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CN-122008280-A - Manipulator and robot

CN122008280ACN 122008280 ACN122008280 ACN 122008280ACN-122008280-A

Abstract

The embodiment of the invention relates to the technical field of manipulators, and particularly discloses a manipulator and a robot, wherein the manipulator comprises a palm component and a finger component, the finger component comprises a plurality of mechanical fingers, the mechanical fingers are arranged on the palm component at intervals, the mechanical fingers comprise at least three half-palm fingers and two side-swinging fingers, the number of interphalangeal joints of each mechanical finger is not less than four, and the half-palm fingers and the side-swinging fingers have at least four degrees of freedom. By means of the mode, the manipulator with at least three palm fingers and two side swing fingers can have at least twenty degrees of freedom through at least four degrees of freedom of the palm fingers and at least four degrees of freedom of the side swing fingers, flexibility of the manipulator is improved, the manipulator can complete complex actions, and application of the manipulator, particularly a manipulator like a human hand, in a robot is facilitated.

Inventors

  • WANG JING
  • REN XUSHENG

Assignees

  • 深圳市速腾聚创科技有限公司

Dates

Publication Date
20260512
Application Date
20260212

Claims (14)

  1. 1. A mechanical arm, which comprises a main body and a handle, characterized by comprising the following steps: A palm assembly; the finger assembly comprises a plurality of mechanical fingers, wherein the mechanical fingers are arranged at intervals on the palm assembly, each mechanical finger comprises at least three palm facing fingers and two side swinging fingers, the number of interphalangeal joints of each mechanical finger is not less than four, and the palm facing fingers and the side swinging fingers all have at least four degrees of freedom.
  2. 2. The manipulator according to claim 1, wherein the manipulator comprises a manipulator arm, The mechanical finger comprises a plurality of driving units which are sequentially connected, each driving unit comprises a driving motor and a rotating part, the rotating parts are connected with the output ends of the driving motors, and one rotating part of each driving unit is connected with the other driving unit.
  3. 3. The manipulator according to claim 2, wherein the manipulator comprises, The driving motor comprises a driving motor body, wherein a plurality of first matching parts are arranged at one end, away from the output end, of the driving motor body, and a plurality of second matching parts are arranged at the rotating part; When two driving units are stacked and assembled, the second matching part of one driving unit is connected with the first matching part of the other driving unit.
  4. 4. The manipulator according to claim 1, wherein the manipulator comprises a manipulator arm, The palm finger comprises a first finger end component, a first knuckle module, a second knuckle module and a third knuckle module which are sequentially connected in a rotating way; The first finger end member rotates around a first direction to be connected with one end of the first knuckle module, the other end of the first knuckle module rotates around the first direction to be connected with one end of the second knuckle module, the other end of the second knuckle module rotates around the first direction and the second direction to be connected with one end of the third knuckle module, the third knuckle module is fixed to the palm assembly, and the first direction is perpendicular to the second direction.
  5. 5. The manipulator according to claim 4, wherein the manipulator comprises a manipulator arm, The first knuckle module comprises a first driving unit, the first driving unit comprises a first driving motor and a first rotating part which are connected in a rotating way, the first rotating part is rotationally arranged at the output end of the first driving motor around a first direction, and the first knuckle component is fixed on the first rotating part; The second knuckle module comprises two second driving units symmetrically arranged along a third direction, the second driving units comprise a second driving motor and a second rotating part which are rotationally connected, one second rotating part is rotationally arranged at the output end of one second driving motor around a first direction and fixedly connected with the first driving motor, and the other second rotating part is rotationally arranged at the output end of the other second driving motor around the first direction; The third knuckle module comprises a third driving unit, the third driving unit comprises a third driving motor and a third rotating part which are rotationally connected, the third rotating part is rotationally arranged at the output end of the third driving motor around a second direction, the third rotating part is fixedly connected with the other second rotating part, and the third driving motor is fixed on the palm component; the first direction, the second direction and the third direction are perpendicular to each other.
  6. 6. The manipulator according to claim 4, wherein the manipulator comprises a manipulator arm, The first knuckle module comprises a first driving motor and a first rotating part which are connected in a rotating way, the first rotating part is rotationally arranged at the output end of the first driving motor around a first direction, and the first finger end member is fixed on the first rotating part; The second knuckle module comprises a second driving unit arranged along a third direction and another second driving unit arranged along a second direction, each second driving unit comprises a second driving motor and a second rotating part which are rotationally connected, one second rotating part is rotationally arranged at the output end of one second driving motor around the first direction, the other second rotating part is rotationally arranged at the output end of the other second driving motor around the first direction, and one second driving motor is fixed at the other second rotating part; The third knuckle module comprises a third driving motor and a third rotating part, the third rotating part is rotationally arranged at the output end of the third driving motor around a second direction, the third rotating part is fixedly connected with the other second driving motor, and the third driving motor is fixed on the palm component; the first direction, the second direction and the third direction are perpendicular to each other.
  7. 7. The manipulator according to claim 1, wherein the manipulator comprises a manipulator arm, The two side swinging fingers are a first side swinging finger and a second side swinging finger respectively, and the plurality of palm swinging fingers are arranged between the first side swinging finger and the second side swinging finger at intervals.
  8. 8. The manipulator according to claim 7, wherein the manipulator comprises a manipulator arm, The first side-swinging finger comprises a second finger end component, a fourth finger joint module, a fifth finger joint module, a sixth finger joint module and a seventh finger joint module which are sequentially connected in a rotating mode, the second finger end component is rotationally arranged at one end of the fourth finger joint module around a second direction, the other end of the fourth finger joint module is rotationally arranged at one end of the fifth finger joint module around a second direction and a first direction, the other end of the fifth finger joint module is rotationally arranged at one end of the sixth finger joint module around an axis of which the first direction is an included angle, the other end of the sixth finger joint module is rotationally arranged at one side of the seventh finger joint module around an axis of which the third direction is an included angle, and the seventh finger joint module is fixed on the palm component.
  9. 9. The manipulator according to claim 8, wherein the manipulator comprises a manipulator arm, The fourth knuckle module comprises two fourth driving units symmetrically arranged along a third direction, each of the two fourth driving units comprises a fourth driving motor and a fourth rotating part, one fourth rotating part is rotationally arranged at the output end of one fourth driving motor, the second finger end member is fixed at the fourth rotating part, and the other fourth rotating part is rotationally arranged at the output end of the other fourth driving motor; The fifth knuckle module comprises a fifth driving unit, the fifth driving unit comprises a fifth rotating part and a fifth driving motor which are connected in a rotating way, the fifth rotating part is connected to the output end of the fifth driving motor in a rotating way around an axis with an included angle in a first direction, and the fifth rotating part is fixedly connected to the other fourth rotating part; The sixth knuckle module comprises a sixth driving unit, the sixth driving unit comprises a sixth rotating part and a sixth driving motor which are connected in a rotating way, the sixth rotating part is connected to the output end of the sixth driving motor in a rotating way around an axis with an included angle in the first direction, and the sixth rotating part is fixedly connected to the fifth driving motor; The seventh knuckle module comprises a seventh driving unit, the seventh driving unit comprises a seventh driving motor and a seventh rotating part which are connected in a rotating mode, the seventh rotating part is arranged on one side of the output end of the seventh driving motor in a rotating mode around an axis with an included angle in the third direction, and the sixth driving motor is fixed to the seventh rotating part.
  10. 10. The manipulator according to claim 8, wherein the manipulator comprises a manipulator arm, The fourth knuckle module comprises a fourth driving unit, the fourth driving unit comprises a fourth rotating part and a fourth driving motor which are connected in a rotating way, the fourth rotating part is connected to the output end of the fourth driving motor in a rotating way around a second direction, and the fourth rotating part is fixedly connected with the second finger end component; The fifth knuckle module comprises a fifth driving unit arranged in the axial direction of an included angle along a third direction and another fifth driving unit arranged in the axial direction of an included angle along a first direction, each fifth driving unit comprises a fifth driving motor and a fifth rotating part, one fifth rotating part is rotatably arranged at the output end of one fifth driving motor and the fourth driving motor is fixed at the fifth rotating part, and the other fifth rotating part is rotatably arranged at the output end of the other fifth driving motor; The sixth knuckle module comprises a sixth driving unit, the sixth driving unit comprises a sixth rotating part and a sixth driving motor which are connected in a rotating way, the sixth rotating part is connected to the output end of the sixth driving motor in a rotating way around an axis with an included angle in the first direction, and the sixth rotating part is fixedly connected to the other fifth driving motor; The seventh knuckle module comprises a seventh driving unit, the seventh driving unit comprises a seventh driving motor and a seventh rotating part which are connected in a rotating mode, the seventh rotating part is arranged on one side of the output end of the seventh driving motor in a rotating mode around an axis with an included angle in the third direction, and the sixth driving motor is fixed to the seventh rotating part.
  11. 11. A robot arm as claimed in any one of claims 7 to 10, characterized in that, The second side-swinging finger comprises a third finger end component, an eighth finger joint module, a ninth finger joint module, a tenth finger joint module and an eleventh finger joint module which are sequentially connected in a rotating mode, wherein the third finger end component is rotationally arranged at one end of the eighth finger joint module around a first direction, the other end of the eighth finger joint module is rotationally arranged at one end of the ninth finger joint module around the first direction, the other end of the ninth finger joint module is rotationally arranged at one end of the tenth finger joint module around the first direction and a second direction, and the other end of the tenth finger joint module is rotationally connected to the eleventh finger joint module around an axis which forms an included angle with the first direction, and the eleventh finger joint module is fixed on the palm assembly.
  12. 12. The manipulator according to claim 11, wherein the manipulator comprises a manipulator arm, The second side swinging finger comprises a first adapter; The eighth knuckle module comprises an eighth driving unit, the eighth driving unit comprises an eighth rotating part and an eighth driving motor which are connected in a rotating way, the eighth rotating part is connected to the output end of the eighth driving motor in a rotating way around a first direction, and the third knuckle component is fixed on the eighth rotating part; The ninth knuckle module comprises two ninth driving units symmetrically arranged along a third direction, the ninth driving units comprise a ninth rotating part and a ninth driving motor which are rotationally connected, one ninth rotating part is rotationally connected with the output end of the ninth driving motor around a first direction and fixedly connected with the eighth driving motor, and the other ninth rotating part is rotationally connected with the other ninth driving motor around the first direction; The tenth knuckle module comprises a tenth driving unit, the tenth driving unit comprises a tenth rotating part and a tenth driving motor which are connected in a rotating way, the tenth rotating part is rotationally arranged at the output end of the tenth driving motor around a second direction, and the other ninth rotating part is fixedly connected with the tenth rotating part; The first adapter comprises a first fixing part and a second fixing part which are arranged at an included angle, and the first fixing part is fixedly connected to the tenth driving motor; The eleventh knuckle module comprises an eleventh driving unit, the eleventh driving unit comprises an eleventh rotating part and an eleventh driving motor which are connected in a rotating mode, one end of the eleventh rotating part is fixed to the second fixing part, and the other end of the eleventh rotating part is rotatably arranged at the output end of the tenth driving motor around an axis which forms an included angle with the first direction.
  13. 13. The manipulator according to claim 11, wherein the manipulator comprises a manipulator arm, The second side swinging finger comprises a first adapter; the eighth knuckle module comprises an eighth driving unit, the eighth driving unit comprises an eighth rotating part and an eighth driving motor which are connected in a rotating way, the eighth rotating part is connected to the output end of the eighth driving motor in a rotating way around a first direction, and the third knuckle component is fixed on the eighth rotating part; the ninth knuckle module comprises a ninth driving unit arranged along a third direction and another ninth driving unit arranged along a second direction, each of the ninth driving units comprises a ninth rotating part and a ninth driving motor which are rotationally connected, one of the ninth rotating parts is rotationally connected with the output end of one of the ninth driving motors around the first direction and fixedly connected with the eighth driving motor, the other of the ninth rotating parts is rotationally connected with the output end of the other of the ninth driving motors around the first direction and fixedly connected with one of the ninth driving motors; the tenth knuckle module comprises a tenth driving unit, the tenth driving unit comprises a tenth rotating part and a tenth driving motor which are connected in a rotating way, the tenth rotating part is rotationally arranged at the output end of the tenth driving motor around a second direction, and the other ninth driving motor is fixedly connected with the tenth rotating part; The first adapter comprises a first fixing part and a second fixing part which are arranged at an included angle, and the first fixing part is fixedly connected to the tenth driving motor; The eleventh knuckle module comprises an eleventh driving unit, the tenth driving unit comprises an eleventh rotating part and an eleventh driving motor which are connected in a rotating mode, one end of the eleventh rotating part is fixed to the second fixing part, and the other end of the eleventh rotating part is rotatably arranged at the output end of the tenth driving motor around an axis which forms an included angle with the first direction.
  14. 14. A robot comprising a body and a manipulator according to any one of claims 1-13, wherein the manipulator is connected to the body.

Description

Manipulator and robot Technical Field The embodiment of the invention relates to the technical field of manipulators, in particular to a manipulator and a robot. Background The manipulator is also called a dexterous hand, and is used for simulating the actions of grabbing, carrying, operating and the like by a human hand, and the manipulator needs to ensure enough freedom so that the manipulator can realize high-level dexterous operation and movement similar to the human hand. At present, the degree of freedom of the manipulator is generally lower than or equal to 17, so that the degree of freedom of the manipulator is lower, and when the manipulator realizes complex actions, the manipulator with low degree of freedom is insufficient in the degree of completion of the complex actions, and the application of the manipulator in the robot is affected. Disclosure of Invention The embodiment of the invention provides a manipulator and a robot, which mainly solve the technical problems that the existing manipulator is insufficient in flexibility and cannot effectively complete complex actions. In order to solve the technical problems, the technical scheme includes that the palm component and the finger component are provided, the finger component comprises a plurality of mechanical fingers, the mechanical fingers are arranged on the palm component at intervals, the mechanical fingers comprise at least three half fingers and two side swing fingers, the number of interphalangeal joints of each mechanical finger is not less than four, and the half fingers and the side swing fingers have at least four degrees of freedom. In some embodiments, the mechanical finger includes a plurality of driving units connected in sequence, the driving units include a driving motor and a rotating part, the rotating part is connected to an output end of the driving motor, and the rotating part of one driving unit is connected to a housing of another driving unit. In some embodiments, a plurality of first matching parts are arranged at one end of the shell of the driving motor, which is away from the output end, and a plurality of second matching parts are arranged at the rotating part, and when two driving units are stacked and assembled, the second matching parts of one driving unit are connected with the first matching parts of the other driving unit. In some embodiments, the half finger comprises a first finger end component, a first knuckle module, a second knuckle module and a third knuckle module which are connected in turn, wherein the first finger end component is connected with one end of the first knuckle module in a rotating mode around a first direction, the other end of the first knuckle module is connected with one end of the second knuckle module in a rotating mode around the first direction, the other end of the second knuckle module is connected with one end of the third knuckle module in a rotating mode around the first direction and the second direction, and the third knuckle module is fixed to the palm assembly and is perpendicular to the first direction and the second direction. In some embodiments, the first knuckle module comprises a first driving unit, the first driving unit comprises a first driving motor and a first rotating part which are rotationally connected, the first rotating part is rotationally arranged at the output end of the first driving motor around a first direction, the first end-pointing component is fixed on the first rotating part, the second knuckle module comprises two second driving units which are symmetrically arranged along a third direction, the second driving unit comprises a second driving motor and a second rotating part which are rotationally connected, one second rotating part is rotationally arranged at the output end of the second driving motor around the first direction and fixedly connected with the first driving motor, the other second rotating part is rotationally arranged at the output end of the other second driving motor around the first direction, the third knuckle module comprises a third driving unit, the third driving unit comprises a third driving motor and a third rotating part which are rotationally connected, the third rotating part is rotationally arranged at the output end of the other second driving motor around the first direction and the third rotating part is rotationally fixed at the other second end of the second driving motor around the first direction, and the third knuckle module is rotationally connected with the other second knuckle module. In some embodiments, the first knuckle module comprises a first driving motor and a first rotating part which are rotationally connected, the first rotating part is rotationally arranged at the output end of the first driving motor around a first direction, the first finger end member is fixed on the first rotating part, the second knuckle module comprises a second driving unit which is arranged along a third direc