WO2021072839A1 - 指尖机构 - Google Patents

指尖机构 Download PDF

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Publication number
WO2021072839A1
WO2021072839A1 PCT/CN2019/116198 CN2019116198W WO2021072839A1 WO 2021072839 A1 WO2021072839 A1 WO 2021072839A1 CN 2019116198 W CN2019116198 W CN 2019116198W WO 2021072839 A1 WO2021072839 A1 WO 2021072839A1
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WO
WIPO (PCT)
Prior art keywords
gear
friction wheel
turntable
motor
fingertip
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Application number
PCT/CN2019/116198
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English (en)
French (fr)
Inventor
赵杰
王潇漫
王升帆
姜欣
刘云辉
Original Assignee
哈尔滨工业大学（深圳）
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Application filed by 哈尔滨工业大学（深圳） filed Critical 哈尔滨工业大学（深圳）
Publication of WO2021072839A1 publication Critical patent/WO2021072839A1/zh

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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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints

Definitions

  • the invention relates to a manipulator, in particular to a fingertip mechanism.
  • the assembly of bolts on the automated assembly line mainly depends on the cooperation of the feeding mechanism and the robotic arm. This method occupies a large area and the feeding mechanism must match the size of the assembled parts. If the size of the part changes, the feeding mechanism It must be replaced, which will result in high transformation costs and will not meet the needs of flexible production.
  • Japan's Mitsubishi Electric took the lead in proposing a solution that relies on the serial work of four robotic arms to realize the grasping, posture adjustment and assembly of random parts. Although this solution improves the degree of flexible assembly, it still has the problem of high cost and large floor space.
  • the present invention provides a fingertip mechanism.
  • the present invention provides a fingertip mechanism, which includes a support, a turntable, a friction wheel, a first rotation drive mechanism that drives the turntable to rotate, and a second rotation drive mechanism that drives the friction wheel to rotate.
  • the first rotation drive The mechanism and the second rotation drive mechanism are respectively arranged on the support body, the turntable is connected to the first rotation drive mechanism, the turntable is provided with a turntable groove for accommodating a cylinder, and the friction wheel is arranged on the At the bottom of the groove of the turntable, the friction wheel is connected with the second rotation driving mechanism.
  • the friction wheel includes a friction wheel housing and a friction wheel trapezoidal rubber pad, the friction wheel trapezoidal rubber pad is arranged in the friction wheel housing, the friction wheel housing and the friction wheel
  • the second rotation driving mechanism is connected.
  • the turntable includes a turntable base and a turntable support body, the turntable support body is arranged on the turntable base, the turntable groove is a V-shaped groove, and the V-shaped groove is located on the turntable.
  • the trapezoidal rubber pad of the friction wheel is located at the bottom of the V-shaped groove.
  • the first rotation drive mechanism includes a first motor, a first gear, a second gear, a third gear, and a fourth gear
  • the first motor is fixed on the back of the support body, so The first motor, the first gear, the second gear, the third gear, and the fourth gear are respectively arranged on the front surface of the support body, the first motor is connected to the first gear, and the second gear is connected to the The second gear meshes, the second gear meshes with the third gear, the third gear meshes with the fourth gear, and the fourth gear is connected with the turntable base.
  • the second rotation drive mechanism includes a second motor, a fifth gear, a sixth gear, a seventh gear, an eighth gear, a ninth gear, and a friction wheel shaft
  • the second motor is fixed at On the back of the support body, the fifth gear, the sixth gear, and the seventh gear are respectively arranged on the front face of the support body, and the eighth gear and the ninth gear are respectively arranged on the back face of the support body, so
  • the seventh gear and the eighth gear are coaxial double gears
  • the second motor is connected to the fifth gear
  • the fifth gear is meshed with the sixth gear
  • the sixth gear is
  • the ninth gear is connected to the friction wheel shaft, and the friction wheel shaft penetrates the support body and the friction wheel housing ⁇ Body connection.
  • the friction wheel rotating shaft penetrates the fourth gear and is connected to the friction wheel housing.
  • the rotating shaft of the friction wheel is coaxial with the fourth gear.
  • the trapezoidal rubber pad of the friction wheel is annular, and the V-shaped groove is tangent to or intersects with the trapezoidal rubber pad of the friction wheel.
  • a mounting hole is provided on the support body.
  • the turntable can be driven to rotate by the first rotation drive mechanism, so as to realize the rotating movement of the cylinder in hand
  • the friction wheel can be driven to rotate by the second rotation drive mechanism to apply the movement along the cylinder.
  • the axial tangential friction force realizes the translational movement of the cylinder in hand.
  • Figure 1 is a front schematic view of a fingertip mechanism of the present invention.
  • Figure 2 is a schematic back view of a fingertip mechanism of the present invention.
  • Fig. 3 is a schematic diagram of the internal structure of a fingertip mechanism of the present invention.
  • a fingertip mechanism includes a housing.
  • the housing includes a housing base 21 and a housing cover 22.
  • the housing is provided with a supporting body 1, a turntable, a friction wheel, and a second rotating table that drives the turntable to rotate.
  • a rotation driving mechanism and a second rotation driving mechanism for driving the friction wheel to rotate, the first rotation driving mechanism and the second rotation driving mechanism are respectively arranged on the support body 1, the turntable and the first rotation
  • the drive mechanism is connected, the turntable is provided with a turntable groove for accommodating a cylinder, the friction wheel is arranged at the bottom of the turntable groove, and the friction wheel is connected with the second rotation driving mechanism to achieve Operate cylinders such as bolts and studs by hand.
  • the friction wheel includes a friction wheel housing 19 and a friction wheel trapezoidal rubber pad 20.
  • the friction wheel trapezoidal rubber pad 20 is arranged in the friction wheel housing 19, and the friction wheel The wheel housing 19 is connected to the second rotation drive mechanism.
  • the turntable includes a turntable base 15 and a turntable support body 16.
  • the turntable support body 16 is disposed on the turntable base 15, and the turntable groove is a V-shaped groove.
  • the shaped groove is located on the turntable support 15 and the trapezoidal rubber pad 20 of the friction wheel is located at the bottom of the V-shaped groove.
  • the first rotating drive mechanism includes a first motor 2, a first gear 10, a second gear 5, a third gear 24, and a fourth gear 9.
  • the first motor 2 is fixed on On the back of the support 1, the first motor 2, the first gear 10, the second gear 5, the third gear 24, and the fourth gear 9 are respectively arranged on the front of the support 1, and the first motor 2 is connected to the first gear 10, the second gear 10 meshes with the second gear 5, the second gear 5 meshes with the third gear 24, and the third gear 24 meshes with the The fourth gear 9 meshes, and the fourth gear 9 is connected to the turntable base 15.
  • the second rotation drive mechanism includes a second motor, a fifth gear 12, a sixth gear 8, a seventh gear 7, an eighth gear, a ninth gear 25, and a friction wheel shaft 14.
  • the second motor is fixed on the back of the support 1
  • the fifth gear 12, the sixth gear 8, and the seventh gear 7 are respectively arranged on the front of the support 1, and the eighth gear
  • the ninth gear The gears 25 are respectively arranged on the back of the support body 1.
  • the seventh gear 7 and the eighth gear are coaxial double gears. Therefore, the seventh gear 7 and the eighth gear rotate synchronously, and the second gear 7 and the eighth gear rotate synchronously.
  • the motor is connected to the fifth gear 12, the fifth gear 12 is meshed with the sixth gear 8, the sixth gear 8 is meshed with the seventh gear 7, and the eighth gear is meshed with the
  • the ninth gear 25 meshes, the ninth gear 25 is connected to the friction wheel shaft 14, and the friction wheel shaft 14 penetrates the support body 1 and is connected to the friction wheel housing 19.
  • the friction wheel shaft 14 penetrates the fourth gear 9 and is connected to the friction wheel housing 19.
  • the friction wheel shaft 14 is coaxial with the fourth gear 9.
  • the trapezoidal rubber pad 20 of the friction wheel is annular, and the V-shaped groove is tangent to or intersects with the trapezoidal rubber pad 20 of the friction wheel.
  • the supporting body 1 is provided with a mounting hole 23.
  • the first motor 2 and the second motor are both micro stepping motors.
  • the fourth gear 9 is mounted on the support body 1 through a miniature bearing 3.
  • the supporting body 1 is provided with a motor estimation screw 11.
  • the turntable base 15 is connected with the fourth gear 9 through the turntable fixing screw 13.
  • the turntable support body 16 is mounted on the turntable base 15 through the micro studs 17 and the micro screws 18.
  • the first motor 2 and the support body 1 are fixedly connected by bolts, the output end of the first motor 2 and the first gear 10 are connected through an interference fit to transmit power outwards, and the first gear 10 passes through the second gear 5 and the third gear 24 drives the fourth gear 9 to rotate, wherein the fourth gear 9 and the turntable base 15 are connected by the turntable fixing screw 13 to realize the rotation operation of the parts in hand.
  • the second motor is another stepping motor of the same model as the first motor 2, and the connection between the second motor and the support body 1 is also realized by bolting.
  • the output end of the second motor is connected with the fifth gear 12 through interference fit.
  • the fifth gear 12 drives the ninth gear 25 to rotate through the sixth gear 8, the seventh gear 7, and the eighth gear.
  • the ninth gear 25 and the friction wheel The rotating shaft 14 is connected by an interference fit, and the other end of the friction wheel rotating shaft 14 is connected with the friction wheel housing 19, which can realize the translation operation of the parts by hand.
  • the fingertip mechanism needs to be installed at the end of a common two-finger parallel gripper to be used in pairs, so that there are a total of four motors that need to be controlled in actual work.
  • the first rotation driving mechanism rotates the turntable base 15 to rotate the bolt in hand
  • the second rotation driving mechanism rotates the friction wheel trapezoidal rubber pad 20 to rotate, and the bolt and friction
  • the bolt and friction There is a tangential friction force between the trapezoidal rubber pads 20 of the wheels along the bolt axis. Therefore, when the trapezoidal rubber pad 20 of the friction wheels rotates, the bolts can be driven to achieve translational movement by hand.
  • the fingertip mechanism provided by the present invention uses a single mechanical arm, and the parts are adjusted from the random placement position to the required position for assembly by manual operation instead of the re-grabbing method adopted by Mitsubishi Electric.
  • the present invention The provided fingertip mechanism adopts a two-degree-of-freedom fingertip mechanism that can realize the rotation and translation drive of an object in the hand.
  • the mechanism can be conveniently installed at the end of a common parallel two-finger gripper.
  • the fingertip mechanism provided by the present invention realizes the assembling of randomly stacked parts by only relying on a single mechanical arm and ordinary parallel two-finger clamping jaws in a hand-operated manner.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明提供了一种指尖机构，包括支撑体、转台、摩擦轮、驱动所述转台转动的第一转动驱动机构和驱动所述摩擦轮转动的第二转动驱动机构，所述第一转动驱动机构、第二转动驱动机构分别设置在所述支撑体上，所述转台与所述第一转动驱动机构连接，所述转台上设有容置圆柱体的转台凹槽，所述摩擦轮设置在所述转台凹槽的槽底，所述摩擦轮与所述第二转动驱动机构连接。本发明的有益效果是：可通过第一转动驱动机构驱动转台转动，从而实现圆柱体的在手旋转运动，可通过第二转动驱动机构驱动摩擦轮转动，向圆柱体施加切向摩擦力，从而实现圆柱体的在手平移运动。

Description

指尖机构 技术领域
本发明涉及机械手，尤其涉及一种指尖机构。
背景技术
目前，自动化装配产线上针对螺栓的装配主要依靠供料机构与机械臂协作完成，该方法占地空间大，且供料机构必须与所装配的零件尺寸匹配，零件尺寸发生改变则供料机构必须更换，这会造成改造成本高，不满足柔性化生产需要。为了替代上述供料机构，日本三菱电机率先提出依靠四个机械臂串行工作实现对随机零件的抓取、位姿调整及装配的方案。虽然该方案提高了柔性化装配程度，但是仍然存在成本高，占地面积大的问题。
发明内容
为了解决现有技术中的问题，本发明提供了一种指尖机构。
本发明提供了一种指尖机构，包括支撑体、转台、摩擦轮、驱动所述转台转动的第一转动驱动机构和驱动所述摩擦轮转动的第二转动驱动机构，所述第一转动驱动机构、第二转动驱动机构分别设置在所述支撑体上，所述转台与所述第一转动驱动机构连接，所述转台上设有容置圆柱体的转台凹槽，所述摩擦轮设置在所述转台凹槽的槽底，所述摩擦轮与所述第二转动驱动机构连接。
作为本发明的进一步改进，所述摩擦轮包括摩擦轮壳体和摩擦轮梯形橡胶垫，所述摩擦轮梯形橡胶垫设置在所述摩擦轮壳体之内，所述摩擦轮壳体与所述第二转动驱动机构连接。
作为本发明的进一步改进，所述转台包括转台底座和转台支撑体，所述转台支撑体设置在所述转台底座上，所述转台凹槽为V型槽，所述V型槽位于所述转台支撑体上，所述摩擦轮梯形橡胶垫位于所述V型槽的槽底。
作为本发明的进一步改进，所述第一转动驱动机构包括第一电机、第一齿轮、第二齿轮、第三齿轮和第四齿轮，所述第一电机固定在所述支撑体的背面，所述第一电机、第一齿轮、第二齿轮、第三齿轮、第四齿轮分别设置在所述支撑体的正面，所述第一电机与所述第一齿轮连接，所述第二齿轮与所述第二齿轮相啮合，所述第二齿轮与所述第三齿轮相啮合，所述第三齿轮与所述第四齿轮相啮合，所述第四齿轮与所述转台底座连接。
作为本发明的进一步改进，所述第二转动驱动机构包括第二电机、第五齿轮、第六齿轮、第七齿轮、第八齿轮、第九齿轮和摩擦轮转轴，所述 第二电机固定在所述支撑体的背面，所述第五齿轮、第六齿轮、第七齿轮分别设置在所述支撑体的正面，所述第八齿轮、第九齿轮分别设置在所述支撑体的背面，所述第七齿轮、第八齿轮为共轴的双联齿轮，所述第二电机与所述第五齿轮连接，所述第五齿轮与所述第六齿轮相啮合，所述第六齿轮与所述第七齿轮相啮合，所述第八齿轮与所述第九齿轮相啮合，所述第九齿轮与所述摩擦轮转轴连接，所述摩擦轮转轴贯穿所述支撑体与所述摩擦轮壳体连接。
作为本发明的进一步改进，所述摩擦轮转轴贯穿所述第四齿轮与所述摩擦轮壳体连接。
作为本发明的进一步改进，所述摩擦轮转轴与所述第四齿轮共轴。
作为本发明的进一步改进，所述摩擦轮梯形橡胶垫为圆环状，所述V型槽与所述摩擦轮梯形橡胶垫相切或者相交。
作为本发明的进一步改进，所述支撑体上设有安装孔。
本发明的有益效果是：通过上述方案，可通过第一转动驱动机构驱动转台转动，从而实现圆柱体的在手旋转运动，可通过第二转动驱动机构驱动摩擦轮转动，向圆柱体施加沿其轴向的切向摩擦力，从而实现圆柱体的在手平移运动。
附图说明
图1是本发明一种指尖机构的正面示意图。
图2是本发明一种指尖机构的背面示意图。
图3是本发明一种指尖机构的内部结构示意图。
具体实施方式
下面结合附图说明及具体实施方式对本发明作进一步说明。
如图1至图3所示，一种指尖机构，包括壳体，壳体包括外壳底座21和外壳盖22，壳体设有支撑体1、转台、摩擦轮、驱动所述转台转动的第一转动驱动机构和驱动所述摩擦轮转动的第二转动驱动机构，所述第一转动驱动机构、第二转动驱动机构分别设置在所述支撑体1上，所述转台与所述第一转动驱动机构连接，所述转台上设有容置圆柱体的转台凹槽，所述摩擦轮设置在所述转台凹槽的槽底，所述摩擦轮与所述第二转动驱动机构连接，可实现在手操作螺栓、螺柱等圆柱体。
如图1至图3所示，所述摩擦轮包括摩擦轮壳体19和摩擦轮梯形橡胶垫20，所述摩擦轮梯形橡胶垫20设置在所述摩擦轮壳体19之内，所述摩擦轮壳体19与所述第二转动驱动机构连接。
如图1至图3所示，所述转台包括转台底座15和转台支撑体16，所述转台支撑体16设置在所述转台底座15上，所述转台凹槽为V型槽，所述V型槽位于所述转台支撑体15上，所述摩擦轮梯形橡胶垫20位于所述V型槽的槽底。
如图1至图3所示，所述第一转动驱动机构包括第一电机2、第一齿轮10、第二齿轮5、第三齿轮24和第四齿轮9，所述第一电机2固定在所述支撑体1的背面，所述第一电机2、第一齿轮10、第二齿轮5、第三齿轮24、第四齿轮9分别设置在所述支撑体1的正面，所述第一电机2与所述第一齿轮10连接，所述第二齿轮10与所述第二齿轮5相啮合，所述第二齿轮5与所述第三齿轮24相啮合，所述第三齿轮24与所述第四齿轮9相啮合，所述第四齿轮9与所述转台底座15连接。
如图1至图3所示，所述第二转动驱动机构包括第二电机、第五齿轮12、第六齿轮8、第七齿轮7、第八齿轮、第九齿轮25和摩擦轮转轴14，所述第二电机固定在所述支撑体1的背面，所述第五齿轮12、第六齿轮8、第七齿轮7分别设置在所述支撑体1的正面，所述第八齿轮、第九齿轮25分别设置在所述支撑体1的背面，所述第七齿轮7、第八齿轮为共轴的双联齿轮，因此，所述第七齿轮7、第八齿轮同步转动，所述第二电机与所述第五齿轮12连接，所述第五齿轮12与所述第六齿轮8相啮合，所述第六齿轮8与所述第七齿轮7相啮合，所述第八齿轮与所述第九齿轮25相啮合，所述第九齿轮25与所述摩擦轮转轴14连接，所述摩擦轮转轴14贯穿所述支撑体1与所述摩擦轮壳体19连接。
如图1至图3所示，所述摩擦轮转轴14贯穿所述第四齿轮9与所述摩擦轮壳体19连接。
如图1至图3所示，所述摩擦轮转轴14与所述第四齿轮9共轴。
如图1至图3所示，所述摩擦轮梯形橡胶垫20为圆环状，所述V型槽与所述摩擦轮梯形橡胶垫20相切或者相交。
如图1至图3所示，所述支撑体1上设有安装孔23。
如图1至图3所示，第一电机2、第二电机均为微型步进电机。第四齿轮9通过微型轴承3安装在支撑体1上。支撑体1上设有电机估计螺钉11。转台底座15通过转台固定螺钉13与第四齿轮9连接。转台支撑体16通过微型螺柱17、微型螺钉18安装在转台底座15上。
本发明提供的一种指尖机构，工作原理如下：
1、第一电机2与支撑体1通过螺栓固定连接，第一电机2的输出端 与第一齿轮10通过过盈配合连接向外传递动力，第一齿轮10经第二齿轮5、第三齿轮24驱动第四齿轮9转动，其中第四齿轮9与转台底座15通过转台固定螺钉13连接，可以实现在手零件的旋转操作。
2、第二电机为与第一电机2同型号的另一个步进电机，第二电机与支撑体1连接方式也是通过螺栓固定实现。第二电机的输出端与第五齿轮12通过过盈配合实现连接，第五齿轮12经第六齿轮8、第七齿轮7、第八齿轮驱动第九齿轮25转动，第九齿轮25与摩擦轮转轴14通过过盈配合连接，摩擦轮转轴14另一端与摩擦轮壳体19连接，可以实现在手零件的平移操作。
该指尖机构需安装于常见的二指平行夹爪末端成对使用，这样在实际工作时共有四个电机需要控制，
以螺栓为例，当螺栓处于转台V型槽时，第一转动驱动机构旋转带动转台底座15转动，实现螺栓在手旋转，第二转动驱动机构旋转带动摩擦轮梯形橡胶垫20转动，螺栓与摩擦轮梯形橡胶垫20之间存在沿螺栓轴线的切向摩擦力，因此当摩擦轮梯形橡胶垫20转动时，可以驱动螺栓实现在手平移运动。
本发明提供的一种指尖机构，采用的是单个机械臂，零件从随机摆放位置调整到装配所需位置采用的是在手操作，而非日本三菱电机采用的再抓取方式，本发明提供的一种指尖机构，采用的是一种可实现在手物体的旋转和平移驱动的二自由度指尖机构。该机构可以方便的安装于常见的平行二指夹爪末端。
本发明提供的一种指尖机构，通过在手操作的方式仅依靠单机械臂及普通平行二指夹爪实现随机堆叠零件的装配。
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。

Claims (9)

  1. 一种指尖机构，其特征在于：包括支撑体、转台、摩擦轮、驱动所述转台转动的第一转动驱动机构和驱动所述摩擦轮转动的第二转动驱动机构，所述第一转动驱动机构、第二转动驱动机构分别设置在所述支撑体上，所述转台与所述第一转动驱动机构连接，所述转台上设有容置圆柱体的转台凹槽，所述摩擦轮设置在所述转台凹槽的槽底，所述摩擦轮与所述第二转动驱动机构连接。
  2. 根据权利要求1所述的指尖机构，其特征在于：所述摩擦轮包括摩擦轮壳体和摩擦轮梯形橡胶垫，所述摩擦轮梯形橡胶垫设置在所述摩擦轮壳体之内，所述摩擦轮壳体与所述第二转动驱动机构连接。
  3. 根据权利要求2所述的指尖机构，其特征在于：所述转台包括转台底座和转台支撑体，所述转台支撑体设置在所述转台底座上，所述转台凹槽为V型槽，所述V型槽位于所述转台支撑体上，所述摩擦轮梯形橡胶垫位于所述V型槽的槽底。
  4. 根据权利要求3所述的指尖机构，其特征在于：所述第一转动驱动机构包括第一电机、第一齿轮、第二齿轮、第三齿轮和第四齿轮，所述第一电机固定在所述支撑体的背面，所述第一电机、第一齿轮、第二齿轮、第三齿轮、第四齿轮分别设置在所述支撑体的正面，所述第一电机与所述第一齿轮连接，所述第二齿轮与所述第二齿轮相啮合，所述第二齿轮与所述第三齿轮相啮合，所述第三齿轮与所述第四齿轮相啮合，所述第四齿轮与所述转台底座连接。
  5. 根据权利要求4所述的指尖机构，其特征在于：所述第二转动驱动机构包括第二电机、第五齿轮、第六齿轮、第七齿轮、第八齿轮、第九齿轮和摩擦轮转轴，所述第二电机固定在所述支撑体的背面，所述第五齿轮、第六齿轮、第七齿轮分别设置在所述支撑体的正面，所述第八齿轮、第九齿轮分别设置在所述支撑体的背面，所述第七齿轮、第八齿轮为共轴的双联齿轮，所述第二电机与所述第五齿轮连接，所述第五齿轮与所述第六齿轮相啮合，所述第六齿轮与所述第七齿轮相啮合，所述第八齿轮与所述第九齿轮相啮合，所述第九齿轮与所述摩擦轮转轴连接，所述摩擦轮转轴贯穿所述支撑体与所述摩擦轮壳体连接。
  6. 根据权利要求5所述的指尖机构，其特征在于：所述摩擦轮转轴贯穿所 述第四齿轮与所述摩擦轮壳体连接。
  7. 根据权利要求6所述的指尖机构，其特征在于：所述摩擦轮转轴与所述第四齿轮共轴。
  8. 根据权利要求3所述的指尖机构，其特征在于：所述摩擦轮梯形橡胶垫为圆环状，所述V型槽与所述摩擦轮梯形橡胶垫相切或者相交。
  9. 根据权利要求1所述的指尖机构，其特征在于：所述支撑体上设有安装孔。
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