CN-115805607-B - Manipulator and robot

Abstract

The present application relates to a manipulator and a robot. The manipulator comprises a palm part, a mechanical finger, a palm part driving structure and a joint structure. The palm portion includes a palm plane and a palm side perpendicular to the palm plane. The mechanical finger comprises finger tips, distal finger segments and proximal finger segments arranged along an extension direction. One end of the distal finger section is rotatably connected with the fingertip. The palm driving structure is arranged on the palm side surface and connected with one end of the proximal finger section far away from the distal finger section so as to connect the mechanical finger and the palm in the connection direction. The palm driving structure is used for driving the movement of the mechanical finger so as to change the angle between the mechanical finger and the palm. The connecting direction is vertical to the palm side face. The end of the distal finger segment far away from the fingertip is rotationally connected with the joint structure. One end of the proximal finger section far away from the palm driving structure is rotationally connected with the joint structure. The joint structure is capable of changing the angle between the distal and proximal finger segments and the tip of the proximal finger segment.

Inventors

• ZHANG PU
• ZHU SHIQIANG
• GU JIANJUN
• XIE ANHUAN
• KONG LINGYU
• LIU YUN
• YAO YUNCHANG

Assignees

• 之江实验室

Dates

Publication Date

20260508

Application Date

20221201

Claims (20)

1. 1. A mechanical arm, which comprises a main body and a handle, characterized by comprising the following steps: The palm part comprises a palm plane and a palm side surface perpendicular to the palm plane; The mechanical finger comprises a fingertip, a distal finger section and a proximal finger section which are arranged along the extending direction, wherein one end of the distal finger section is rotationally connected with the fingertip, the mechanical finger comprises a first mechanical finger and a second mechanical finger, and the second mechanical finger comprises a mechanical index finger, a mechanical middle finger, a mechanical ring finger and a mechanical small finger; The palm driving structure is arranged on the palm side surface and is connected with one end of the proximal finger section far away from the distal finger section so as to connect the mechanical finger and the palm part in a connecting direction, the palm driving structure comprises a pivoting driving module, the pivoting driving module is used for driving the mechanical finger to rotate around a rotating axis, the rotating axis extends perpendicular to the connecting direction and is parallel to the palm plane, the driving module comprises a pivoting motor fixed on the palm part, the pivoting motor comprises a pivoting driving shaft, a pivoting motor seat and a pivoting shaft movably connected with the pivoting motor seat, the axis of the pivoting shaft extends along the rotating axis, the proximal finger section is fixedly connected with the pivoting shaft, the connecting direction is perpendicular to the palm side surface, and A joint structure; the finger tip comprises a finger tip, a proximal finger segment, a distal finger segment, a proximal finger segment and a distal finger segment, wherein the distal finger segment is rotatably connected with the joint structure at one end far away from the finger tip; The finger tip of the mechanical ring finger and the finger tip of the mechanical little finger respectively comprise a first finger tip shaft and a second finger tip shaft which are arranged in parallel, the joint structures of the mechanical ring finger and the mechanical little finger comprise a first joint shaft, a second joint shaft and a third joint shaft which are arranged in parallel, the proximal finger section comprises a first proximal connecting rod and a second proximal connecting rod, one end of the first proximal connecting rod is fixedly connected with the pivoting shaft, the other end of the first proximal connecting rod is rotationally connected with the first joint shaft, the first proximal connecting rod is rotationally connected with the second joint shaft between the pivoting shaft and the first joint shaft, one end of the second proximal connecting rod is rotationally connected with the pivoting motor seat, the other end of the second proximal connecting rod is rotationally connected with the third joint shaft, and the projection of the first proximal connecting rod and the second proximal connecting rod is intersected in the axial direction of the first finger tip shaft; The first mechanical finger, the mechanical index finger and the fingertips of the mechanical middle finger respectively comprise a first fingertip shaft and a second fingertip shaft which are arranged in parallel, the joint structures of the first mechanical finger, the mechanical index finger and the mechanical middle finger comprise a joint motor, the joint motor is arranged at one end, far away from the palm driving structure, of the near-end fingertips, the joint motor comprises a joint motor seat and a joint driving shaft, the joint motor seat is fixedly connected with the near-end fingertips, the joint driving shaft is rotatably connected with the joint motor seat and fixedly connected with the far-end fingertips, the joint driving shaft is used for driving the far-end fingertips to rotate so as to change the angle between the far-end fingertips and the near-end fingertips, the far-end fingertips of the first mechanical finger, the mechanical index finger and the far-end fingertips comprise a driving connecting rod and a driven connecting rod, one end of the driving connecting rod is fixedly connected with the joint driving shaft, the other end of the driving connecting rod is rotatably connected with the first fingertips shaft, the joint driving motor drives the joint motor to rotate around the near-end fingertips, and the driven connecting rod is rotatably connected with the first fingertips through the first shafts, and the second shafts are connected with the first shafts in the projection directions.
2. 2. The manipulator of claim 1, wherein the pivot drive module further comprises: the pivot driving gear is fixedly connected with the pivot driving shaft; the active pivot axis of the pivoting drive gear extends along the connection direction; the pivot driven gear is fixedly connected with the pivot shaft and meshed with the pivot driving gear.
3. 3. The manipulator of claim 1, wherein the palm drive structure comprises a swing drive module for driving the mechanical fingers to rotate about an axis of rotation extending perpendicular to the connection direction and parallel to the palm plane, wherein the swing drive module is further for driving the mechanical fingers to rotate about a swing axis intersecting the palm plane, wherein the swing axis is perpendicular to the axis of rotation, wherein the swing drive module comprises: the swinging motor comprises a swinging motor seat and a cross shaft fixedly connected with the swinging motor seat, wherein the cross shaft comprises a first shaft extending along the rotation axis and a second shaft extending along the swinging axis; The swing gear set comprises a first swing gear and a second swing gear; the first swing gear and the second swing gear are respectively connected with the first shaft in a rotating way, and the swing motor is respectively used for driving the first swing gear and the second swing gear to rotate; the output gear is arranged between the first swing gear and the second swing gear and meshed with the first swing gear and the second swing gear respectively, the axis of the output gear coincides with the swing axis, the output gear is fixedly connected with the proximal finger section, and the proximal finger section is rotationally connected with the second shaft.
4. 4. A manipulator according to claim 3, wherein the swing motor comprises: A swing motor main body; the first driving gear is fixedly connected with the swing motor main body, and is meshed with the first swing gear; The second driving gear is fixedly connected with the swing motor main body, the second driving gear is meshed with the second swing gear, and the rotation axis of the second driving gear is along the connection direction.
5. 5. The manipulator of claim 4, wherein the first swing gear comprises a first main gear and a first sub gear fixedly connected, the first main gear is meshed with the first driving gear, the first sub gear is meshed with the output gear, the first main gear has a larger diameter than the first sub gear, and/or, The second swing gear comprises a second main gear and a second sub gear which are fixedly connected, the second main gear is meshed with the second driving gear, the second sub gear is meshed with the output gear, and the diameter of the second main gear is larger than that of the second sub gear.
6. 6. The manipulator of claim 1, wherein the articulation motor comprises: a joint driving gear, the joint driving axis of which extends along the extending direction; the joint motor main body is fixed on the joint motor seat and fixedly connected with the joint driving gear and used for driving the joint driving gear to rotate; The joint driven gear is fixedly connected with the joint driving shaft, the joint driven gear is meshed with the joint driving gear, and the joint driven axis of the joint driven gear is perpendicular to the joint driving axis.
7. 7. The manipulator of claim 1, wherein the drive link comprises a first sub-rod and a second sub-rod, wherein one end of the first sub-rod is fixedly connected with the joint drive shaft and the other end of the first sub-rod is rotatably connected with the second sub-rod, and wherein one end of the second sub-rod, which is far away from the first sub-rod, is rotatably connected with the first fingertip shaft, and wherein the driven link is rotatably connected with the joint drive shaft.
8. 8. The manipulator according to claim 7, wherein the distal finger segment further comprises an elastic member disposed along the extension direction, one end of the elastic member is fixedly connected to the connection point of the fingertip, the other end of the elastic member is fixedly connected to the driven link, the elastic member is in a stretched state, and the connection point is away from the extension axis of the second fingertip shaft.
9. 9. The manipulator according to claim 1, the manipulator is characterized by further comprising: the angle sensor is arranged on the palm driving structure and is used for measuring the angle between the mechanical finger and the palm.
10. 10. The manipulator according to claim 1, wherein the number of the mechanical fingers comprises a plurality of mechanical fingers, and each mechanical finger is correspondingly provided with the palm driving structure and/or the joint structure.
11. 11. The manipulator according to claim 10, wherein the palm side surface includes a front end surface and a side end surface perpendicular to the front end surface, the plurality of the fingers includes a first finger provided on the side end surface and a second finger provided on the front end surface, and an angle between an extension axis of the first finger and the palm plane is 10 degrees or more and 30 degrees or less.
12. 12. The robot comprises a trunk part, an upper limb part and a manipulator, wherein one end of the upper limb part is connected with the manipulator, and the other end of the upper limb part is connected with the trunk part, and the robot is characterized in that the manipulator comprises: The palm part comprises a palm plane and a palm side surface perpendicular to the palm plane; The mechanical finger comprises a fingertip, a distal finger section and a proximal finger section which are arranged along the extending direction, wherein one end of the distal finger section is rotationally connected with the fingertip, the mechanical finger comprises a first mechanical finger and a second mechanical finger, and the second mechanical finger comprises a mechanical index finger, a mechanical middle finger, a mechanical ring finger and a mechanical small finger; the palm driving structure is arranged on the palm side surface and connected with one end of the proximal end finger section far away from the distal end finger section so as to connect the mechanical finger and the palm part in a connecting direction, the palm driving structure comprises a pivoting driving module, the pivoting driving module is used for driving the mechanical finger to rotate around a rotating axis, the rotating axis extends perpendicular to the connecting direction and is parallel to the palm plane, the driving module comprises a pivoting motor fixed on the palm part, the pivoting motor comprises a pivoting driving shaft, a pivoting motor seat and a pivoting shaft movably connected with the pivoting motor seat, the axis of the pivoting shaft extends along the rotating axis, the proximal end finger section is fixedly connected with the pivoting shaft, and the connecting direction is perpendicular to the palm side surface; The finger comprises a finger tip, a finger tip driving structure, a joint structure, a proximal finger segment, a joint motor, a joint driving shaft and a joint driving shaft, wherein one end of the distal finger segment, which is far away from the finger tip, is rotationally connected with the joint structure, one end of the proximal finger segment, which is far away from the finger tip, is rotationally connected with the joint structure, the joint structure can change the angle between the distal finger segment and the finger tip of the proximal finger segment, the joint structure comprises the joint motor, the joint motor is arranged at one end of the proximal finger segment, which is far away from the finger tip, the joint motor comprises a joint motor seat and the joint driving shaft, the joint motor seat is fixedly connected with the proximal finger segment, the joint driving shaft is rotationally connected with the joint motor seat and is fixedly connected with the distal finger segment, and the joint driving shaft is used for driving the distal finger segment to rotate so as to change the angle between the distal finger segment and the proximal finger segment; The finger tip of the mechanical ring finger and the finger tip of the mechanical little finger respectively comprise a first finger tip shaft and a second finger tip shaft which are arranged in parallel, the joint structures of the mechanical ring finger and the mechanical little finger comprise a first joint shaft, a second joint shaft and a third joint shaft which are arranged in parallel, the proximal finger section comprises a first proximal connecting rod and a second proximal connecting rod, one end of the first proximal connecting rod is fixedly connected with the pivoting shaft, the other end of the first proximal connecting rod is rotationally connected with the first joint shaft, the first proximal connecting rod is rotationally connected with the second joint shaft between the pivoting shaft and the first joint shaft, one end of the second proximal connecting rod is rotationally connected with the pivoting motor seat, the other end of the second proximal connecting rod is rotationally connected with the third joint shaft, and the projection of the first proximal connecting rod and the second proximal connecting rod is intersected in the axial direction of the first finger tip shaft; The first mechanical finger, the mechanical index finger and the fingertips of the mechanical middle finger respectively comprise a first finger tip shaft and a second finger tip shaft which are arranged in parallel, the distal end finger sections of the first mechanical finger, the mechanical index finger and the mechanical middle finger comprise a driving connecting rod and a driven connecting rod, one end of the driving connecting rod is fixedly connected with the joint driving shaft, the other end of the driving connecting rod is rotationally connected with the first finger tip shaft, the joint motor drives the driving connecting rod to rotate around the joint driving shaft, one end of the driven connecting rod is rotationally connected with the second finger tip shaft, and the other end of the driven connecting rod is rotationally connected with the joint motor, and projections of the driving connecting rod and the driven connecting rod are intersected in the axis direction of the first finger tip shaft.
13. 13. The robot of claim 12, wherein the pivot drive module further comprises: the pivot driving gear is fixedly connected with the pivot driving shaft; the active pivot axis of the pivoting drive gear extends along the connection direction; the pivot driven gear is fixedly connected with the pivot shaft and meshed with the pivot driving gear.
14. 14. The robot of claim 12, wherein the palm drive structure includes a swing drive module for driving the mechanical fingers to rotate about an axis of rotation extending perpendicular to the connection direction and parallel to the palm plane, the swing drive module further for driving the mechanical fingers to rotate about a swing axis intersecting the palm plane, the swing axis being perpendicular to the axis of rotation, the swing drive module comprising: the swinging motor comprises a swinging motor seat and a cross shaft fixedly connected with the swinging motor seat, wherein the cross shaft comprises a first shaft extending along the rotation axis and a second shaft extending along the swinging axis; The swing gear set comprises a first swing gear and a second swing gear; the first swing gear and the second swing gear are respectively connected with the first shaft in a rotating way, and the swing motor is respectively used for driving the first swing gear and the second swing gear to rotate; the output gear is arranged between the first swing gear and the second swing gear and meshed with the first swing gear and the second swing gear respectively, the axis of the output gear coincides with the swing axis, the output gear is fixedly connected with the proximal finger section, and the proximal finger section is rotationally connected with the second shaft.
15. 15. The robot of claim 14, wherein the swing motor comprises: A swing motor main body; the first driving gear is fixedly connected with the swing motor main body, and is meshed with the first swing gear; The second driving gear is fixedly connected with the swing motor main body, the second driving gear is meshed with the second swing gear, and the rotation axis of the second driving gear is along the connection direction.
16. 16. The robot of claim 15 wherein said first swing gear comprises a first main gear and a first sub gear fixedly connected, said first main gear being in mesh with said first drive gear, said first sub gear being in mesh with said output gear, said first main gear having a larger diameter than said first sub gear, and/or, The second swing gear comprises a second main gear and a second sub gear which are fixedly connected, the second main gear is meshed with the second driving gear, the second sub gear is meshed with the output gear, and the diameter of the second main gear is larger than that of the second sub gear.
17. 17. The robot of claim 12, wherein the articulation motor comprises: a joint driving gear, the joint driving axis of which extends along the extending direction; the joint motor main body is fixed on the joint motor seat and fixedly connected with the joint driving gear and used for driving the joint driving gear to rotate; The joint driven gear is fixedly connected with the joint driving shaft, the joint driven gear is meshed with the joint driving gear, and the joint driven axis of the joint driven gear is perpendicular to the joint driving axis.
18. 18. The robot of claim 12 wherein said drive link comprises a first sub-lever and a second sub-lever, one end of said first sub-lever being fixedly connected to said articulation drive shaft and the other end being rotatably connected to said second sub-lever, one end of said second sub-lever remote from said first sub-lever being rotatably connected to said first fingertip shaft, and wherein said driven link is rotatably connected to said articulation drive shaft.
19. 19. The robot of claim 18, wherein the distal finger segment further comprises an elastic member disposed along the extension direction, one end of the elastic member is fixedly connected to the connection point of the fingertip, the other end of the elastic member is fixedly connected to the driven link, the elastic member is in a stretched state, and the connection point is away from the extension axis of the second fingertip shaft.
20. 20. The robot of claim 12, wherein the manipulator further comprises: the angle sensor is arranged on the palm driving structure and is used for measuring the angle between the mechanical finger and the palm.

Description

Manipulator and robot Technical Field The application relates to the field of robot design, in particular to a manipulator and a robot. Background With the continuous development of the fields of deep learning, machine vision and the like, robots are responsible for more and more complex work tasks. At the same time, these complex tasks also place higher demands on the gripping device of the robot. The robot claw with the humanoid structure has the advantages of high flexibility, strong operation substitution feeling and the like, so that the application range of the robot claw is wider and wider. Since the human hand has a very flexible gripping function, how to make the manipulator made of rigid material have the same flexible gripping function is one of the development emphasis in the field. Disclosure of Invention The application provides a manipulator and a robot, which are used for solving part or all of the defects in the related art. A first aspect of the present application provides a robot arm comprising: The palm part comprises a palm plane and a palm side surface perpendicular to the palm plane; the mechanical finger comprises a fingertip, a distal finger section and a proximal finger section which are arranged along the extending direction, wherein one end of the distal finger section is rotationally connected with the fingertip; a palm driving structure arranged on the palm side surface and connected with one end of the proximal finger section far away from the distal finger section so as to connect the mechanical finger and the palm part in a connection direction, wherein the palm driving structure is used for driving the movement of the mechanical finger so as to change the angle between the mechanical finger and the palm part, the connection direction is perpendicular to the palm side surface, and The finger tip comprises a finger tip, a finger tip driving structure, a joint structure, a proximal finger segment and a distal finger segment, wherein the finger tip driving structure is arranged on the finger tip, the distal finger segment is connected with the finger tip driving structure in a rotating way, the proximal finger segment is connected with the finger tip driving structure in a rotating way, the distal finger segment is connected with the joint structure in a rotating way, and the joint structure can change an angle between the distal finger segment and the proximal finger segment. Further, the palm drive structure comprises a pivot drive module for driving the mechanical finger to rotate about a rotation axis extending perpendicular to the connection direction and parallel to the palm plane, the pivot drive module comprising: The device comprises a palm part, a pivot motor, a proximal finger section, a distal finger section and a distal finger section, wherein the palm part is provided with a palm part, the proximal finger section is fixedly connected with the proximal finger section, the pivot motor is fixed on the palm part, and comprises a pivot driving shaft, a pivot motor seat and a pivot shaft movably connected with the pivot motor seat, and the axis of the pivot shaft extends along the rotation axis; the pivot driving gear is fixedly connected with the pivot driving shaft; the active pivot axis of the pivoting drive gear extends along the connection direction; the pivot driven gear is fixedly connected with the pivot shaft and meshed with the pivot driving gear. Further, the fingertip comprises a first fingertip shaft and a second fingertip shaft which are arranged in parallel, and the joint structure comprises a first joint shaft, a second joint shaft and a third joint shaft which are arranged in parallel; the proximal finger section comprises a first proximal connecting rod and a second proximal connecting rod, wherein one end of the first proximal connecting rod is fixedly connected with the pivoting shaft, the other end of the first proximal connecting rod is rotationally connected with the first joint shaft, the first proximal connecting rod is rotationally connected with the second joint shaft between the pivoting shaft and the first joint shaft, one end of the second proximal connecting rod is rotationally connected with the pivoting motor seat, and the other end of the second proximal connecting rod is rotationally connected with the third joint shaft; The distal finger segment comprises a first distal connecting rod and a second distal connecting rod, one end of the first distal connecting rod is rotationally connected with the first finger tip shaft, the other end of the first distal connecting rod is rotationally connected with the second joint shaft, one end of the second distal connecting rod is rotationally connected with the second finger tip shaft, the other end of the second distal connecting rod is rotationally connected with the third joint shaft, the second distal connecting rod is also rotationally connected with the first joint shaft between the second