in Figures 4-6, a finger 2 at the end is defined as a thumb, and a first swing mechanism 29 is further installed on the palm 1. The power output end of the first swing mechanism 29 is connected to the rotating mechanism 20. A first rotating pin 201 is installed at the bottom of the rotating mechanism 20. The rotating mechanism 20 is hinged to the palm 1 through the first rotating pin 201. The power output end of the rotating mechanism 20 is connected to a fixing frame 202. The fixing frame 202 is sleeved on the outside of the third joint 25 of the thumb. The fixing frame 202 is hinged to the third joint 25 of the thumb through a third rotating shaft 251. The rotating mechanism 20 is used to drive the third joint 25 of the thumb to rotate along its axial direction. Since the power output end of the rotating mechanism 20 is connected to the fixed frame 202, the rotating mechanism 20 can drive the fixed frame 202 to rotate, and the third joint 25 of the thumb is installed in the fixed frame 202, so that the third joint 25 will also rotate with the fixed frame 202; the first swinging mechanism 29 is used to drive the rotating mechanism 20 to rotate around the first rotating pin 201; thereby realizing axial rotation adjustment of the thumb and rotation adjustment around the first rotating pin 201, realizing a larger range of position adjustment of the thumb.

[0049] As shown in Figures 7-9, the remaining fingers 2 are defined as the little fingers, and the little fingers also include a swing frame 21 and a second rotating pin 211 installed at the bottom of the swing frame; the swing frame 21 is installed on the palm 1 through the second rotating pin 211, and one end of the swing frame 21 is hinged to the third joint 25 of the little finger through the third rotating shaft 251, and a third swing shaft 212 is installed in the other end of the swing frame 21, and the middle part of the third swing shaft 212 has a bar-shaped through hole 2120, and a second swing mechanism 22 is installed on the palm 1 near the third swing shaft 212, and the power output end of the second swing mechanism 22 is connected to the third swing disk 221, and a swing rod 2210 is also installed on the third swing disk 221, and one end of the swing rod 2210 is installed in the through hole 2120 of the third swing shaft 212; the second swing mechanism 22 is used to drive the swing frame 21 to rotate around the second rotating shaft pin 211. Its specific working method is that the second swing mechanism 22 drives the third swing plate 221 to rotate eccentrically, thereby driving the swing rod 2210 on the third swing plate 221 to move up and down in the through hole 2120 of the third swing shaft 212, so that the swing frame 21 is transmitted around the second rotating pin 211.

[0050] It should be noted that the third driving mechanisms 28 corresponding to adjacent little fingers are staggered in the longitudinal direction during installation, so that when the second swing mechanism 22 drives the little fingers to swing, the third driving mechanisms 28 will not collide with each other.

[0051] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A robot, characterized in that: The invention comprises a palm and a plurality of fingers, wherein the plurality of fingers are sequentially spaced along the periphery of the palm, the fingers comprise a first knuckle, a second knuckle, a third knuckle, a first driving mechanism, a second driving mechanism and a third driving mechanism, the first knuckle, the second knuckle and the third knuckle are hinged in sequence, and an end of the third knuckle away from the second knuckle is hinged to the periphery of the palm; The first driving mechanism is installed on the second knuckle, and the first driving mechanism is used to drive the first knuckle to rotate around one end of the second knuckle; the second driving mechanism is installed on the third knuckle, and the second driving mechanism is used to drive the second knuckle to rotate around one end of the third knuckle; the third driving mechanism is installed on the palm, and the third driving mechanism is used to drive the third knuckle to rotate around the outer periphery of the palm.

2. The robot according to claim 1, characterized in that: It also includes a first rotating shaft and a second rotating shaft. The first finger joint and the second finger joint are hinged through the first rotating shaft, and the second finger joint and the third finger joint are hinged through the second rotating shaft.

3. The robot according to claim 1, characterized in that: A first mounting seat is disposed at one end of the first knuckle close to the second knuckle. The first mounting seat is integrally formed with the first knuckle, and the first mounting seat extends into the second knuckle.

4. The robot according to claim 3, characterized in that: A first transmission assembly is disposed in the second finger joint, one end of the first transmission assembly is connected to the power output end of the first driving mechanism, and the other end of the first transmission assembly is hinged to the first mounting seat. The first driving mechanism drives the first transmission assembly to drive the first finger joint integrally formed with the first mounting seat to rotate around the first rotating shaft.

5. The robot according to claim 4, characterized in that: The first transmission assembly includes a first fastener, a first connecting rod, a first swing shaft and a first swing plate; The first fastener is hinged in the first mounting seat, the two ends of the first connecting rod are respectively hinged to the end of the first fastener away from the first mounting seat and the outer periphery of the bottom of the first swing shaft, the top of the first swing shaft is installed in the first swing plate, and the first swing A mounting hole is provided in the first swing plate on one side of the moving shaft mounting position, and the power output end of the first driving mechanism is mounted in the mounting hole.

6. The robot according to claim 1, characterized in that: A second mounting seat is disposed at one end of the second knuckle close to the third knuckle. The second mounting seat is integrally formed with the second knuckle, and the second mounting seat extends into the third knuckle.

7. The robot according to claim 6, characterized in that: A second transmission assembly is provided in the third finger joint, one end of the second transmission assembly is connected to the power output end of the second driving mechanism, and the other end of the second transmission assembly is hinged to the second mounting seat. The second driving mechanism drives the second transmission assembly to drive the second finger joint integrally formed with the second mounting seat to rotate around the second rotating axis.

8. The robot according to claim 7, characterized in that: The second transmission assembly includes a second fastener, a second connecting rod, a second swing shaft and a second swing plate; The second fastener is hinged in the second mounting seat, and two ends of the second connecting rod are respectively hinged to one end of the second fastener away from the second mounting seat and the outer periphery of the bottom of the second swing shaft, the top of the second swing shaft is installed in the second swing plate, and the second swing plate on one side of the second swing shaft installation position also includes a mounting hole, and the power output end of the second driving mechanism is installed in the mounting hole.

9. The robot according to claim 1, characterized in that: The power output end of the third driving mechanism is connected to a swing arm, and the end of the third knuckle close to the palm is hinged with a third connecting rod and a third rotating shaft. One end of the third connecting rod is hinged to the middle part of the swing arm. The third driving mechanism can drive the third connecting rod to swing by driving the swing arm, so that the third knuckle rotates around the third rotating shaft.

10. The robot according to any one of claims 9, characterized in that: The finger at the end is defined as a thumb, and a first swing mechanism is also installed on the palm, the power output end of the first swing mechanism is connected to a rotating mechanism, a first rotating pin is installed at the bottom of the rotating mechanism, the rotating mechanism is hinged to the palm through the first rotating pin, the power output end of the rotating mechanism is connected to a fixing frame, the fixing frame is sleeved on the outside of the third knuckle of the thumb, the fixing frame is hinged to the third knuckle of the thumb through the third rotating shaft, the rotating mechanism is used to drive the third knuckle of the thumb to rotate along its axial direction, and the first swing mechanism is used to drive the rotating mechanism to rotate around the first rotating pin; The remaining finger is defined as a little finger, and the little finger further includes a swing frame and a second rotating pin installed at the bottom of the swing frame; The swing frame is installed on the palm through the second rotating pin, one end of the swing frame is hinged to the third knuckle of the little finger through the third rotating shaft, a third swing shaft is installed in the other end of the swing frame, the middle part of the third swing shaft has a strip-shaped through hole, a second swing mechanism is installed on the palm close to the third swing shaft, the power output end of the second swing mechanism is connected to the third swing plate, a swing rod is also installed on the third swing plate, and one end of the swing rod is installed in the through hole of the third swing shaft; The second swing mechanism is used to drive the swing frame to rotate around the second rotating shaft pin.

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