CN218507023U - Mechanical arm - Google Patents

Abstract

The utility model relates to the technical field of medical equipment, a manipulator is disclosed. The manipulator includes: the device comprises a shell assembly, a driving piece, a moving transmission assembly, a rotating transmission assembly, a limiting assembly and two grabbing assemblies; when the driving piece drives the movable transmission assembly to rotate around the first axis, the two grabbing assemblies move relative to the limiting assembly along the second direction until the movable transmission assembly abuts against the end part of the rotating groove, and the movable transmission assembly drives the rotary transmission assembly to rotate around the first axis so as to drive the two grabbing assemblies to rotate around the first axis; the first axis is parallel to the first direction and perpendicular to the second direction. In this way, the utility model discloses can realize snatching the linkage of rotation action or snatch alone, be favorable to improving the functionality of manipulator.

Description

Mechanical arm

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a manipulator.

Background

In an in vitro diagnosis assembly line, a manipulator for realizing the grabbing and transferring functions is a key part for serially connecting a sample pretreatment system, an analyzer and a sample post-treatment system. The robotic arm frequently needs to grasp and transfer blood collection tubes, sample tube racks, or centrifuge tube trays from one location to another for the remainder of the line to further manipulate the objects.

The manipulator in the present in-vitro diagnosis assembly line is complex in structure generally for realizing the grabbing function, and the linkage among all parts of the manipulator is poor, so that the manipulator is easy to break down in high-strength operation, and the reliability of the manipulator is influenced. Moreover, the manipulator can only realize the grabbing function usually, and the function is single.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a manipulator can realize snatching the linkage of rotation action or snatch alone, is favorable to improving the functional of manipulator.

In order to achieve the above purpose, the utility model adopts the technical scheme that: a robot is provided. The manipulator includes: the device comprises a shell assembly, a driving piece, a moving transmission assembly, a rotating transmission assembly, a limiting assembly and two grabbing assemblies; the driving part is arranged on the shell component, and the movable transmission component is in transmission connection with the driving part; the rotary transmission component is provided with a rotary groove, and the movable transmission component is embedded in the rotary groove; the limiting assembly is arranged on one side of the shell assembly, which is far away from the driving piece; the two grabbing components are in transmission connection with the movable transmission component and the rotary transmission component and are movably arranged on the limiting component; the driving piece, the shell assembly and the two grabbing assemblies are sequentially arranged along a first direction; when the driving piece drives the movable transmission assembly to rotate around the first axis, the two grabbing assemblies move relative to the limiting assembly along the second direction until the movable transmission assembly abuts against the end part of the rotating groove, and the movable transmission assembly drives the rotary transmission assembly to rotate around the first axis so as to drive the two grabbing assemblies to rotate around the first axis; the first axis is parallel to the first direction and perpendicular to the second direction.

In one embodiment of the present invention, the rotary drive assembly includes a rotary bracket; the movable transmission assembly comprises a transmission shaft, a movable bracket and a first transmission piece, and the movable bracket is in transmission connection with the driving piece through the transmission shaft; a rotating groove is formed in one side, facing the moving support, of the rotating support, and the first transmission piece is arranged on the moving support and is rotatably embedded into the rotating groove; when the driving piece drives the transmission shaft to rotate, the movable support rotates along with the transmission shaft and drives the first transmission piece to rotate relative to the rotating groove until the first transmission piece abuts against the end part of the rotating groove, and the rotating support is driven to rotate synchronously.

In an embodiment of the present invention, the number of the first transmission members is two, and the number of the rotation grooves is two; the two rotating grooves are arranged around the first axis; the relative direction, the first direction and the second direction of the two first transmission pieces are perpendicular to each other.

In an embodiment of the present invention, the movable transmission assembly further includes a plurality of transmission gears and a driven shaft, and an axial direction of the driven shaft is parallel to the first direction; the transmission gears are meshed and arranged on one side of the rotating bracket, which is far away from the rotating groove; the rotating bracket and the driven shaft are respectively in transmission connection with different transmission gears; the driven shaft is arranged on one side of the rotary transmission assembly, which faces the shell assembly, and is in threaded connection with the shell assembly.

In an embodiment of the present invention, the plurality of transmission gears includes a first transmission gear and a second transmission gear; the rotating bracket comprises a main body part and a step part, and the step part is convexly arranged on one side of the main body part, which is far away from the first transmission piece; the first transmission gear is sleeved on the step part and is in transmission connection with the rotating support, and the driven shaft is in transmission connection with the second transmission gear.

In an embodiment of the present invention, the housing assembly includes a first housing and a second housing, the second housing is disposed on a side of the first housing away from the driving member; the step part is rotatably arranged in the second shell in a penetrating way, and the main body part and the first transmission gear are positioned at two sides of the second shell; the movable support is arranged on one side, away from the driving piece, of the rotating support, and the transmission shaft is rotatably arranged on the main body portion and the step portion in a penetrating mode.

In an embodiment of the present invention, the housing assembly further includes a movable housing, and the movable housing is movably connected to the first housing; the driven shaft movably penetrates through the second shell and is in threaded fit with the movable shell; when the driven shaft rotates, the movable shell and the driven shaft move relatively along the first direction.

In an embodiment of the present invention, the housing assembly further includes a guiding member, the guiding member is disposed on the first housing, and the movable housing is movably sleeved on the guiding member; one side of the guide piece facing the driven shaft is provided with a first abutting surface, one side of the driven shaft facing the guide piece is provided with a second abutting surface, and the movable shell moves between the first abutting surface and the second abutting surface.

In an embodiment of the present invention, the limiting component includes two limiting brackets, an elastic member and a guide rail; the two limiting brackets are respectively connected with two sides of the rotary transmission assembly in the second direction; the guide rail is arranged between the two limiting brackets, and the grabbing component is movably arranged on the guide rail; the two grabbing components are connected through an elastic piece; the movable transmission assembly comprises a transmission shaft, a movable bracket and two second transmission parts; the movable support is in transmission connection with the driving piece through a transmission shaft, and the second transmission piece is arranged on one side of the movable support, which faces the grabbing assembly; when the manipulator is in an initial state, the two second transmission pieces are respectively abutted to the two grabbing assemblies, and the elastic restoring force of the elastic piece is used for enabling the two grabbing assemblies to have a tendency of moving towards each other.

The utility model discloses an in one embodiment, snatch the subassembly and include the connecting piece and grab the piece, spacing subassembly is located to the connecting piece, snatchs a detachably and locates one side that spacing subassembly was kept away from to the connecting piece.

Compared with the prior art, the utility model discloses when removing the tip that transmission assembly did not the butt in the rotation groove, remove the subassembly and rotate around the primary axis, drive two and snatch the subassembly and remove along the first direction, realize two and snatch the subassembly orientation and move each other/the orientation is kept away from each other's direction motion. When the movable transmission component is abutted against the end part of the rotating groove, the movable transmission component can drive the rotating transmission component to rotate so as to drive the two grabbing components to rotate around the first axis, and further drive the grabbed object to rotate. If, the utility model discloses the manipulator can realize snatching the linkage of rotation action or snatch alone, is favorable to improving the functional of manipulator.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of the robot of the present invention;

FIG. 2 isbase:Sub>A schematic cross-sectional view of the robot shown in FIG. 1 taken along the line A-A;

FIG. 3 is an exploded view of the robot of FIG. 1;

fig. 4 is a schematic structural view of an embodiment of the rotating bracket and the first transmission member of the present invention;

fig. 5 is a schematic structural view of an embodiment of the movable housing, the guide member and the driven shaft of the present invention;

fig. 6a-6d are schematic diagrams of application scenarios of the grasping assembly of the present invention.

Detailed Description

The technical solution of the present invention will be described clearly and completely through the following detailed description. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. 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.

For solving the technical problem of medical instrument field manipulator function singleness among the prior art, the utility model provides a manipulator. The manipulator comprises a shell assembly, a driving piece, a moving transmission assembly, a rotating transmission assembly, a limiting assembly and two grabbing assemblies; when the driving part drives the transmission assembly to rotate around the first axis, the two grabbing assemblies move relative to the limiting assembly along the second direction until the movable transmission assembly abuts against the end part of the rotating groove, and the movable transmission assembly drives the rotary transmission assembly to rotate around the first axis so as to drive the two grabbing assemblies to rotate around the first axis; the first axis is parallel to the first direction and perpendicular to the second direction. The present invention will be described in detail below.

Referring to fig. 1 to 4, fig. 1 isbase:Sub>A schematic structural diagram of an embodiment ofbase:Sub>A robot of the present invention, fig. 2 isbase:Sub>A schematic sectional structural diagram of the robot shown in fig. 1 alongbase:Sub>A directionbase:Sub>A-base:Sub>A, fig. 3 isbase:Sub>A schematic structural diagram of the robot shown in fig. 1, and fig. 4 isbase:Sub>A schematic structural diagram of an embodiment ofbase:Sub>A rotating bracket andbase:Sub>A first transmission member of the present invention.

In one embodiment, the robot includes a housing assembly 10, a drive member 20, a movement transmission assembly 30, a rotation transmission assembly 40, a position limiting assembly 50, and two grasping assemblies 60.

The housing assembly 10 is capable of carrying and protecting other components of the robot.

The driving member 20 is disposed on the housing assembly 10, and the movement transmission assembly 30 is in transmission connection with the driving member 20.

The rotation transmission assembly 40 is provided with a rotation groove 401, and the movement transmission assembly 30 is movably inserted into the rotation groove 401.

The limiting assembly 50 is disposed on a side of the housing assembly 10 away from the driving member 20.

And the two grabbing components 60 are in transmission connection with the moving transmission component 30 and the rotating transmission component 40 and are movably arranged on the limiting component 50. The driving member 20, the housing assembly 10 and the two gripper assemblies 60 are arranged in sequence along the first direction X.

When the driving member 20 drives the moving transmission assembly 30 to rotate around the first axis, the two grabbing assemblies 60 move in the second direction Y relative to the limiting assembly 50. The first axis is parallel to the first direction X, and the second direction Y is perpendicular to the first direction X.

The movement transmission assembly 30 can move relative to the rotation groove 401 while rotating around the first axis. When the movable transmission assembly 30 abuts against the end of the rotating groove 401 and the movable transmission assembly 30 continues to rotate around the first axis, the rotary transmission assembly 40 can be synchronously driven to rotate around the first axis, so as to drive the two grabbing assemblies 60 to rotate around the first axis, and synchronously drive the object grabbed by the grabbing assemblies 60 to rotate around the first axis. For example, when grabbing the rotation linkage, the manipulator can realize separating test tube and tube cap, and the like, and the description is omitted here.

In this embodiment, when the moving transmission assembly 30 is not abutted against the end of the rotating slot 401, the moving assembly rotates around the first axis to drive the two grabbing assemblies 60 to move along the first direction X, so as to realize the movement of the two grabbing assemblies 60 toward/away from each other. When the movable transmission assembly 30 abuts against the end of the rotating slot 401, the movable transmission assembly 30 can drive the rotating transmission assembly 40 to rotate, so as to drive the two grabbing assemblies 60 to rotate around the first axis, and further drive the grabbed objects to rotate. Therefore, the manipulator in the embodiment can realize the linkage of the grabbing rotation action or grab the manipulator independently, and the improvement of the functionality of the manipulator is facilitated.

Please continue to refer to fig. 1-4. In one embodiment, the rotation transmission assembly 40 includes a rotation bracket 41. The moving transmission assembly 30 includes a transmission shaft 31, a moving bracket 32 and a first transmission member 33.

The transmission shaft 31 and the output end of the driving member 20 may be directly connected in a transmission manner, or may be connected in a transmission manner through a coupling member 311 such as a coupler, so as to ensure a reliable transmission connection therebetween.

The movable bracket 32 is in transmission connection with the driving member 20 through a transmission shaft 31.

The rotating bracket 41 has a rotating groove 401 on a side facing the moving bracket 32, and the first transmission member 33 is provided on the moving bracket 32 and is rotatably fitted into the rotating groove 401.

When the driving member 20 drives the transmission shaft 31 to rotate, the movable bracket 32 rotates accordingly, and the first transmission member 33 disposed on the movable bracket 32 rotates relative to the rotation groove 401 of the rotating bracket 41. When the driving member 20 continues to drive the transmission shaft 31 to rotate until the first transmission member 33 abuts against the end of the rotation slot 401, the moving bracket 32 rotates to synchronously drive the rotating bracket 41 to synchronously rotate, and further, the two grabbing assemblies 60 are driven to rotate around the first axis.

Further, the number of the first transmission members 33 may be two, and accordingly, the number of the rotation slots 401 is two, so as to facilitate maintaining stability during rotation and facilitate reliably rotating the rotating bracket 41. Wherein, the two rotating grooves 401 are arranged around a first axis; the opposing directions of the two first transmission members 33, the first direction X, and the second direction Y are perpendicular to each other.

Alternatively, in order to reduce the limitation on the driving direction of the driving member 20 when the robot arm is initially operated in the embodiment, the initial position of the first transmission member 33 may be at an intermediate position of the rotation slot 401, so that the grasping assemblies 60 can be moved toward each other when the driving member 20 of the robot arm is initially operated, regardless of forward rotation or reverse rotation. And when the manipulator finishes the current grabbing/grabbing rotation action, the driving part 20 can be controlled to drive the first transmission part 33 to reset to the initial position so as to facilitate the next use.

Please continue to refer to fig. 1 to fig. 3. In one embodiment, the movement transmission assembly 30 further includes a plurality of transmission gears and a driven shaft 34, and an axial direction of the driven shaft 34 is parallel to the first direction X.

A plurality of transmission gears are meshed and arranged on one side of the rotating bracket 41, which is far away from the rotating groove 401. The rotating bracket 41 and the driven shaft 34 are respectively in transmission connection with different transmission gears. The driven shaft 34 is provided on the side of the rotation transmission assembly facing the housing assembly 10, and is threadedly coupled to the housing assembly 10.

Alternatively, the rotating bracket 41 is in transmission connection with the driven shaft 34 through an even number of transmission gears.

For example, the plurality of transmission gears may include a first transmission gear 35 and a second transmission gear 36.

The rotating bracket 41 includes a body portion 411 and a step portion 412. The step portion 412 is protruded from a side of the main body portion 411 away from the first transmission member 33. The first transmission gear 35 is sleeved on the step portion 412 and is in transmission connection with the rotating bracket 41, and the driven shaft 34 is in transmission connection with the second transmission gear 36.

Please refer to fig. 1, fig. 2, fig. 3 and fig. 5, fig. 5 is a schematic structural diagram of an embodiment of the movable housing, the guiding element and the driven shaft of the present invention.

In one embodiment, the housing assembly 10 includes a first housing 11 and a second housing 12.

The second housing 12 is arranged on the side of the first housing 11 facing away from the drive element 20.

The step portion 412 is rotatably inserted into the second housing 12, and the main body portion 411 and the first transmission gear 35 are located on two sides of the second housing 12. The movable support 32 is disposed on one side of the rotating support 41 away from the driving element 20, and the transmission shaft 31 is rotatably disposed through the main body 411 and the step portion 412, so as to improve the compactness of each component of the manipulator, facilitate the reduction of the volume of the manipulator, and enrich the application scenarios of the manipulator.

Optionally, the rotation transmission assembly 40 further includes a bearing, and the transmission shaft 31 is sleeved with the bearing and penetrates through the rotation bracket 41 to facilitate reducing the friction force therebetween.

Further, the housing assembly 10 further includes a movable housing 13, and the movable housing 13 is movably connected to the first housing 11.

The driven shaft 34 is movably disposed through the second housing 12 and threadedly engaged with the movable housing 13. When the driven shaft 34 rotates, the movable housing 13 and the driven shaft 34 move relatively along the first direction X, so as to drive the grabbing component 60 to move along the first direction X.

Still further, the housing assembly 10 also includes a guide 14. The guide 14 is arranged on the first housing 11, the movable housing 13 is movably sleeved on the guide 14, and the guide 14 can limit the moving direction of the movable housing 13.

Optionally, one side of the guide 14 facing the driven shaft 34 has a first abutting surface, one side of the driven shaft 34 facing the guide 14 has a second abutting surface, and the movable housing 13 moves between the first abutting surface and the second abutting surface to limit the movement range of the movable housing 13 driving the grabbing component 60 along the first direction X, which is beneficial to realizing precise rotational positioning.

Please continue to refer to fig. 1 to fig. 3. In one embodiment, the spacing assembly 50 includes two spacing brackets 51, an elastic member 52, and a guide rail 53. The movement transmission assembly 30 also comprises two second transmission members 37.

The two limit brackets 51 are respectively connected with two sides of the rotary transmission assembly in the second direction Y. The guide rail 53 is arranged between the two limit brackets 51, and the grabbing component 60 is movably arranged on the guide rail 53. The two gripper assemblies 60 are connected by the elastic member 52.

The movable support 32 is in transmission connection with the driving member 20 through a transmission shaft 31, and a second transmission member 37 is disposed on a side of the movable support 32 facing the grasping assembly 60.

When the robot is in the initial state, the two second transmission members 37 respectively abut against the two gripper assemblies 60, and the elastic restoring force of the elastic member 52 is used to make the two gripper assemblies 60 have a tendency to move toward each other.

Alternatively, in the initial state, the relative direction of the two second transmission members 37 may be perpendicular to the relative direction of the two first transmission members 33.

Referring to fig. 1, fig. 2, fig. 3 and fig. 6a to 6d, fig. 6a to 6d are schematic views illustrating application scenarios of the grabbing component of the present invention.

In one embodiment, the grasping assembly 60 includes a connector 61 and a grasping element 62.

The connecting piece 61 is arranged on the limiting component 50, and the grabbing piece 62 is detachably arranged on one side of the connecting piece 61 far away from the limiting component 50. Alternatively, the connecting member 61 may be sleeved on the guide rail 53 by a sliding bearing 611.

Wherein the number of gripping members 62 may be at least one, different gripping members 62 being adapted to accommodate different profiles of different objects to be gripped. Wherein the side of the grabbing part 62 facing the grabbing part 62 of the other grabbing assembly 60 may be further provided with an anti-slip pad 621 to facilitate reliable grabbing of the object to be grabbed.

The connecting member 61 may have a first connecting groove and a second connecting groove for embedding the elastic member 52 and the sliding bearing 611, respectively.

As illustrated in fig. 6a-6d, the appropriate gripping member 62 may be adaptively replaced when the gripping assembly 60 grips a different article. Fig. 6a-6d show, by way of example, the shape of the gripping elements 62 that are suitable for use when the objects to be gripped are sample holders, test tubes, centrifuge trays, cuvettes, respectively.

Therefore, the utility model discloses the manipulator has advantages such as simple structure, dependable performance to the manipulator has good functionality, and improves the integrated level of manipulator through reasonable structural design.

In summary, the working process of the manipulator of the present invention is described below by way of example.

The manipulator can be internally provided with a controller. The controller sends a signal to the driving part to control the driving part to rotate, and the power is transmitted by the coupler to drive the transmission shaft to rotate. The transmission shaft and the movable support are fixedly connected, and the movable support rotates synchronously to drive the first transmission piece and the second transmission piece which are arranged on the movable support to rotate around the central axis of the transmission shaft.

Because under initial condition, the elastic component is in tensile state, consequently at the rotatory in-process of second driving medium, the subassembly of snatching can keep contacting with the second driving medium under the effect of elastic recovery power, accomplishes two synchronous approaching of tongs subassembly then. It is to be noted that when the gripping members contact/grip the object to be gripped during the approaching process, the object can no longer be further approached against the elastic restoring force of the elastic member. The second transmission piece can continue to rotate and is separated from the grabbing components, when the grabbing components need to be separated from each other, the driving piece is controlled to rotate towards the reverse direction, and then the second transmission piece rotates along with the reverse direction until the initial state is recovered.

And when the manipulator finishes grabbing and starts to rotate, the grabbing parts are close to each other, the first transmission piece and the second transmission piece which are connected with the upper surface of the movable support are in the same rotating state, and when the second transmission piece rotates by 90 degrees, the transmission pin shaft 12 also rotates by 90 degrees. The first transmission piece is contacted with the end part of the rotating groove of the rotating bracket.

At the moment, when the driving piece continuously rotates towards the same direction, the rotating bracket starts to rotate under the driving of the transmission shaft, and the grabbing component completing the grabbing action also starts to rotate along with the rotating bracket, the limiting bracket, the guide rail and the grabbing component due to the connection relation. Thus, the rotation action of the manipulator is realized.

And a first transmission gear is fixedly arranged on the outer side of the rotating bracket, and the first transmission gear and the second transmission gear are meshed. When the rotating bracket rotates, the first transmission gear synchronously rotates to drive the second transmission gear to rotate, and the screw driven shaft fixedly connected with the first transmission gear also rotates along with the second transmission gear.

The driven shaft and the movable shell are in threaded connection, and the movable shell is connected with two groups of guide pieces. Therefore, when the driven shaft rotates, the movable shell moves in the vertical direction under the limit of the guide piece. In addition, the tip of guide and the middle part of driven shaft all are equipped with the border of outside extension, form first butt face and second butt face respectively promptly, can restrict the range of motion of movable shell in the vertical direction. When the movable housing is moved to the extreme position of the upper end or the lower end, the movable housing position may be fixed. The driven shaft and the movable shell are locked through threaded connection, the driven shaft does not rotate any more, the second transmission gear fixedly connected with the driven shaft does not rotate any more, and due to the existence of the meshing relationship of the gears, the rotation brake of the rotating support is realized.

The gear mesh relationship can be quantitatively described in terms of gear ratio, and different sized threads have a pitch that is a constant amount. Therefore, the number relation between the transmission ratio and the thread pitch can be reasonably set, the driven shaft can synchronously reach the limit position when the rotating bracket rotates back to the initial position after the rotating bracket rotates for a certain number of turns from the initial position, and the accurate rotating positioning of the rotating bracket is realized. Specifically, the numerical relationship between gear ratio and pitch may be as follows:

η＝Z ₁ /Z ₂ (formula 1-1)

S = m.eta.P (formula 1-2)

Wherein, Z ₁ The number of teeth of the first transmission gear; z ₂ The number of teeth of the second transmission gear; eta is the transmission ratio; m is a first transmission gearThe number of moving turns; p is the thread pitch, namely the distance moved by a point on the thread when the point rotates for one circle; and S is the moving distance of the second transmission gear in the first direction. When the first transmission gear rotates m circles, the second transmission gear rotates m.eta circles, and the number of the rotation circles of the second transmission gear is the same as that of the rotation circles of the driven shaft transmission shaft.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A manipulator, characterized by comprising:

a housing assembly;

the driving part is arranged on the shell component, and the movable transmission component is in transmission connection with the driving part; the rotary transmission assembly is provided with a rotary groove, and the movable transmission assembly is embedded in the rotary groove;

the limiting assembly is arranged on one side, away from the driving piece, of the shell assembly;

the two grabbing components are in transmission connection with the movable transmission component and the rotary transmission component and are movably arranged on the limiting component; the driving piece, the shell assembly and the two grabbing assemblies are sequentially arranged along a first direction;

when the driving piece drives the movable transmission assembly to rotate around a first axis, the two grabbing assemblies move relative to the limiting assembly along a second direction until the movable transmission assembly abuts against the end part of the rotating groove, and the movable transmission assembly drives the rotary transmission assembly to rotate around the first axis so as to drive the two grabbing assemblies to rotate around the first axis; the first axis is parallel to the first direction and perpendicular to the second direction.

2. The robot of claim 1, wherein the rotary drive assembly includes a rotary bracket;

the movable transmission assembly comprises a transmission shaft, a movable bracket and a first transmission piece, and the movable bracket is in transmission connection with the driving piece through the transmission shaft; the first transmission piece is arranged on the movable support and can be embedded into the rotating groove in a rotating mode; when the driving piece drives the transmission shaft to rotate, the movable support rotates along with the transmission shaft and drives the first driving piece to rotate relative to the rotating groove until the first driving piece abuts against the end part of the rotating groove, and the rotating support is driven to rotate synchronously.

3. The robot hand according to claim 2, wherein the number of the first transmission members is two, and the number of the rotation grooves is two; the two rotating grooves are arranged around the first axis; the relative directions of the two first transmission pieces, the first direction and the second direction are perpendicular to each other.

4. The robot hand of claim 2, wherein the movement transmission assembly further comprises a plurality of transmission gears and a driven shaft, an axial direction of the driven shaft being parallel to the first direction; the transmission gears are meshed and arranged on one side, away from the rotating groove, of the rotating support; the rotating bracket and the driven shaft are respectively in transmission connection with different transmission gears; the driven shaft is arranged on one side, facing the shell component, of the rotary transmission component and is in threaded connection with the shell component.

5. The robot hand of claim 4, wherein the plurality of drive gears includes a first drive gear and a second drive gear; the rotating bracket comprises a main body part and a step part, and the step part is convexly arranged on one side of the main body part, which is far away from the first transmission piece; the first transmission gear is sleeved on the step part and is in transmission connection with the rotating support, and the driven shaft is in transmission connection with the second transmission gear.

6. The manipulator according to claim 5, wherein the housing assembly includes a first housing and a second housing, the second housing being disposed on a side of the first housing facing away from the driving member; the step part is rotatably arranged in the second shell in a penetrating way, and the main body part and the first transmission gear are positioned at two sides of the second shell; the movable support is arranged on one side, away from the driving piece, of the rotating support, and the transmission shaft is rotatably arranged in the main body portion and the step portion in a penetrating mode.

7. The manipulator of claim 6, wherein the housing assembly further comprises a movable housing that is movably coupled to the first housing; the driven shaft movably penetrates through the second shell and is in threaded fit with the movable shell; when the driven shaft rotates, the movable shell and the driven shaft move relatively along a first direction.

8. The manipulator according to claim 7, wherein the housing assembly further includes a guide member, the guide member is disposed on the first housing, and the movable housing is movably sleeved on the guide member; the guide has a first abutting surface on a side facing the driven shaft, the driven shaft has a second abutting surface on a side facing the guide, and the movable housing moves between the first abutting surface and the second abutting surface.

9. The manipulator according to claim 1, wherein the spacing assembly comprises two spacing brackets, an elastic member and a guide rail; the two limiting brackets are respectively connected with two sides of the rotary transmission assembly in the second direction; the guide rail is arranged between the two limiting brackets, and the grabbing assembly is movably arranged on the guide rail; the two grabbing components are connected through the elastic piece;

the movable transmission assembly comprises a transmission shaft, a movable bracket and two second transmission pieces; the movable support is in transmission connection with the driving piece through the transmission shaft, and the second transmission piece is arranged on one side, facing the grabbing component, of the movable support; when the manipulator is in an initial state, the two second transmission pieces are respectively abutted to the two grabbing assemblies, and the elastic restoring force of the elastic piece is used for enabling the two grabbing assemblies to have the tendency of moving towards each other.

10. The manipulator according to claim 1, wherein the grabbing component comprises a connecting piece and a grabbing piece, the connecting piece is arranged on the limiting component, and the grabbing piece is detachably arranged on one side of the connecting piece, which is far away from the limiting component.

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