CN115582850A

CN115582850A - Mechanical arm

Info

Publication number: CN115582850A
Application number: CN202211278149.7A
Authority: CN
Inventors: 贾振中; 朱政; 林世远; 赵云天
Original assignee: Southwest University of Science and Technology
Current assignee: Southwest University of Science and Technology
Priority date: 2022-10-19
Filing date: 2022-10-19
Publication date: 2023-01-10

Abstract

The application discloses manipulator relates to apparatus technical field, and wherein, manipulator includes: the driving assembly comprises a first driving motor, and the driving end of the first driving motor is provided with gear teeth, wherein the first driving motor is a high-torque-density output motor; the gear reduction mechanism comprises a first reduction gear, gear teeth of the first reduction gear are meshed with gear teeth of a first driving motor, one end, far away from the first driving motor, of the first reduction gear is provided with a first connecting rod mechanism, the first driving motor is used for driving the first connecting rod mechanism to move, and the first reduction gear is used for reducing the rotation speed of the first driving motor and transmitting the rotation speed to the first connecting rod mechanism. This application can improve actuating system's anti-drive ability and transmission efficiency to realize slowing down and increase the turn round when keeping good reverse driving ability, make the manipulator can carry out quick elegant operation in complicated collision contact environment.

Description

Mechanical arm

Technical Field

The application relates to the technical field of equipment, in particular to a manipulator.

Background

The manipulator is used as a final link and an execution part of the interaction between the robot and the environment, is mainly used for grabbing a specified article and operating the specified article to a specified position, and plays an important role in improving the task completion capability of the robot and improving the operation level.

In a robot drive, a suitable reduction ratio is usually chosen according to the task requirements, so that some compromise or balance is achieved between speed and torque. But the speed reducer inevitably introduces friction and energy loss, introduces return difference and increases the representation inertia, thereby reducing the transmission efficiency, precision and back driving capability of the system. In the related art, in order to meet the joint torque requirement, most of robot systems usually need dozens or even hundreds of reduction ratios, and harmonic/cycloid gears or even multi-stage planetary gears are often adopted, so that the transmission efficiency and the back driving capability of the system can be greatly reduced, and the physical interaction capacity of human-computer interaction and the physical interaction capacity of the robot and the environment can be greatly limited.

Disclosure of Invention

The present application is directed to solving at least one of the problems in the prior art. For this reason, this application provides a manipulator, can improve actuating system's anti-drive ability and transmission efficiency to realize slowing down and increase the turn round when keeping good reverse driving ability, make the manipulator can carry out quick graceful operation in complicated collision contact environment.

The application provides a manipulator, includes:

the driving assembly comprises a first driving motor, wherein the driving end of the first driving motor is provided with gear teeth, and the first driving motor is a high-torque-density output motor;

the gear reduction mechanism comprises a first reduction gear, gear teeth and a first connecting rod mechanism are respectively arranged on the outer side of the first reduction gear, the gear teeth of the first reduction gear are meshed with the gear teeth of the first driving motor, and the first reduction gear is used for reducing the rotating speed of the first driving motor and transmitting the rotating speed to the first connecting rod mechanism; wherein a diameter of the first reduction gear is larger than a diameter of the drive end of the first drive motor.

According to the manipulator of the embodiment of the first aspect of the application, at least the following beneficial effects are achieved: the first driving motor for controlling the output of the large torque density is started, so that the gear teeth at the driving end of the first driving motor and the gear teeth of the first reduction gear are meshed with each other to rotate, the first reduction gear reduces the rotating speed of the first driving motor and transmits the rotating speed to the first connecting rod mechanism, and the first connecting rod mechanism is driven to move. Compared with the prior art, this application rotates and drives the motion of first link mechanism through the teeth of a cogwheel intermeshing of the first driving motor of big moment density output and first reduction gear, can realize accurate force and feel, has the transparency of power transmission, can improve actuating system's anti-drive ability and transmission efficiency to realize slowing down and increasing the torsion when keeping good reverse driving ability, make the manipulator can carry out quick elegant operation in complicated collision contact environment.

According to some embodiments of the application, the driving assembly further comprises a second driving motor, the driving end of the second driving motor is provided with gear teeth, the gear reduction mechanism comprises a second reduction gear, the outer side of the second reduction gear is provided with the gear teeth and a second link mechanism respectively, and the gear teeth of the second reduction gear are meshed with the gear teeth of the second driving motor; the first reduction gear and the second reduction gear are coaxially arranged in opposite directions, the first reduction gear is close to the first driving motor, the second reduction gear is close to the second driving motor, the second driving motor is a large-torque-density output motor, and the diameter of the second reduction gear is larger than that of the driving end of the second driving motor.

According to some embodiments of the present application, the driving manner between the first driving motor and the second driving motor is parallel driving.

According to some embodiments of the application, the first drive motor and the second drive motor each perform torque measurements through a current loop.

According to some embodiments of the application, the manipulator still includes the casing, first driving motor with the drive end of second driving motor wears to locate respectively the both sides inner wall of casing inner chamber, just first driving motor with second driving motor sets up in opposite directions, first reduction gear with second reduction gear is in respectively the both sides of casing inner wall set up in opposite directions.

According to some embodiments of the application, the casing corresponding to first driving motor's lateral wall be equipped with the first fixed plate that first reduction gear corresponds, the casing corresponding to second driving motor's lateral wall be equipped with the fixed plate of second that second reduction gear corresponds, first reduction gear with second reduction gear set up in first fixed plate with between the fixed plate of second, just first reduction gear is close to first fixed plate sets up, second reduction gear is close to the fixed plate setting of second.

According to some embodiments of the application, the manipulator still includes the connecting axle, first fixed plate the fixed plate of second first reduction gear with second reduction gear wears to locate respectively the connecting axle, just first fixed plate with the fixed plate of second is located the both ends of connecting axle.

According to some embodiments of the application, the manipulator further comprises a first control device and a second control device, the first control device and the second control device are arranged on the connecting shaft in a penetrating mode, the first control device is arranged between the first fixing plate and the first reduction gear and connected with the first driving motor, and the first control device is used for controlling the starting and stopping state and the rotating direction of the first driving motor; the second control device is arranged between the second fixing plate and the second reduction gear and connected with the second driving motor, and the second control device is used for controlling the starting and stopping state and the rotating direction of the second driving motor.

According to some embodiments of the application, the manipulator further comprises a clamping mechanism, the clamping mechanism is respectively movably connected with the first connecting rod mechanism and the second connecting rod mechanism, and the first driving motor and the second driving motor are used for driving the first connecting rod mechanism and the second connecting rod mechanism to move so as to drive the clamping mechanism to move.

According to some embodiments of the application, the drive assembly is provided with two, and two the drive direction of drive assembly is opposite, gear reduction mechanism with fixture quantity all corresponds to drive assembly's quantity, two drive assembly is used for driving two the terminal of fixture is close to or is kept away from each other.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

Additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a partial schematic structural view of a robot provided in an embodiment of the present application;

fig. 2 is a partial schematic structural view of a robot provided in another embodiment of the present application;

fig. 3 is a schematic front structural view of a robot provided in an embodiment of the present application;

fig. 4 is a schematic side view of a robot provided in an embodiment of the present application.

Reference numerals are as follows:

a robot arm 100;

a first driving motor 110, a first reduction gear 111, a first link mechanism 112, a first fixing plate 113, a first control device 114, a first driving end 115;

a second driving motor 120, a second reduction gear 121, a second link mechanism 122, a second fixing plate 123, a second control device 124, a second driving end 125 and a connecting shaft 126;

a housing 130, a third driving motor 140, a fourth driving motor 150, a boosting mechanism 160, and a clamping mechanism 170.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it should be understood that the positional descriptions referred to, for example, the directions or positional relationships indicated by upper, lower, front, rear, left, right, etc., are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present application.

In the description of the present application, if there are first and second descriptions for distinguishing technical features, the description should not be interpreted as indicating or implying any relative importance or implying any number of indicated technical features or implying any precedence over indicated by the indicated technical features.

In the description of the present application, unless otherwise specifically limited, terms such as set, installed, connected and the like should be understood broadly, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present application in combination with the specific contents of the technical solutions.

In addition, in early industrial robot systems, most of the robot arm systems employed the above-mentioned large reduction ratio scheme to generate sufficient joint torque to perform a predetermined motion (rigidly programmed motion) against a possible disturbance force from the outside; a large reduction ratio is a good driving solution for an industrial robot, but it also means that the task environment in which it actually works must meet the expectations of off-line design, i.e. a "structured environment". If the robot is used in an unstructured environment, the sensing and control intelligence of the robot needs to be greatly enhanced, and touch sensing functions such as vision, electronic skin and the like are introduced; however, if the drive system of the robot is not improved, danger is still caused, and the use of the robot is limited.

In order to solve the above problems, the present application provides a manipulator 100, and embodiments of the present application are further described below with reference to the drawings.

Referring to fig. 1 and 4, the present application provides a manipulator 100, including a driving assembly and a gear reduction mechanism, where the driving assembly includes a first driving motor 110, and a driving end of the first driving motor 110 is provided with gear teeth, where the first driving motor 110 is a high torque density output motor; the gear reduction mechanism comprises a first reduction gear 111, gear teeth and a first link mechanism 112 are respectively arranged on the outer side of the first reduction gear 111, the gear teeth of the first reduction gear 111 are meshed with the gear teeth of the first driving motor 110, and the first reduction gear 111 is used for reducing the rotation speed of the first driving motor 110 and transmitting the rotation speed to the first link mechanism 112; wherein the diameter of the first reduction gear 111 is larger than the diameter of the driving end of the first driving motor 110.

In this application, the first driving motor 110 that outputs through control big moment density starts for the teeth of a cogwheel of first driving motor 110 drive end and the teeth of a cogwheel of first reduction gear 111 rotate with each other meshing, and first reduction gear 111 makes the rotational speed of first driving motor 110 slow down and transmit to first link mechanism 112, in order to drive first link mechanism 112 motion. Compared with the prior art, the first driving motor 110 and the first reduction gear 111 which are output in large torque density are meshed with each other to rotate and drive the first connecting rod mechanism 112 to move, accurate force sensing can be achieved, transparency of force transmission is achieved, the anti-driving capacity and the transmission efficiency of a driving system can be improved, speed reduction and torque increase are achieved while good reverse driving capacity is kept, the mechanical arm 100 can conduct rapid and elegant operation in a complex collision contact environment, and man-machine interaction and physical interaction capacity of a robot and the environment are improved.

It should be noted that, only the first reduction gear 111 is used to drive the first link mechanism 112 to move, the first reduction gear 111 is a low reduction ratio reduction gear, on the basis of ensuring the output torque, the high-frequency force control capability of the reverse drive is improved, the first driving motor 110 only drives the helical gear of the first reduction gear 111 to transmit, so as to effectively reduce the output torque fluctuation, fully exert the characteristics of compact structure, smooth meshing and transmission of the manipulator 100.

It should be noted that, the manipulator 100 formed by combining the driving component, the gear reduction mechanism and the link mechanism connected with the gear reduction mechanism adopts a collimation drive mode, the collimation drive mode has a two-way force transparency characteristic and an environment interaction characteristic, and finger tips and finger end parts arranged at the tail end of the link mechanism can be in contact with the environment to sense the contact position and the contact force, so that the manipulator 100 can perform rapid and elegant operation in a complex collision contact environment, and the human-computer interaction and the physical interaction capability of the robot and the environment are further improved.

In the related art, the driving mode for the flexible motion of the robot is a rigid force-controlled high-speed-ratio driving scheme or a series elastic driving scheme, but the rigid force-controlled high-speed-ratio driving scheme and the series elastic driving scheme are both position control, which is not favorable for co-fusion control and interaction with the environment. The rigid force control large speed ratio driving mode is a high reduction ratio scheme integrating the force sensor, the high reduction ratio scheme integrating the force sensor utilizes a mode of combining a conventional motor, a high reduction ratio reduction gearbox, a high-rigidity torque sensor and an output end, but the reverse driving capacity and the transmission efficiency of the scheme are low; the series elastic driving scheme is a mode of combining a conventional motor, a high-reduction-ratio reduction gearbox, a flexible elastic body and an output end, but the scheme is low in control bandwidth and general in back driving capacity and transmission efficiency. The quasi-direct-drive body driving scheme is adopted, and a mode of combining a large-torque output density motor, a low-reduction-ratio reduction gearbox and a small-inertia output end is adopted, so that the quasi-direct-drive body driving scheme is beneficial to co-fusion control and interaction with the environment, and has high control bandwidth capacity, high backdriving capacity and high transmission efficiency.

It should be noted that, referring to fig. 1, the driving end of the first driving motor 110 is a first driving end 115, the first driving end 115 is provided with a gear with gear teeth, the first reduction gear 111 is provided with gear teeth engaged with the first driving end 115, a distance from the end of the first link mechanism 121 to the center of the first reduction gear 111 is greater than a distance from the gear teeth arranged outside the first reduction gear 111 to the center of the first reduction gear 111, and the gear teeth of the first driving end 115 drive the gear teeth of the first reduction gear 111 to rotate, so as to reduce the rotation speed and increase the output torque of the first driving motor 110, thereby achieving the reinforcement and speed reduction.

Referring to fig. 2, it can be understood that the driving assembly further includes a second driving motor 120, the driving end of the second driving motor 120 is provided with gear teeth, the gear reduction mechanism includes a second reduction gear 121, the outer side of the second reduction gear 121 is provided with the gear teeth and a second link mechanism 122, respectively, and the gear teeth of the second reduction gear 121 and the gear teeth of the second driving motor 120 are engaged with each other; the first reduction gear 111 and the second reduction gear 121 are coaxially arranged in opposite directions, the first reduction gear 111 is arranged close to the first driving motor 110, the second reduction gear 121 is arranged close to the second driving motor 120, wherein the second driving motor 120 is a large torque density output motor, and the diameter of the second reduction gear 121 is larger than that of the driving end of the second driving motor 120.

It should be noted that, the first driving motor 110 and the second driving motor 120 are disposed opposite to each other, the first driving motor 110 and the second driving motor 120 are matched with each other to respectively drive the first reduction gear 111 and the second reduction gear 121 to rotate simultaneously, and drive the first link mechanism 112 and the second link mechanism 122 to move, and the first link mechanism 112 and the second link mechanism 122 are matched with each other to control the chucks connected with the first link mechanism 112 and the second link mechanism 122 to clamp the object.

In this embodiment, the first driving motor 110 and the second driving motor 120 are the same motor, that is, the driving mode of the second driving motor 120 is also the alignment driving, the distance from the end of the second link mechanism 122 to the center of the second reduction gear 121 is greater than the distance from the gear teeth arranged outside the second reduction gear 121 to the center of the second reduction gear 121, and the second reduction gear 121 is also a low reduction ratio reduction gear.

Referring to fig. 2, it can be understood that the driving manner between the first driving motor 110 and the second driving motor 120 is parallel driving.

It should be noted that the first driving motor 110 and the second driving motor 120 drive the first link mechanism 112 and the second link mechanism 122 to move simultaneously through a parallel driving manner, that is, the moving directions of the first link mechanism 112 and the second link mechanism 122 may be the same or different. When the height of the chuck connected with the ends of the first linkage 112 and the second linkage 122 needs to be increased or decreased, the first driving motor 110 and the second driving motor 120 drive the first linkage 112 and the second linkage 122 to simultaneously move in the same direction; when the chuck is required to be controlled to move horizontally to open or close the other chuck, the first driving motor 110 and the second driving motor 120 drive the first linkage 112 and the second linkage 122 to move in opposite directions simultaneously.

It is understood that the first drive motor 110 and the second drive motor 120 each perform torque measurements through a current loop.

It should be noted that the torque measurement mode of the high reduction ratio scheme integrated with force sensing is based on the principle of a strain gauge dynamometer, and the torque measurement mode of the series elastic driving scheme is based on the principle of a double encoder; in the present application, the first driving motor 110 and the second driving motor 120 respectively perform torque measurement through the current loop, and no additional sensor is required to perform torque measurement.

Referring to fig. 3 and 4, it can be understood that the manipulator 100 further includes a housing 130, driving ends of the first driving motor 110 and the second driving motor 120 respectively penetrate through inner walls of two sides of an inner cavity of the housing 130, the first driving motor 110 and the second driving motor 120 are oppositely disposed, and the first reduction gear 111 and the second reduction gear 121 are oppositely disposed on two sides of the inner wall of the housing 130 respectively.

It should be noted that the driving end of the second driving motor 120 is the second driving end 125, and the bottoms of the first driving motor 110 and the second driving motor 120 are respectively disposed on the outer walls of the two sides of the housing 130, that is, the first driving motor 110 and the second driving motor 120 are disposed on the same plane, specifically, the first driving motor 110 and the second driving motor 120 are disposed on the same horizontal line, and the first driving motor 110 and the second driving motor 120 are disposed in the same housing 130, which facilitates subsequent management and use of each manipulator 100.

Referring to fig. 1 to 3, it can be understood that the housing 130 is provided at an outer side wall corresponding to the first driving motor 110 with a first fixing plate 113 corresponding to the first reduction gear 111, the housing 130 is provided at an outer side wall corresponding to the second driving motor 120 with a second fixing plate 123 corresponding to the second reduction gear 121, the first reduction gear 111 and the second reduction gear 121 are disposed between the first fixing plate 113 and the second fixing plate 123, and the first reduction gear 111 is disposed adjacent to the first fixing plate 113 and the second reduction gear 121 is disposed adjacent to the second fixing plate 123.

It should be noted that, the first reduction gear 111 and the second reduction gear 121 are disposed opposite to each other on two sides of the inner wall of the housing 130, the positions of the first reduction gear 111 and the second reduction gear 121 may affect the effect of fixing the positions of the first reduction gear 111 and the second reduction gear 121, and the positions of the first reduction gear 111 and the second reduction gear 121 are limited by the first fixing plate 113 and the second fixing plate 123.

Referring to fig. 1 and 2, it can be understood that the robot arm 100 further includes a connecting shaft 126, the first fixing plate 113, the second fixing plate 123, the first reduction gear 111, and the second reduction gear 121 are respectively penetratingly disposed at the connecting shaft 126, and the first fixing plate 113 and the second fixing plate 123 are disposed at both ends of the connecting shaft 126.

It should be noted that the first reduction gear 111 and the second reduction gear 121 are coaxially disposed opposite to each other through the connecting shaft 126, and the first fixing plate 113 and the second fixing plate 123 are respectively disposed at two ends of the connecting shaft 126, so that the first fixing plate 113 and the second fixing plate 123 have a better limiting effect on the positions of the first reduction gear 111 and the second reduction gear 121.

Referring to fig. 1 to 4, it can be understood that the manipulator 100 further includes a first control device 114 and a second control device 124, the first control device 114 and the second control device 124 are both disposed on the connecting shaft 126, the first control device 114 is disposed between the first fixing plate 113 and the first reduction gear 111 and connected to the first driving motor 110, and the first control device 114 is configured to control a start-stop state and a rotation direction of the first driving motor 110; the second control device 124 is disposed between the second fixing plate 123 and the second reduction gear 121 and connected to the second driving motor 120, and the second control device 124 is configured to control the start/stop state and the rotation direction of the second driving motor 120.

It should be noted that the first control device 114 and the second control device 124 respectively control the start-stop state, the same direction movement, or the reverse direction movement of the first driving motor 110 and the second driving motor 120 at the same time, so as to drive the first link mechanism 112 and the second link mechanism 122 to move in the same direction or in the reverse direction.

Referring to fig. 3 and 4, it can be understood that the manipulator 100 further includes a clamping mechanism 170, the clamping mechanism 170 is movably connected to the first link mechanism 112 and the second link mechanism 122, and the first driving motor 110 and the second driving motor 120 are configured to drive the clamping mechanism 170 to move by driving the first link mechanism 112 and the second link mechanism 122 to move.

In some embodiments, referring to fig. 4, a third linkage is movably connected to the end of the first linkage 112, one side of the clamping mechanism 170 is movably connected to the end of the second linkage 122, the middle of the clamping mechanism is movably connected to the end of the third linkage, and the end of the clamping mechanism 170 is provided with a collet. In other embodiments, one side of the clamping mechanism 170 is movably connected to the end of the second linkage 122, the middle portion of the clamping mechanism is movably connected to the end of the first linkage 112, and the end of the clamping mechanism 170 is provided with a collet. By providing a gripper mechanism 170 to grip the article.

Referring to fig. 2 to 4, it can be understood that the two driving assemblies are provided, and the driving directions of the two driving assemblies are opposite, the number of the gear reduction mechanisms and the number of the gripping mechanisms 170 each correspond to the number of the driving assemblies, and the two driving assemblies are used for driving the distal ends of the two gripping mechanisms 170 to approach or separate from each other.

It should be noted that, by controlling the four driving motors of the two driving assemblies to be started, the ends of the two clamping mechanisms 170 are close to each other to clamp the designated object, and after the designated object is clamped, the driving motors are continuously powered, so that the clamping mechanisms 170 maintain the clamping force on the designated object.

Referring to fig. 2 to 4, it can be understood that the two driving assemblies are a first driving assembly and a second driving assembly, respectively, the first driving assembly includes a first driving motor 110 and a second driving motor 120, the second driving assembly includes a third driving motor 140 and a fourth driving motor 150, bottoms of the first driving motor 110 and the third driving motor 140, the second driving motor 120 and the fourth driving motor 150 are respectively disposed on the same side inner wall of the housing 130, bottoms of the first driving motor 110 and the second driving motor 120, the third driving motor 140 and the fourth driving motor 150 are respectively disposed opposite to each other on both sides of the inner wall of the housing 130, a driving direction of the first driving motor 110 is opposite to that of the third driving motor 140, and a driving direction of the second driving motor 120 is opposite to that of the fourth driving motor 150.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While the foregoing is directed to the preferred embodiment of the present application, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A manipulator, characterized by comprising:

the gear reduction mechanism comprises a first reduction gear, gear teeth and a first connecting rod mechanism are respectively arranged on the outer side of the first reduction gear, the gear teeth of the first reduction gear are meshed with the gear teeth of the first driving motor, and the first reduction gear is used for reducing the rotating speed of the first driving motor and transmitting the rotating speed to the first connecting rod mechanism; wherein a diameter of the first reduction gear is larger than a diameter of the driving end of the first driving motor.

2. The manipulator according to claim 1, wherein the driving assembly further comprises a second driving motor, a driving end of the second driving motor is provided with gear teeth, the gear reduction mechanism comprises a second reduction gear, the outer side of the second reduction gear is provided with the gear teeth and a second link mechanism, respectively, and the gear teeth of the second reduction gear are meshed with the gear teeth of the second driving motor; the first reduction gear and the second reduction gear are coaxially arranged in opposite directions, the first reduction gear is close to the first driving motor, the second reduction gear is close to the second driving motor, the second driving motor is a large-torque-density output motor, and the diameter of the second reduction gear is larger than that of the driving end of the second driving motor.

3. The robot hand according to claim 2, wherein the driving manner between the first drive motor and the second drive motor is parallel drive.

4. The robot hand of claim 2, wherein the first drive motor and the second drive motor each perform torque measurements through a current loop.

5. The manipulator according to claim 2, further comprising a housing, wherein the driving ends of the first driving motor and the second driving motor respectively penetrate through inner walls of two sides of an inner cavity of the housing, the first driving motor and the second driving motor are arranged in opposite directions, and the first reduction gear and the second reduction gear are arranged in opposite directions on two sides of the inner wall of the housing.

6. The robot hand according to claim 5, wherein the housing is provided with a first fixing plate corresponding to the first reduction gear at an outer side wall corresponding to the first driving motor, the housing is provided with a second fixing plate corresponding to the second reduction gear at an outer side wall corresponding to the second driving motor, the first reduction gear and the second reduction gear are disposed between the first fixing plate and the second fixing plate, and the first reduction gear is disposed adjacent to the first fixing plate and the second reduction gear is disposed adjacent to the second fixing plate.

7. The manipulator according to claim 6, further comprising a connecting shaft, wherein the first fixing plate, the second fixing plate, the first reduction gear and the second reduction gear are respectively inserted into the connecting shaft, and the first fixing plate and the second fixing plate are disposed at two ends of the connecting shaft.

8. The manipulator according to claim 7, further comprising a first control device and a second control device, wherein the first control device and the second control device are both disposed on the connecting shaft in a penetrating manner, the first control device is disposed between the first fixing plate and the first reduction gear and connected to the first driving motor, and the first control device is configured to control a start-stop state and a rotation direction of the first driving motor; the second control device is arranged between the second fixing plate and the second reduction gear and connected with the second driving motor, and the second control device is used for controlling the starting, stopping and rotating directions of the second driving motor.

9. The manipulator according to claim 2, further comprising a clamping mechanism movably connected to the first link mechanism and the second link mechanism, respectively, wherein the first driving motor and the second driving motor are configured to drive the first link mechanism and the second link mechanism to move so as to drive the clamping mechanism to move.

10. The robot hand according to claim 9, wherein there are two driving assemblies, and the driving directions of the two driving assemblies are opposite, the number of the gear reduction mechanisms and the number of the gripping mechanisms each correspond to the number of the driving assemblies, and the two driving assemblies are used for driving the distal ends of the two gripping mechanisms to approach or move away from each other.