CN213320173U

CN213320173U - Mechanical arm

Info

Publication number: CN213320173U
Application number: CN202021804272.4U
Authority: CN
Inventors: 刘中和
Original assignee: Beijing Yuezhenzhen Technology Co ltd
Current assignee: Qingdao Gold Medal Sanwe Refrigeration Plant Co ltd
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2021-06-01
Anticipated expiration: 2030-08-25

Abstract

The utility model provides a manipulator, the manipulator includes palm structure, thumb subassembly, forefinger middle finger subassembly and third finger little finger subassembly, the thumb subassembly includes thumb first festival and thumb second festival, thumb first festival rotationally sets up on the palm structure, the thumb second festival includes the main part section, preceding protruding section and the section of bending back that connects gradually, an included angle has between the extending direction of main part section and the extending direction of preceding protruding section, an included angle has between the extending direction of preceding protruding section and the extending direction of the section of bending back, main part section and thumb first festival hinge joint; the index finger-middle finger assembly comprises two first fingers which are arranged on the palm structure side by side, and the two first fingers can be arranged in a way of being bent or unbent; the ring finger and little finger assembly comprises two second fingers which are arranged on the palm structure side by side and can be synchronously bent or straightened. By the scheme, the manipulator can reliably grasp objects with large and small sizes, and the grasping capacity of the manipulator is improved.

Description

Mechanical arm

Technical Field

The utility model relates to a manipulator technical field particularly, relates to a manipulator.

Background

In the field of manipulators, because the existing motor manufacturing technology cannot manufacture a motor with small volume and large power, in the prior art, in order to improve the force of a distal finger, a two-section finger technology that a middle finger and the distal finger are combined to form the distal finger is adopted. However, when the manipulator grips a large object, the manipulator needs to bend the distal knuckle to grip the large object. When the manipulator is used for kneading a small object, the far knuckle finger of the index finger or the middle finger needs to be straightened and attached to the far knuckle finger of the thumb as much as possible, so that the contact surface is enlarged, the friction force is improved, and the sufficient kneading force can be obtained. When the existing thumb structure is matched with the two sections, the requirements of a mechanical hand for gripping a large object and kneading a small object cannot be met.

SUMMERY OF THE UTILITY MODEL

The utility model provides a manipulator to improve the ability of the not unidimensional object of manipulator gripping.

In order to achieve the above object, the utility model provides a manipulator, include: a palm structure; the thumb assembly comprises a first thumb section and a second thumb section, wherein the first thumb section is rotatably arranged on the palm structure, the second thumb section comprises a main body section, a front convex section and a backward bending section which are sequentially connected, an included angle is formed between the extending direction of the main body section and the extending direction of the front convex section, an included angle is formed between the extending direction of the front convex section and the extending direction of the backward bending section, and the main body section is hinged with the first thumb section; the index finger-middle finger assembly comprises two first fingers arranged on the palm structure side by side, and the two first fingers can be arranged in a way of being bent or unbent; the ring finger little finger assembly comprises two second fingers arranged on the palm structure side by side, and the two second fingers can be synchronously bent or straightened.

Further, the first finger comprises a first supporting piece, a first knuckle and a second knuckle, the first supporting piece is arranged on the palm structure, the first knuckle is hinged to the first supporting piece, the second knuckle is hinged to the first knuckle, the first knuckle is of a straight rod structure, and the second knuckle is of a straight rod or a bent structure.

Further, the second finger includes second support piece, third knuckle and fourth knuckle, second support piece sets up on the palm structure, the third knuckle with second support piece is articulated, the third knuckle is straight rod-like structure, the fourth knuckle includes interconnect's first pole section and second pole section, first pole section with the contained angle has between the second pole section, first pole section with the third knuckle is articulated.

Further, the index finger and middle finger assembly further comprises a first driving module arranged on the palm structure, the first driving module comprises a first motor, a first speed reducer, a first position sensor and a first driving circuit, the first motor is in driving connection with the first speed reducer, the first speed reducer is in driving connection with two first fingers, and the first driving circuit is used for controlling the first motor.

Further, forefinger middle finger subassembly still includes first actuating lever, first wire rope, first tightwire wheel and first reset spring, first tightwire wheel rotationally sets up palm is structural, first actuating lever and two first finger is connected, first wire rope's one end with first actuating lever connects, first wire rope's the other end with first tightwire wheel connects, first reset spring's one end with first finger is connected, first reset spring's the other end with palm structural connection, first tightwire wheel can be curled up or expand when rotating first wire rope, first actuating lever is used for the drive first finger removes, first reset spring is used for making first finger resumes to straightening the state.

Further, index finger middle finger subassembly is still including setting up first drive module, first drive shaft and the first location bearing on the palm structure, first tight line wheel cover is established on the first drive shaft, first drive module with the one end of first drive shaft is connected in order to drive first tight line wheel rotates, the other end of first drive shaft is worn to establish on the first location bearing.

Furthermore, an annular limiting groove is formed in the circumferential surface of the first wire tightening wheel, a first rope threading hole and a second rope threading hole which are communicated with each other are formed in the first wire tightening wheel, an included angle between the first rope threading hole and the second rope threading hole is an acute angle, an opening of the second rope threading hole is located in the annular limiting groove, and a part of the first steel wire rope penetrates through the first rope threading hole and the second rope threading hole.

Further, the rotation axis of the first section of the thumb is mutually perpendicular to the rotation axis of the second section of the thumb, the thumb component further comprises a third driving module, a fourth driving module, a third steel wire rope and a third wire tightening wheel which are arranged on the palm structure, the third driving module is in driving connection with the first section of the thumb, the fourth driving module drives the third wire tightening wheel to rotate, one end of the third steel wire rope is connected with the second section of the thumb, and the other end of the third steel wire rope is connected with the third wire tightening wheel.

Further, the thumb component further comprises a third reset spring, a third driving shaft, a third positioning bearing, a fourth driving shaft and a fourth positioning bearing, one end of the third reset spring is connected with the first section of the thumb, the other end of the third reset spring is connected with the second section of the thumb, the third driving shaft is used for driving the first section of the thumb to rotate, the third driving module is connected with one end of the third driving shaft, the other end of the third driving shaft is arranged in the third positioning bearing in a penetrating mode, the third wire tightening wheel is arranged on the fourth driving shaft in a sleeved mode, the fourth driving module is connected with one end of the fourth driving shaft, and the other end of the fourth driving shaft is arranged in the fourth positioning bearing in a penetrating mode.

Further, the thumb assembly further comprises a first soft protective structure, and the first soft protective structure is wrapped on the first section of the thumb and the second section of the thumb; the index finger-middle finger assembly further comprises a second soft protection structure, and the second soft protection structure is wrapped on the first finger; the ring finger little finger assembly further comprises a third soft protective structure, and the third soft protective structure is wrapped on the second finger.

Further, the palm structure includes palm bottom plate and palm apron, the thumb subassembly the forefinger middle finger subassembly with the ring finger little finger subassembly all sets up on the palm bottom plate, the palm apron lid is in on the palm bottom plate, the palm bottom plate includes the bottom plate body and sets up at least one bending structure at bottom plate body border.

The technical scheme of the utility model is applied, a manipulator is provided, the manipulator comprises a palm structure, a thumb component, a forefinger-middle finger component and a ring finger-little finger component, the thumb component comprises a first section of thumb and a second section of thumb, wherein the first section of thumb is rotatably arranged on the palm structure, the second section of thumb comprises a main body section, a front convex section and a backward bending section which are sequentially connected, an included angle is formed between the extending direction of the main body section and the extending direction of the front convex section, an included angle is formed between the extending direction of the front convex section and the extending direction of the backward bending section, and the main body section is hinged with the first section of thumb; the index finger-middle finger assembly comprises two first fingers which are arranged on the palm structure side by side, and the two first fingers can be arranged in a way of being bent or unbent; the ring finger and little finger assembly comprises two second fingers which are arranged on the palm structure side by side and can be synchronously bent or straightened. Adopt this scheme, because the thumb second section is including the main part section, preceding protruding section and the section of bending backward that connect gradually, like this when the great object of gripping, the protruding section of preceding of thumb subassembly and other finger cooperation can the gripping powerful, when needs are kneaded small object, the section of bending backward of thumb subassembly and other finger cooperation can increase the contact surface, improve frictional force to obtain bigger kneading power. Therefore, by this scheme, the robot can reliably grip large-sized and small-sized objects, improving the gripping ability of the robot.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a top view of a robot provided by an embodiment of the present invention;

FIG. 2 shows a side view of the robot of FIG. 1;

FIG. 3 shows a schematic structural view of the thumb assembly of FIG. 1;

FIG. 4 shows another schematic view of the second thumb section of FIG. 3;

FIG. 5 shows a further schematic view of the second section of the thumb of FIG. 3;

FIG. 6 shows another schematic view of the robot of FIG. 1;

FIG. 7 shows a schematic structural view of the index finger-middle finger assembly of FIG. 1;

FIG. 8 shows another view of the index finger middle finger assembly of FIG. 1;

FIG. 9 is a schematic diagram of the structure of the ring finger assembly of FIG. 1;

FIG. 10 shows another view of the ring finger assembly of FIG. 1;

FIG. 11 shows a schematic construction of the first take-up pulley of FIG. 1;

FIG. 12 is a schematic view of the first soft guard structure of FIG. 1;

FIG. 13 shows a schematic view of the palm rest of FIG. 1;

FIG. 14 shows a schematic view of the palm cover of FIG. 1;

FIG. 15 shows a schematic view of the robot of FIG. 1 gripping a smaller object;

FIG. 16 shows a schematic view of the robot of FIG. 1 gripping a larger object;

FIG. 17 shows a schematic view of the robot of FIG. 1 kneading smaller objects;

FIG. 18 shows a schematic view of the robot butt plate of FIG. 1;

FIG. 19 shows a schematic view of the robot of FIG. 1 holding bowls and basins;

fig. 20 shows a schematic view of the mechanical hand weight of fig. 1.

Wherein the figures include the following reference numerals:

10. a palm structure; 11. a palm base plate; 111. a bottom plate body; 112. a bending structure; 12. a palm cover plate; 13. a linkage rod structure; 20. a thumb assembly; 21. the first section of the thumb; 22. second thumb section; 221. a main body section; 222. a front convex section; 223. a backward bending section; 231. a third driving module; 232. a fourth driving module; 24. a third wire rope; 25. a third take-up pulley; 26. a third return spring; 271. a third drive shaft; 272. a third positioning bearing; 281. a fourth drive shaft; 282. a fourth positioning bearing; 29. a first soft protection structure; 291. an adhesive layer; 292. a soft material; 293. a soft protective layer; 30. a forefinger-middle-finger assembly; 31. a first finger; 311. a first support member; 312. a first knuckle; 313. a second knuckle; 32. a first driving module; 33. a first drive lever; 34. a first wire rope; 35. a first take-up pulley; 351. an annular limiting groove; 352. a first stringing hole; 353. a second stringing hole; 36. a first return spring; 37. a first drive shaft; 38. a first positioning bearing; 40. a ring finger little finger assembly; 41. a second finger; 411. a second support member; 412. a third knuckle; 413. a fourth knuckle; 414. a first pole segment; 415. a second pole segment; 42. a second driving module; 43. a second drive lever; 44. a second wire rope; 45. a second take-up pulley; 46. a second return spring; 47. a second drive shaft; 48. a second positioning bearing.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1 to 20, an embodiment of the present invention provides a manipulator, including: a palm structure 10; the thumb assembly 20, the thumb assembly 20 includes a thumb first section 21 and a thumb second section 22, wherein the thumb first section 21 is rotatably disposed on the palm structure 10, the thumb second section 22 includes a main body section 221, a front convex section 222 and a backward bending section 223 connected in sequence, an included angle is formed between the extending direction of the main body section 221 and the extending direction of the front convex section 222, an included angle is formed between the extending direction of the front convex section 222 and the extending direction of the backward bending section 223, and the main body section 221 is hinged to the thumb first section 21; a middle finger assembly 30, the middle finger assembly 30 comprising two first fingers 31 arranged side by side on the palm structure 10, the two first fingers 31 being arranged in a co-curved or unbent manner; a ring finger assembly 40, the ring finger assembly 40 comprising two second fingers 41 arranged side by side on the palm structure 10, the two second fingers 41 being synchronously bendable or unbent.

By adopting the scheme, the thumb second section 22 comprises the main body section 221, the front convex section 222 and the backward bending section 223 which are sequentially connected, so that when a large object is gripped, the front convex section of the thumb component 20 is matched with other fingers, the large object can be gripped powerfully, when a small object needs to be kneaded, the backward bending section of the thumb component 20 is matched with other fingers, the contact surface can be increased, the friction force is improved, and therefore the larger kneading force is obtained. Therefore, by this scheme, the robot can reliably grip large-sized and small-sized objects, improving the gripping ability of the robot.

In this embodiment, the first finger 31 includes a first supporting member 311, a first knuckle 312 and a second knuckle 313, the first supporting member 311 is disposed on the palm structure 10, the first knuckle 312 is hinged to the first supporting member 311, the second knuckle 313 is hinged to the first knuckle 312, the first knuckle 312 is a straight bar structure, and the second knuckle 313 is a straight bar or a curved structure.

In this embodiment, the second finger 41 comprises a second support 411, a third knuckle 412 and a fourth knuckle 413, the second support 411 is disposed on the palm structure 10, the third knuckle 412 is hinged to the second support 411, the third knuckle 412 is a straight rod-shaped structure, the fourth knuckle 413 comprises a first rod segment 414 and a second rod segment 415 connected to each other, an included angle is formed between the first rod segment 414 and the second rod segment 415, and the first rod segment 414 is hinged to the third knuckle 412. Thus, the first finger 31 and the second finger 41 have different shapes to facilitate grasping objects of different sizes.

Optionally, the manipulator further comprises four linkage structures 13, and the four linkage structures 13 and the four fingers (i.e. the two first fingers 31 and the two second fingers 41) are connected in a one-to-one correspondence.

In this embodiment, the index finger and middle finger assembly 30 further includes a first driving module 32 disposed on the palm structure 10, the first driving module 32 includes a first motor, a first speed reducer, a first position sensor and a first driving circuit, the first motor is in driving connection with the first speed reducer, the first speed reducer is in driving connection with the two first fingers 31, and the first driving circuit is used for controlling the first motor. A plurality of structures adopt the modularized design like this, be convenient for dismouting and maintenance.

Specifically, the index finger and middle finger assembly 30 further includes a first driving rod 33, a first wire rope 34, a first wire tightening wheel 35 and a first return spring 36, the first wire tightening wheel 35 is rotatably disposed on the palm structure 10, the first driving rod 33 is connected with the two first fingers 31, one end of the first wire rope 34 is connected with the first driving rod 33, the other end of the first wire rope 34 is connected with the first wire tightening wheel 35, one end of the first return spring 36 is connected with the first finger 31, the other end of the first return spring 36 is connected with the palm structure 10, the first wire tightening wheel 35 can wind or unwind the first wire rope 34 when rotating, the first driving rod 33 is used for driving the first finger 31 to move, and the first return spring 36 is used for restoring the first finger 31 to a straightened state. When the first tightener 35 rotates, the first wire rope 34 is pulled to move, the first driving rod 33 is pulled by the first wire rope 34 to move, and then the two first fingers 31 are driven by the first driving rod 33 to move. The first finger 31 can be restored to the straightened state by the cooperation of the first return spring 36 and the first take-up pulley 35.

In this embodiment, the index finger middle finger assembly 30 further includes a first driving module 32, a first driving shaft 37 and a first positioning bearing 38 which are disposed on the palm structure 10, the first wire tightening wheel 35 is sleeved on the first driving shaft 37, one end of the first driving module 32 and one end of the first driving shaft 37 are connected to drive the first wire tightening wheel 35 to rotate, and the other end of the first driving shaft 37 penetrates through the first positioning bearing 38. The first positioning bearing 38 can support the first driving shaft 37, so that the bearing capacity of the first driving shaft 37 is improved, and the first driving shaft 37 is prevented from being deformed. Wherein the first position sensor is used to detect the rotation angle of the first driving shaft 37.

Specifically, an annular limiting groove 351 is formed in the circumferential surface of the first wire tightening wheel 35, a first rope threading hole 352 and a second rope threading hole 353 which are communicated with each other are formed in the first wire tightening wheel 35, an included angle between the first rope threading hole 352 and the second rope threading hole 353 is an acute angle, an opening of the second rope threading hole 353 is located in the annular limiting groove 351, and a part of the first steel wire rope 34 penetrates through the first rope threading hole 352 and the second rope threading hole 353. Can be convenient for wind wire rope through annular spacing groove 351, avoid wire rope to deviate from. Moreover, the first wire rope 34 is inserted into the first threading hole 352 and the second threading hole 353, the first wire rope 34 is bent, and the elastic force of the first wire rope 34 enables the first wire rope 34 to abut against the inner wall of the threading hole, so that the wire ropes are fixed.

In this embodiment, the ring finger assembly 40 further includes a second driving module 42 disposed on the palm structure 10, the second driving module 42 includes a second motor, a second speed reducer, a second position sensor and a second driving circuit, the second motor is in driving connection with the second speed reducer, the second speed reducer is in driving connection with the two second fingers 41, and the second driving circuit is configured to control the second motor. A plurality of structures adopt the modularized design like this, be convenient for dismouting and maintenance.

Specifically, the ring finger assembly 40 further includes a second driving rod 43, a second wire rope 44, a second wire tightening wheel 45 and a second return spring 46, the second wire tightening wheel 45 is rotatably disposed on the palm structure 10, the second driving rod 43 is connected to the two second fingers 41, one end of the second wire rope 44 is connected to the second driving rod 43, the other end of the second wire rope 44 is connected to the second wire tightening wheel 45, one end of the second return spring 46 is connected to the second fingers 41, the other end of the second return spring 46 is connected to the palm structure 10, the second wire tightening wheel 45 can wind or unwind the second wire rope 44 when rotating, the second driving rod 43 is used for driving the second fingers 41 to move, and the second return spring 46 is used for returning the second fingers 41 to the straightened state. When the second wire tightening wheel 45 rotates, the second wire rope 44 is pulled to move, the second wire rope 44 pulls the second driving rod 43 to move, and then the second driving rod 43 drives the two second fingers 41 to move. The second finger 41 can be restored to the straight state through the cooperation of the second return spring 46 and the second wire tightening wheel 45.

In this embodiment, the ring finger assembly 40 further includes a second driving module 42, a second driving shaft 47 and a second positioning bearing 48 which are arranged on the palm structure 10, the second wire tightening wheel 45 is sleeved on the second driving shaft 47, one end of the second driving module 42 and one end of the second driving shaft 47 are connected to drive the second wire tightening wheel 45 to rotate, and the other end of the second driving shaft 47 penetrates through the second positioning bearing 48. The second positioning bearing 48 can support the second driving shaft 47, so that the bearing capacity of the second driving shaft 47 is improved, and the deformation of the second driving shaft 47 is avoided. Wherein the second position sensor is used to detect the rotation angle of the second driving shaft 47.

In this embodiment, the rotation axis of the first thumb section 21 and the rotation axis of the second thumb section 22 are perpendicular to each other, the thumb assembly 20 further includes a third driving module 231, a fourth driving module 232, a third wire rope 24 and a third wire tightening wheel 25 which are arranged on the palm structure 10, the third driving module 231 is in driving connection with the first thumb section 21, the fourth driving module 232 drives the third wire tightening wheel 25 to rotate, one end of the third wire rope 24 is connected with the second thumb section 22, and the other end of the third wire rope 24 is connected with the third wire tightening wheel 25. The movement of the thumb component 20 in two directions is realized through the arrangement, and the movement range is large.

In this embodiment, the thumb assembly 20 further includes a third return spring 26, a third driving shaft 271, a third positioning bearing 272, a fourth driving shaft 281, and a fourth positioning bearing 282, one end of the third return spring 26 is connected to the first thumb joint 21, the other end of the third return spring 26 is connected to the second thumb joint 22, the third driving shaft 271 is used for driving the first thumb joint 21 to rotate, the third driving module 231 is connected to one end of the third driving shaft 271, the other end of the third driving shaft 271 is inserted into the third positioning bearing 272, the third take-up pulley 25 is sleeved on the fourth driving shaft 281, the fourth driving module 232 is connected to one end of the fourth driving shaft 281, and the other end of the fourth driving shaft 281 is inserted into the fourth positioning bearing 282. The third positioning bearing 272 can support the third driving shaft 271, and the fourth positioning bearing 282 can support the fourth driving shaft 281, so that the deformation of the driving shaft can be avoided, and the bearing capacity can be improved.

Optionally, in this embodiment, the thumb assembly 20 further includes a first soft protection structure 29, and the first soft protection structure 29 is wrapped on the first thumb section 21 and the second thumb section 22; the index finger and middle finger assembly 30 further comprises a second soft protective structure, and the second soft protective structure is wrapped on the first finger 31; the ring finger assembly 40 further includes a third soft guard structure that is wrapped around the second finger 41. Therefore, the damage to the object caused by the direct contact of the hard fingers and the object can be avoided, the contact area between the manipulator and the object can be increased, and the stability of grasping the object is improved.

Optionally, the soft protective structure includes an adhesive layer 291 disposed on the finger, a soft material 292 wrapping around the adhesive layer 291, and a soft protective layer 293 wrapping around the soft material 292. Specifically, the adhesive layer 291 is a silicone adhesive, the soft material 292 is a soft silicone or a foamed elastic silicone, and the soft protective layer 293 is a rubber or latex material.

In the present embodiment, the palm structure 10 includes a palm base plate 11 and a palm cover plate 12, the thumb component 20, the index finger component 30 and the ring finger component 40 are all disposed on the palm base plate 11, the palm cover plate 12 covers the palm base plate 11, and the palm base plate 11 includes a base plate body 111 and at least one bending structure 112 disposed at the edge of the base plate body 111. This allows for support and protection of a variety of structures by palm base plate 11 and palm cover plate 12. Moreover, the bending structure 112 can improve the structural strength while reducing the weight.

To facilitate understanding of the present solution, the following is further described.

To the defect among the prior art, the utility model provides an underactuated five-finger manipulator that gripping power is powerful, enough dexterity, simple structure, dependable performance, easy maintenance, with low costs.

The utility model discloses there are following multiple innovation:

in two sections finger techniques to current manipulator, can't compromise the great object of gripping and the problem of mediating less object, the utility model provides a manipulator thumb structure, its thumb fingertip adopts unique front-convex structure of bending backward, and five fingers of manipulator adopt different shape designs simultaneously. In a preferred example, the index finger, ring finger and little finger of the manipulator are designed by bending the finger tips, and the middle finger is designed by straightening the finger tips. When a large object needs to be gripped, the bent finger tips of the index finger, the ring finger and the little finger are matched with the front convex part of the finger tip of the thumb, so that powerful gripping can be realized; when a small object needs to be kneaded, the straight fingertip of the middle finger is matched with the backward bending part of the fingertip of the thumb, so that the contact surface can be enlarged, the friction force is improved, and the larger kneading force is obtained. The special front-convex backward-bending structure of the thumb fingertip and the design of the five fingers of the manipulator with different shape designs can be suitable for the manipulators with various transmission modes.

Among the prior art, the finger of manipulator metal causes human injury and mechanical damage problem easily, the utility model provides a new finger structure, the design has the soft material that the N layer thickness differs on the finger, on adhering to the finger of metal, the finger that soft material is wrapping up, the shape is also more mellow and more mellow, and the finger is softer like this, more is close human finger.

To the manipulator structure complicacy among the prior art, the unreliable problem of performance, the utility model provides a new design adopts a standardized drive module, with motor, reduction gear, position sensor, drive circuit integration in a module, the module of standardized production, the dependable performance, installation and cost of maintenance are low. Meanwhile, output shafts of all the driving modules are provided with output shaft positioning bearings, so that when large tensile force is output, the driving modules cannot cause gear damage due to inclined deformation of the output shafts, and the mechanical transmission is reliable.

To in the current tendon (rope) transmission manipulator technique, the wire rope installation is complicated, the easy problem that drops from the pulley disc, the utility model provides a new pulley disc (tight line wheel promptly) structure, the fixed mode of wire rope on the pulley disc is not only reliable but also succinct. Meanwhile, the shortest rope mounting mode is adopted, and the steel wire rope cannot fall off in normal work. If the wire rope falls off accidentally, the wire rope naturally returns without manual repair as long as the motor rotates to the finger-released state.

To prior art in, manipulator self weight too big problem, the utility model provides a palm bottom plate structure, palm bottom plate design become two right angles and bend, have increased two strengthening ribs in other words, have greatly improved the structural performance of bottom plate.

The beneficial effects of this scheme are embodied in:

firstly, both the gripping force and the kneading force

In order to meet different use functions, the five fingers adopt different shape designs, and in the scheme, the index finger, the ring finger and the little finger adopt fingertip bending designs; the middle finger adopts a finger tip straightening design; the thumb fingertip adopts an independent front convex and back bending design, so that different actions such as grabbing a larger object and kneading a smaller object can be well considered.

When a large object needs to be gripped, the bent finger tips of the index finger, the ring finger and the little finger are matched with the front convex part of the finger tip of the thumb, so that powerful gripping can be realized; when a small object needs to be kneaded, the straight fingertip of the middle finger is matched with the backward bending part of the fingertip of the thumb, so that the contact surface can be enlarged, the friction force is improved, and the larger kneading force is obtained.

Secondly, the fingers are softer and more close to human beings

In order to reduce human body injuries and mechanical damages caused by accidental collisions and increase the gripping friction force of fingers, each finger is provided with a layer of soft material with different thicknesses and attached to the metal fingers, and the fingers wrapped by the soft material are more round in shape, so that the fingers are softer and are closer to human beings.

Simple structure, reliable performance, convenient maintenance and low cost

The driving module adopts a standardized module design, integrates the motor, the speed reducer, the position sensor and the driving circuit into one module, is favorable for standardized production of the module, and has reliable performance and low installation and maintenance cost. Output shafts of all the driving modules are provided with output shaft positioning bearings, so that when large tensile force is output, the driving modules cannot cause gear damage due to inclined deformation of the output shafts, and the mechanical transmission is reliable.

Fourthly, the mode of fixing the wire rope by the pulley disc is reliable and simple, and the wire rope can naturally return to the original position after falling off by accident

The new wire rope fixing mode of the pulley plate is reliable and simple. In order to prevent the wire rope from falling off from the pulley disc, the shortest rope is adopted for installation, and the wire rope naturally returns without manual repair as long as the motor rotates to a finger release state.

Fifthly, the weight of the palm bottom plate is reduced

The palm bottom plate is designed into two right angles and is bent, two reinforcing ribs are equivalently added, and the structural performance of the bottom plate is greatly improved.

The manipulator has the following working modes:

when a small and medium object needs to be gripped, the first driving module drives the first steel wire rope to pull the double-finger synchronous driving type structure to move downwards and rightwards, meanwhile, the second driving module also drives the second steel wire rope to pull the double-finger synchronous driving type structure to move downwards and rightwards, a downward force and a leftward force are jointly given to the object, and due to the rigid support of the force bearing structural member, the object is tightly gripped by the two opposite forces, so that a strong gripping force is formed. Meanwhile, the third wire rope is driven by the third driving module forward to the thumb, the second section of the thumb is pulled to move downwards and leftwards through the pulley to squeeze an object, and a downward force and a leftward force are given to the object, so that the gripping force of the object is further enhanced.

When the object is loosened, the first driving module rotates reversely, the first steel wire rope is loosened, and the double-finger synchronous driving type structure returns to a straight state under the traction of the reset spring. The second driving module also rotates reversely, the second steel wire rope is loosened, and the double-finger synchronous driving type structure returns to a straight state under the traction of the reset spring. The third driving module rotates reversely, the third steel wire rope is loosened, and the second section of the thumb returns to a vertically upward state under the traction of the return spring.

When the thumb needs to move transversely and be positioned, the fourth driving module rotates to drive the first section of the thumb to rotate to a preset angle, and the second section of the thumb is matched to complete gripping, kneading or five-finger stretching and palm changing actions.

When a large object needs to be grasped, the bent fingertips of the index finger, the ring finger and the little finger are matched with the front convex part of the fingertips of the thumb by controlling the relative movement of the index finger-middle finger assembly, the ring finger-little finger assembly and the thumb assembly, so that the large object can be grasped powerfully.

When a small object needs to be kneaded, the straight fingertip of the middle finger is matched with the backward bending part of the fingertip of the thumb by controlling the relative movement of the index finger-middle finger component, the ring finger-little finger component and the thumb component, so that the contact surface can be enlarged, the friction force is improved, and a larger kneading force is obtained.

When the plate-like object needs to be flatly held, the palm and the four fingers are flatly held at the bottom of the plate by controlling the relative movement of the index finger-middle finger assembly, the ring finger-little finger assembly and the thumb assembly, and the front convex part of the thumb finger tip presses the edge of the plate, so that the plate can be stably held. Similarly, when objects such as bowls and basins need to be held and heavy objects need to be lifted, the operation can be well completed by matching five fingers.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator, characterized by comprising:

a palm structure (10);

a thumb assembly (20), wherein the thumb assembly (20) comprises a first thumb section (21) and a second thumb section (22), the first thumb section (21) is rotatably arranged on the palm structure (10), the second thumb section (22) comprises a main body section (221), a front convex section (222) and a backward convex section (223) which are sequentially connected, an included angle is formed between the extending direction of the main body section (221) and the extending direction of the front convex section (222), an included angle is formed between the extending direction of the front convex section (222) and the extending direction of the backward convex section (223), and the main body section (221) is hinged to the first thumb section (21);

an index finger-middle finger assembly (30), said index finger-middle finger assembly (30) comprising two first fingers (31) arranged side by side on said palm structure (10), said two first fingers (31) being co-curvable or unbent;

a ring finger assembly (40), said ring finger assembly (40) comprising two second fingers (41) arranged side by side on said palm structure (10), said two second fingers (41) being synchronously bendable or unbendable.

2. The manipulator according to claim 1, characterized in that the first finger (31) comprises a first support (311), a first knuckle (312) and a second knuckle (313), the first support (311) being arranged on the palm structure (10), the first knuckle (312) being hinged to the first support (311), the second knuckle (313) being hinged to the first knuckle (312), the first knuckle (312) being a straight bar structure, the second knuckle (313) being a straight bar or a curved structure.

3. A manipulator according to claim 1, characterized in that the second finger (41) comprises a second support (411), a third knuckle (412) and a fourth knuckle (413), the second support (411) being arranged on the palm structure (10), the third knuckle (412) being hinged to the second support (411), the third knuckle (412) being a straight bar structure, the fourth knuckle (413) comprising a first bar section (414) and a second bar section (415) connected to each other, the first bar section (414) and the second bar section (415) having an angle therebetween, the first bar section (414) and the third knuckle (412) being hinged.

4. The manipulator according to claim 1, characterized in that the index-middle finger assembly (30) further comprises a first driving module (32) disposed on the palm structure (10), the first driving module (32) comprises a first motor, a first decelerator, a first position sensor and a first driving circuit, the first motor and the first decelerator are in driving connection, the first decelerator and two first fingers (31) are in driving connection, and the first driving circuit is used for controlling the first motor.

5. The manipulator according to claim 1, wherein the index finger-middle finger assembly (30) further comprises a first driving lever (33), a first wire rope (34), a first wire tightening wheel (35) and a first return spring (36), the first wire tightening wheel (35) is rotatably disposed on the palm structure (10), the first driving lever (33) is connected with the two first fingers (31), one end of the first wire rope (34) is connected with the first driving lever (33), the other end of the first wire rope (34) is connected with the first wire tightening wheel (35), one end of the first return spring (36) is connected with the first finger (31), the other end of the first return spring (36) is connected with the palm structure (10), the first wire tightening wheel (35) can roll up or unroll the first wire rope (34) when rotating, the first driving rod (33) is used for driving the first finger (31) to move, and the first return spring (36) is used for enabling the first finger (31) to return to a straightened state.

6. The manipulator according to claim 5, wherein the index finger-middle finger assembly (30) further comprises a first driving module (32), a first driving shaft (37) and a first positioning bearing (38) which are arranged on the palm structure (10), the first tightener wheel (35) is sleeved on the first driving shaft (37), one end of the first driving module (32) and one end of the first driving shaft (37) are connected to drive the first tightener wheel (35) to rotate, and the other end of the first driving shaft (37) penetrates through the first positioning bearing (38).

7. The manipulator according to claim 5, wherein the circumferential surface of the first wire tightening wheel (35) is provided with an annular limiting groove (351), the first wire tightening wheel (35) is internally provided with a first wire threading hole (352) and a second wire threading hole (353) which are communicated with each other, an included angle between the first wire threading hole (352) and the second wire threading hole (353) is an acute angle, an opening of the second wire threading hole (353) is positioned in the annular limiting groove (351), and a part of the first steel wire rope (34) is threaded in the first wire threading hole (352) and the second wire threading hole (353).

8. The manipulator according to claim 1, wherein the rotation axis of the first thumb section (21) and the rotation axis of the second thumb section (22) are perpendicular to each other, the thumb assembly (20) further comprises a third driving module (231), a fourth driving module (232), a third wire rope (24) and a third wire tightening wheel (25) which are arranged on the palm structure (10), the third driving module (231) is in driving connection with the first thumb section (21), the fourth driving module (232) drives the third wire tightening wheel (25) to rotate, one end of the third wire rope (24) is connected with the second thumb section (22), and the other end of the third wire rope (24) is connected with the third wire tightening wheel (25).

9. The manipulator according to claim 8, wherein the thumb assembly (20) further comprises a third return spring (26), a third driving shaft (271), a third positioning bearing (272), a fourth driving shaft (281), and a fourth positioning bearing (282), one end of the third return spring (26) is connected to the first thumb joint (21), the other end of the third return spring (26) is connected to the second thumb joint (22), the third driving shaft (271) is used for driving the first thumb joint (21) to rotate, the third driving module (231) is connected to one end of the third driving shaft (271), the other end of the third driving shaft (271) is inserted into the third positioning bearing (272), the third spinning wheel (25) is sleeved on the fourth driving shaft (281), and the fourth driving module (232) is connected to one end of the fourth driving shaft (281), the other end of the fourth driving shaft (281) is inserted into the fourth positioning bearing (282).

10. The manipulator according to claim 1, wherein the palm structure (10) comprises a palm base plate (11) and a palm cover plate (12), the thumb assembly (20), the index finger assembly (30) and the ring finger assembly (40) are all disposed on the palm base plate (11), the palm cover plate (12) covers the palm base plate (11), and the palm base plate (11) comprises a base plate body (111) and at least one bending structure (112) disposed at the edge of the base plate body (111).