WO2018049854A1 - 机械手 - Google Patents

机械手 Download PDF

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Publication number
WO2018049854A1
WO2018049854A1 PCT/CN2017/087540 CN2017087540W WO2018049854A1 WO 2018049854 A1 WO2018049854 A1 WO 2018049854A1 CN 2017087540 W CN2017087540 W CN 2017087540W WO 2018049854 A1 WO2018049854 A1 WO 2018049854A1
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WO
WIPO (PCT)
Prior art keywords
finger
palm
rotating shaft
robot according
motor
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PCT/CN2017/087540
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English (en)
French (fr)
Inventor
恽为民
王伟
庞作伟
Original Assignee
上海未来伙伴机器人有限公司
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Application filed by 上海未来伙伴机器人有限公司 filed Critical 上海未来伙伴机器人有限公司
Publication of WO2018049854A1 publication Critical patent/WO2018049854A1/zh
Priority to US16/001,979 priority Critical patent/US20180355290A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members

Definitions

  • the present disclosure relates to the field of robotics, for example, to a robot.
  • robots smart mechanical devices
  • the robot has multiple degrees of freedom, it can grab objects of various shapes and materials, and can also perform fine operations on the objects being grasped.
  • the use of a robot to replace a dedicated holder and mounting it to the end of the robot operator not only expands the robot's working range, but also improves the robot's work quality.
  • the Chinese utility model patent discloses a humanoid manipulator comprising: a palm, a thumb, an index finger, a middle finger, a ring finger, and a little finger; the thumb, the index finger, the middle finger, the ring finger and the little finger respectively
  • the palm is fixedly connected by bolts;
  • the thumb includes a distal finger cover, a pin shaft, an upper oblique rod, an interphalangeal finger cover, an intermediate rod, a lower oblique rod, a distal connecting rod, a proximal finger cover, an inter-finger rod,
  • the proximal link, the right angle frame, the cylinder and the proximal palm finger cover are composed of a thumb.
  • the thumb is fixedly connected to the palm by the proximal palm finger cover, and the cylinder (coarse cylinder) is fixedly connected by bolts at the proximal palm finger cover, and the cylinder (small cylinder) It is hinged with the right angle frame, and the upper part of the right angle frame is welded and connected with the proximal finger cover, and is hingedly connected to the proximal palm finger cover.
  • the middle part of the interdigital finger is hinged with the proximal finger cover, and the proximal end link and the proximal end finger cover respectively.
  • the inter-finger rod is hinged, the distal connecting rod is respectively hinged with the inter-finger rod and the proximal finger cover, the lower part of the finger hood is hinged with the proximal finger hood, the middle rod is hinged with the finger hood, and the lower slanting rod is respectively connected with the middle rod, near Finger hinged cover, the diagonal member and the intermediate shaft respectively, a hinge pin through the distal end of finger cap; thumb, index finger, middle finger, ring finger, little finger and structural components are also the same connection.
  • a manipulator that reliably achieves the flexion and extension of a mechanical finger.
  • a robot comprising: a palm, at least two bendable fingers protruding from a front end of the palm, a traction body, and a control mechanism, wherein
  • Each finger includes a plurality of knuckles that are sequentially coupled
  • the traction body is located inside each finger, extends from the fingertip position toward the palm and runs through the palm;
  • the control mechanism is mounted to the rear end of the palm and manipulates the traction body.
  • each of the two adjacent knuckles is hinged by a pin, and the pin is sleeved with a torsion spring.
  • control mechanism includes a rotating shaft that connects the traction body and a power component that drives the rotating shaft, and the axis of the rotating shaft is perpendicular to a plane in which the bending direction of the finger is.
  • the power assembly has a motor and a reducer, and an input end and an output end of the reducer are respectively connected to an output shaft of the motor and the rotating shaft.
  • the finger in the direction from the palm to the fingertip position, the finger comprises: a proximal knuckle, a middle finger joint, and a distal knuckle joint;
  • the traction body includes: an elongated body, a first mounting post embedded in the rotating shaft and fixedly connected to the first end of the body, embedded in the distal finger joint and the body The second end of the second end is fixedly connected to the second mounting post.
  • the rotating shaft defines a deep hole in the axial direction for receiving the first mounting post
  • the rotating shaft opens a gap connecting the deep hole in the axial direction, and the body penetrates the gap.
  • the first end of the second mounting post defines a rotation stop positioning groove
  • the distal finger joint is provided with a positioning post that matches the rotation stop positioning groove
  • the rotating shaft is a stepped shaft.
  • the front end of the palm extends at least one first finger and at least two second fingers arranged in parallel with the first finger;
  • the bending direction of the first finger is opposite to the bending direction of the second finger.
  • the motor is a DC motor
  • the reducer is a four-stage gear reducer.
  • the control mechanism uses a traction body that penetrates the palm of the hand to connect the finger.
  • the control mechanism does not pull the traction body, the finger is in a straight state; when the control mechanism pulls the traction body and gradually increases the pulling force, the finger gradually bends.
  • the above manipulator has the characteristics of simple structure, simple manufacturing process, controllability of finger flexion and extension movement and high reliability.
  • Figure 1 is a front elevational view of the robot in a state in which the finger is straightened in an embodiment
  • Figure 2 is a structural view of a power assembly in an embodiment
  • Figure 3 is a schematic view showing the connection of a finger and a rotating shaft in an embodiment
  • Figure 4 is a diagram showing the internal structure of a finger in an embodiment
  • Figure 5 is a schematic view showing the hinge of the middle finger joint and the distal joint joint in an embodiment
  • Figure 6 is an exploded structural view of the middle finger joint in an embodiment
  • Figure 7 is an internal structural view of a distal finger joint in an embodiment
  • Figure 8 is a plan view of the manipulator in a state in which the finger is bent in an embodiment.
  • FIG. 1 is a front view of the robot in the state in which the finger is straightened
  • FIG. 2 is a structural view of the power assembly in the embodiment
  • FIG. 3 is a connection diagram of the finger and the rotating shaft in the embodiment
  • Fig. 4 is a view showing the internal structure of a finger in the embodiment.
  • the embodiment provides a robot, and one end of the robot away from the robot body can be defined as a front end.
  • the robot can include one hand
  • the palm 1 the front end of the palm 1 projects at least two bendable fingers 2, wherein each finger 2 includes a plurality of knuckles that are sequentially axially coupled.
  • the plurality of fingers 2 are of the same size, and can also be appropriately deformed with reference to the human palm.
  • the inside of each finger 2 extends rearward from the fingertip position by a traction body 3 extending through the palm 1, and the rear end of the palm 1 is mounted with a control mechanism 4 for steering the traction body 3.
  • the finger 2 when the control mechanism 4 does not pull the traction body 3, the finger 2 can be in a straight state; when the control mechanism 4 pulls the traction body 3 and gradually increases the pulling force, the finger 2 can be gradually bent.
  • Fig. 5 is a schematic view showing the hinge of the middle finger joint and the distal joint joint in the embodiment.
  • each adjacent two knuckles are respectively hinged by a pin 24, and the pin 24 is set.
  • the control mechanism 4 includes a rotating shaft 41 connecting the traction body 3 and The power unit 42 that rotates the rotating shaft 41 is driven, and the axis of the rotating shaft 41 is perpendicular to the plane in which the bending direction of the finger 2 is.
  • the traction body 3 can gradually increase the traction force applied to the finger 2, and the finger 2 gradually bends under the action of the traction force; when the power assembly 42 drives the rotating shaft 41 to rotate in the reverse direction, the traction The traction force applied to the finger 2 by the body 3 can be gradually weakened and disappeared, and at the same time, the torsion spring 25 can return the adjacent two knuckles from the bent state to the straightened state by the restoring force.
  • the power assembly 42 has a motor 421 as a power source and a speed reducer 422 that transmits the output torque of the motor 421 to the rotating shaft 41, wherein the motor 421 and the speed reducer 422 can both be built in a casing, and The input end and the output end of the speed reducer 422 are connected to the output shaft and the rotary shaft 41 of the motor 421, respectively.
  • the finger 2 in order to improve the degree of simulation and curvature of the finger 2, in the embodiment, optionally, in the direction from the palm to the fingertip position, the finger 2 includes: a proximal knuckle 21, The middle finger joint 22 and the distal knuckle joint 23.
  • the proximal knuckle 21 is mounted at the front end of the palm 1, and the proximal knuckle 21 and the middle knuckle 22 are hinged by a pin 24, and the middle knuckle 22 and the distal knuckle 23 are hinged by a pin 24.
  • the traction body 3 may include an elongated body 31 , a first mounting post 32 embedded in the rotating shaft 41 and fixedly connected to the first end of the body 31 , and embedded in the distal knuckle 23 and the body 31 .
  • the second end is fixedly connected to the second mounting post 33.
  • the body 31 may be any flexible object such as a flexible rod, a wire rope, or the like.
  • the rotating shaft 41 opens in the axial direction to accommodate the deep hole of the first mounting post 32. 411, and the rotating shaft 41 opens in the axial direction with the gap 412 of the deep hole 411.
  • the first mounting post 32 can be axially embedded in the rotating shaft 41, and the body 31 connecting the first mounting post 32 can extend outward through the opening 412.
  • Fig. 7 is a view showing the internal structure of the distal finger joint in the present embodiment.
  • the first end of the second mounting post 33 is provided with a rotation stop positioning.
  • the groove 331, the rotation preventing positioning groove 331 may have a cross shape.
  • the distal finger joint 23 is provided with a positioning post 231 matching the rotation preventing positioning groove 331, and the cooperation of the rotation preventing positioning groove 331 and the positioning post 231 can ensure the circumferential position of the second mounting post 33 with respect to the distal knuckle 23 fixed.
  • Fig. 6 is an exploded structural view of the middle finger joint in the present embodiment.
  • each of the middle finger joints 22 may be formed by the engagement of two symmetrical middle joint shells 22a.
  • the proximal knuckle 21 and the distal knuckle 23 can each be formed by abutment of two symmetrical joint shells.
  • the rotating shaft 41 is a stepped shaft, and the body 31 of the traction body 3 is respectively wound around On their respective corresponding shaft segments.
  • Figure 8 is a plan view of the manipulator in the embodiment in which the finger is bent.
  • the front end of the palm 1 protrudes from at least one first finger 2a and at least two along the direction of the straight line A.
  • the second finger 2b is arranged.
  • the bending direction of the first finger 2a faces the straight line A
  • the bending direction of the second finger 2b is opposite to the bending direction of the first finger 2a.
  • the motor 421 can be selected as a DC motor
  • the speed reducer 422 can be selected as a four-stage gear reducer 422.
  • the DC motor adopts the FFN20PA type DC motor manufactured by Shenzhen Wanzhida Motor Manufacturing Co., Ltd.
  • the manipulator provided in this embodiment can also cover the flexible skin not shown in the figure on the palm 1 and the finger 2 portions.
  • the control mechanism uses a traction body that penetrates the palm to connect the finger.
  • the finger When the control mechanism does not pull the traction body, the finger is in a straight state; when the control mechanism pulls the traction body and gradually increases the pulling force, the finger gradually bends.
  • the manipulator provided by the above embodiment has the characteristics of simple structure, simple manufacturing process, controllability of finger flexion and extension movement, and high reliability.
  • the manipulator provided by the above embodiment has the characteristics of simple structure, simple manufacturing process, controllability of finger flexion and extension movement, and high reliability.

Abstract

一种机械手，包括：一手掌(1)，手掌的前端伸出至少两根可弯曲的手指(2)，其中，每根手指包括多个依次轴接的指关节；每根手指的内部由指尖位置向手掌的方向延伸出一根贯穿手掌的牵引体(3)，并且，手掌的后端安装有操控牵引体的控制机构(4)。

Description

机械手 技术领域
本公开涉及机器人技术领域，例如，涉及一种机械手。
背景技术
随着现代科学技术的快速发展和机器人应用领域的不断扩大，机器人末端操作器已经不能满足生产需求。为了克服普通末端操作器夹持方式单一、活动空间小、缺少灵活性、难以精确控制等缺点，灵巧型机械装置(简称机械手)应运而生。机械手有多个自由度，可以抓取多种形状、不同材质的物体，还可以对所抓持的物体进行精细操作。用机械手代替专用的夹持器，安装到机器人操作器末端，不仅能扩大机器人的作业范围，还能提高机器人的作业质量。
中国实用新型专利(CN204712061U)公开了一种仿人机械手，该仿人机械手包括：手掌，大拇指，食指，中指，无名指，小拇指组成；所述的大拇指、食指、中指、无名指以及小拇指分别与手掌通过螺栓固定连接；所述的大拇指包括远端手指罩、销轴、上斜杆、指间手指罩、中间杆、下斜杆、远端连杆、近端手指罩、指间杆、近端连杆、直角架、气缸和近端掌手指罩组成，大拇指由近端掌手指罩与手掌固定连接，气缸(粗缸)通过螺栓固定连接在近端掌手指罩，气缸(细缸)与直角架铰接，直角架上部与近端手指罩焊接连接，共同铰接在近端掌手指罩上，指间杆中部与近端手指罩铰接，近端连杆分别与近端掌手指罩、指间杆铰接，远端连杆分别与指间杆、近端手指罩铰接，指间手指罩下部与近端手指罩铰接，中间杆与指间手指罩铰接，下斜杆分别与中间杆、近端手指罩铰接，上斜杆分别与中间杆、远端手指罩通过销轴铰接；大拇指、食指、中指、无名指、小拇指结构及其组成部件连接方式亦相同。
上述的仿人机械手虽然能够实现每根手指的弯曲动作，但是，由于每个手指采用多个连续的连杆结构以采用杠杆原理驱动每个手指罩转动，连杆机构难免会出现运行卡死的问题，因而手指伸曲运行的可靠性不佳。
发明内容
一种机械手，能够可靠实现机械手指的伸屈运动。
一种机械手，包括：一手掌、所述手掌的前端伸出的至少两根可弯曲的手指、牵引体以及控制机构，其中，
每根手指包括多个依次轴接的指关节；
所述牵引体位于每根手指的内部，由指尖位置向手掌的方向延伸并贯穿所述手掌；并且，
所述控制机构安装于所述手掌的后端并操控所述牵引体。
可选的，每相邻两个所述指关节分别由一销轴铰接，并且，所述销轴套装有扭转弹簧。
可选的，所述控制机构包含连接所述牵引体的转轴和驱动所述转轴旋转的动力组件，并且，所述转轴的轴心线垂直于所述手指弯曲方向所在的平面。
可选的，所述动力组件具有电机和减速器，并且，所述减速器的输入端和输出端分别连接所述电机的输出轴和所述转轴。
可选的，在手掌至指尖位置的方向上，所述手指依次包含：近指关节、中指关节以及远指关节；以及
所述牵引体包含：长条状的本体、嵌装在所述转轴内且与所述本体的第一端固定连接的第一安装柱、嵌装在所述远指关节内且与所述本体的第二端固定连接的第二安装柱。
可选的，所述转轴沿轴向开设用于容纳所述第一安装柱的深孔；
所述转轴沿轴向开设连通所述深孔的豁口，并且，所述本体贯穿所述豁口。
可选的，所述第二安装柱的第一端开设止转定位槽，并且，所述远指关节设置与所述止转定位槽相匹配的定位柱。
可选的，所述转轴为阶梯轴。
可选的，所述手掌的前端伸出至少一根第一手指和至少两根与所述第一手指平行排列的第二手指；
其中，所述第一手指的弯曲方向，与所述第二手指的弯曲方向相反。
可选的，所述电机为直流电机，以及所述减速器为四级齿轮减速器。
上述的机械手中，控制机构采用贯穿手掌的牵引体连接手指，当控制机构未拉动牵引体时，手指处于伸直状态；当控制机构拉动牵引体并逐渐增大拉力时，手指逐渐弯曲。上述机械手具有结构简单、制造工艺简单、手指伸屈运动可控性和可靠性高的特点。
附图说明
图1是一实施例中所述机械手在手指伸直状态下的正视图；
图2是一实施例中动力组件的结构图；
图3是一实施例中手指和转轴的连接示意图；
图4是一实施例中手指的内部结构图；
图5是一实施例中中指关节和远指关节的铰接示意图；
图6是一实施例中中指关节的分解结构图；
图7是一实施例中远指关节的内部结构图；以及
图8是一实施例中所述机械手在手指弯曲状态下的俯视图。
附图中：1、手掌；2、手指；2a、第一手指；2b、第二手指；21、近指关节；22、中指关节；22a、中关节壳；23、远指关节；23、定位柱；24、销轴；25、扭转弹簧；3、牵引体；31、本体；32、第一安装柱；33、第二安装柱；331、止转定位槽；4、控制机构；41、转轴；411、深孔；412、豁口；42、动力组件；421、电机；422、减速器；A、直线。
具体实施方式
下面结合附图并通过具体实施方式来说明实施例中的技术方案。在不冲突的情况下，以下实施例以及实施例中的特征可以相互任意组合。
图1是本实施例中所述机械手在手指伸直状态下的正视图，图2是本实施例中动力组件的结构图，图3是本实施例中手指和转轴的连接示意图。图4是本实施例中手指的内部结构图。如图1至图4所示，本实施例提供了一种机械手，可以定义该机械手远离机器人本体的一端为前端。该机械手可以包括一手 掌1，手掌1的前端伸出至少两根可弯曲的手指2，其中，每根手指2包括多个依次轴接的指关节。可选的，多个手指2为相同规格，也可以参照人类手掌做出适当变形。其中，每根手指2的内部由指尖位置向后延伸出一根贯穿手掌1的牵引体3，并且，手掌1的后端安装有操控牵引体3的控制机构4。
本实施例中，当控制机构4未拉动牵引体3时，手指2可以处于伸直状态；当控制机构4拉动牵引体3并逐渐增大拉力时，手指2可以逐渐弯曲。
图5是实施例中中指关节和远指关节的铰接示意图。如图1至图5所示，为了便于手指2灵活地伸屈运动，在本实施例中，可选的，每相邻两个指关节分别由一销轴24铰接，并且，销轴24套装有扭转弹簧25。
如图1和图2所示，为了便于牵引体3根据需要实时施加适当的牵引力控制手指2的弯曲程度，在本实施例中，可选的，控制机构4包含连接牵引体3的转轴41和驱动转轴41旋转的动力组件42，并且，转轴41的轴心线垂直于手指2弯曲方向所在的平面。
当动力组件42驱动转轴41正向旋转时，牵引体3可以逐渐增大施加给手指2的牵引力，在牵引力的作用下，手指2逐渐弯曲；当动力组件42驱动转轴41反向旋转时，牵引体3施加给手指2的牵引力可以逐渐减弱并消失，与此同时，扭转弹簧25在复原力的作用下可使相邻两个指关节由弯曲状态回复到伸直状态。
可选的，动力组件42具有作为动力源的电机421和将电机421的输出转矩传递至转轴41的减速器422，其中，电机421和减速器422可均内置于一壳体中，并且，减速器422的输入端和输出端分别连接电机421的输出轴和转轴41。
如图1至图4所示，为了提高手指2的仿真度和弯曲度，在本实施例中，可选的，在手掌至指尖位置的方向上，手指2依次包含：近指关节21、中指关节22以及远指关节23。近指关节21安装在手掌1的前端，并且，近指关节21与中指关节22由一销轴24铰接，中指关节22与远指关节23由一销轴24铰接。
其中，牵引体3可以包含：长条状的本体31、嵌装在转轴41内且与本体31的第一端固定连接的第一安装柱32、嵌装在远指关节23内且与本体31第二端固定连接的第二安装柱33。本体31可以是柔性杆、钢丝绳等任意一种可弯曲的物体。
为了防止第一安装柱32相对于转轴41发生偏转影响动力组件对手指2的牵引效果，在本实施例中，可选的，转轴41沿轴向开设用于容纳第一安装柱32的深孔411，并且，转轴41沿轴向开设连通深孔411的豁口412，第一安装柱32可轴向内置于转轴41中，连接第一安装柱32的本体31可以贯穿豁口412向外延伸。
图7是本实施例中远指关节的内部结构图。如图4和图7所示，为了防止因第二安装柱33发生偏转影响牵引体3的牵引作用，在本实施例中，可选的，第二安装柱33的第一端开设止转定位槽331，止转定位槽331可以呈十字型。相对应的，远指关节23设置与止转定位槽331相匹配的定位柱231，止转定位槽331和定位柱231的配合能够保证第二安装柱33相对于远指关节23的周向位置固定。
图6是本实施例中中指关节的分解结构图。如图6所示，为了便于安装第二安装柱33、销轴24以及扭转弹簧25，本实施例中，每个中指关节22可以由两个相对称的中关节壳22a相扣合形成。近指关节21和远指关节23可以分别均由两个相对称的关节壳相扣合形成。
如图1和图3所示，为了防止多个牵引体3相互缠绕影响手指2的灵活性，在本实施例中，可选的，转轴41为阶梯轴，牵引体3的本体31分别缠绕在各自对应的轴段上。
图8是实施例中所述机械手在手指弯曲状态下的俯视图。如图3和图8所示，为了提高机械手的抓握稳定性，在本实施例中，可选的，手掌1的前端伸出至少一根第一手指2a和至少两根沿一直线A方向排列的第二手指2b。
其中，第一手指2a的弯曲方向朝向该直线A，并且，第二手指2b的弯曲方向与第一手指2a的弯曲方向相反。
在本实施例中，电机421可选为直流电机，减速器422可选为四级齿轮减速器422。可选的，直流电机采用深圳万至达电机制造有限公司制造的FFN20PA型直流电机。
为了提高机械手的美观度和仿真性，本实施例提供的机械手还可在手掌1和手指2部位包覆图中未显示的柔性蒙皮。
上述实施例提供的机械手，控制机构采用贯穿手掌的牵引体连接手指，当控制机构未拉动牵引体时，手指处于伸直状态；当控制机构拉动牵引体并逐渐增大拉力时，手指逐渐弯曲。以上实施例提供的机械手具有结构简单、制造工艺简单、手指伸屈运动可控性和可靠性高的特点。
工业实用性
以上实施例提供的机械手具有结构简单、制造工艺简单、手指伸屈运动可控性和可靠性高的特点。

Claims (10)

  1. 一种机械手，包括：一手掌、所述手掌的前端伸出的至少两根可弯曲的手指、牵引体以及控制机构，其中，
    每根手指包括多个依次轴接的指关节；
    所述牵引体位于每根手指的内部，由指尖位置向手掌的方向延伸并贯穿所述手掌；并且，
    所述控制机构安装于所述手掌的后端并操控所述牵引体。
  2. 根据权利要求1所述的机械手，其中，每相邻两个所述指关节分别由一销轴铰接，并且，所述销轴套装有扭转弹簧。
  3. 根据权利要求1或2所述的机械手，其中，所述控制机构包含连接所述牵引体的转轴和驱动所述转轴旋转的动力组件，并且，所述转轴的轴心线垂直于所述手指弯曲方向所在的平面。
  4. 根据权利要求3所述的机械手，其中，所述动力组件具有电机和减速器，并且，所述减速器的输入端和输出端分别连接所述电机的输出轴和所述转轴。
  5. 根据权利要求3所述的机械手，其中，在手掌至指尖位置的方向上，所述手指依次包含：近指关节、中指关节以及远指关节；以及
    所述牵引体包含：长条状的本体、嵌装在所述转轴内且与所述本体的第一端固定连接的第一安装柱、嵌装在所述远指关节内且与所述本体的第二端固定连接的第二安装柱。
  6. 根据权利要求5所述的机械手，其中，所述转轴沿轴向开设用于容纳所述第一安装柱的深孔；
    所述转轴沿轴向开设连通所述深孔的豁口，并且，所述本体贯穿所述豁口。
  7. 根据权利要求5所述的机械手，其中，所述第二安装柱的第一端开设止 转定位槽，并且，所述远指关节设置与所述止转定位槽相匹配的定位柱。
  8. 根据权利要求3所述的机械手，其中，所述转轴为阶梯轴。
  9. 根据权利要求1或2所述的机械手，其中，所述手掌的前端伸出至少一根第一手指和至少两根与所述第一手指平行排列的第二手指；
    其中，所述第一手指的弯曲方向，与所述第二手指的弯曲方向相反。
  10. 根据权利要求4所述的机械手，其中，所述电机为直流电机，以及所述减速器为四级齿轮减速器。
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