All-around manipulator

Abstract

The present invention discloses a fully manipulatory manipulator comprising a finger-operating module II, a posture metamorphic module I that drives the finger-operating module II to move, rotate, and pick up objects, and a connecting mechanism III that accommodates the synchronous movement between the finger-operating module II and the posture metamorphic module I. N finger-operating modules II are mounted in a circular array or in a relative arrangement on a drive system composed of the posture metamorphic module I and the connecting mechanism III. The fully manipulatory manipulator of the present invention achieves decoupled motion with multiple degrees of freedom, reducing control difficulty and simplifying the operating system. The spatial arrangement of the wheels is altered by the metamorphic mechanism, enabling the grasping of various objects, such as planar objects, flexible surfaces, cylinders, cubes, and spheres. Different metamorphic modes can be switched for different objects to improve the success rate of manipulation. The nonholonomic constraint characteristics of the wheel group motion are utilized to achieve in-hand dexterous manipulation of multiple degrees of freedom of grasped objects, similar to the twisting motion of the human hand.

Description

Technical Field

[0001] The present invention relates to the technical field of end effectors, and in particular to a omnidirectional operating dexterous manipulator. Background Art

[0002] A dexterous manipulator is an end effector that can realize grasping and in-hand (in-grasping) dexterous operation functions, and is one of the main actuators of automated mechanical equipment;

[0003] With the continuous development of dexterous manipulators, their structural design is mainly divided into three directions: ① The structure adopts a variable degree of freedom design, which is realized by a metamorphic mechanism. Using different modes to pick up different objects can effectively improve the picking success rate; ② The structural design moves towards a highly bionic direction. By introducing more degrees of freedom, human hand gestures and movements can be partially or completely realized, ultimately achieving the purpose of replacing manual operations; ③ Design a new structure that uses fewer degrees of freedom to achieve the same function as a high-degree-of-freedom structure. This method can achieve lightweight manipulators by reducing the number of drives without reducing the picking and motion performance.

[0004] Current dexterous manipulators usually have multiple joints and multiple degrees of freedom, and complex control algorithms are needed to accurately control the movement of the manipulator to complete various tasks; the control algorithms of these dexterous manipulators need to consider factors such as the degrees of freedom, range of motion, speed, acceleration, etc. of multiple joints, and need to accurately control the movement trajectory, torque, speed, etc. of the manipulator, which requires the control system to have a high degree of flexibility, accuracy and stability; the control system of a dexterous manipulator usually consists of multiple subsystems, including hardware control system, motion control system, sensor system, image processing system, etc. These subsystems need to coordinate with each other to achieve flexible and precise control; therefore, there are disadvantages such as high control difficulty, complex control system, and high price to varying degrees. Summary of the Invention

[0005] In order to solve the problems existing in the prior art, the present invention provides an all-round dexterous manipulator, which can realize dexterous operation of multiple degrees of freedom of the grasped object in the hand (within the grasp), realize decoupled motion of multiple degrees of freedom, reduce the control difficulty, and simplify the operating system.

[0006] In order to achieve the above object, the technical solution of the present invention is:

[0007] An all-around dexterous manipulator comprises a mechanical claw formed by a circular array or relative arrangement of N wheel-finger operating modules II and a driving unit for driving the mechanical claw to switch between a folded state, an extended state and a grasping state. The driving unit comprises a posture cell module I for driving the wheel-finger operating module II to move, rotate and pick up, and a connecting mechanism III for adapting the synchronous movement between the transmission wheel-finger operating module II and the posture cell module I. A replaceable adapter is provided at one end of the posture cell module I to adapt to installation between different models of manipulators.

[0008] Preferably, the structures of the N connecting mechanisms III are completely consistent, and the N connecting mechanisms III respectively connect the N wheel-finger operating modules II with the posture cell module I.

[0009] Preferably; the posture metamorphic module I includes a structural frame 1 and a telescopic mechanism and a metamorphic mechanism installed on the structural frame 1, the telescopic mechanism and the structural frame 1 constitute a moving pair; the metamorphic mechanism includes an upper and lower set of slider rocker mechanisms, each set of slider rocker mechanisms includes a slider and N swing pairs, and the reciprocating movement of the slider drives the N swing pairs to have the same angular displacement.

[0010] Preferably, the posture cell module I also includes servo 1, servo 2 and servo 3, and the servo 1 converts the rotary motion of the servo 1 into the reciprocating motion of the telescopic mechanism through a gear pair and a screw pair; the servo 2 and servo 3 respectively control the reciprocating motion of the two sliders through the screw pair.

[0011] Preferably, the finger-wheel operation module II includes a structural frame 2, a finger-wheel mechanism arranged on the inner side of one end of the structural frame 2, and a spring suspension mechanism adapted to the position of the finger-wheel mechanism. Each finger-wheel mechanism is equipped with two Mecanum wheels, and each finger-wheel mechanism forms a swing pair with the structural frame 2; the two ends of the spring suspension mechanism respectively form a swing pair with the finger-wheel mechanism and the structural frame 2.

[0012] Preferably, the wheel finger operation module II also includes a transmission mechanism and a motor, and the motor controls the Mecanum wheel on the wheel finger mechanism to rotate according to a set motion law through a transmission mechanism composed of a bevel gear, a pulley and a gear.

[0013] Preferably, the 2N Mecanum wheels in the N wheel finger operation module II constitute a spatially arranged Mecanum wheel group.

[0014] Preferably, each of the finger operating modules II is provided with two finger mechanisms, which can be divided into a main finger mechanism that bears bidirectional load and an auxiliary finger mechanism that bears unidirectional load according to the working state of the swing pair; the rollers of the Mecanum wheels installed on the main finger mechanism and the auxiliary finger mechanism of the same finger operating module II are in opposite directions; the rollers of the Mecanum wheels installed on the main finger mechanisms of two adjacent finger operating modules II are in opposite directions; and the rollers of the Mecanum wheels installed on the auxiliary finger mechanisms of two adjacent finger operating modules II are in opposite directions.

[0015] Preferably, the connecting mechanism III includes a rigid link, a two-degree-of-freedom link and a three-degree-of-freedom link; one end of the rigid link forms a swing pair with the rocker joint of the lower slider rocker mechanism, and the other end forms a pair of orthogonal swing pairs with the structural frame 2 through an orthogonal joint; one end of the two-degree-of-freedom link forms a swing pair with the rocker joint of the upper slider rocker mechanism, and the other end forms a swing pair with the structural frame 2; one end of the three-degree-of-freedom link forms a swing pair with the rigid link, and the other end forms a swing pair with the telescopic mechanism.

[0016] Preferably, the structural frame of the connecting mechanism III, the wheel-finger operating module II and the rocker joints of the upper and lower groups of slider rocker mechanisms of the posture cell module I constitute a parallelogram mechanism; the parallelogram mechanism can always maintain the parallel state of the rigid link and the two-degree-of-freedom link in any cell mode.

[0017] Beneficial effects of the present invention:

[0018] 1. The omnidirectional dexterous manipulator of the present invention realizes decoupled motion in multiple degrees of freedom, reduces control difficulty and simplifies the operating system;

[0019] 2. The present invention uses a metamorphic mechanism and a combined omnidirectional wheel mechanism. The metamorphic mechanism changes the spatial arrangement of the wheels, thereby achieving the grasping of various objects such as flat objects, flexible surfaces, cylinders, squares and spheres. Different metamorphic modes can be switched for different objects to improve the success rate of operation.

[0020] 3. The present invention utilizes the nonholonomic constraint characteristics of the wheel group motion to achieve a twisting action similar to that of a human hand, and to perform dexterous intra-hand (intra-grasp) operations on the grasped object with multiple degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of an omnidirectional dexterous manipulator provided by an embodiment of the present invention;

[0022] Figure 2 An exploded view of the pose metamorphosis module 1 provided in an embodiment of the present invention;

[0023] Figure 3An exploded view of the finger-operating module II provided in an embodiment of the present invention;

[0024] Figure 4 An exploded view of the connection mechanism III provided in an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of the working of the spring suspension mechanism of the finger-operating module provided in an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the metamorphosis operation of the pose metamorphosis module provided in an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of a gripping flexible surface provided by an embodiment of the present invention;

[0028] Figure 8 A schematic diagram of operating a planar object provided by an embodiment of the present invention;

[0029] Figure 9 A schematic diagram of an operating cube provided in an embodiment of the present invention;

[0030] Figure 10 Schematic diagram of an operating sphere and cylinder provided in an embodiment of the present invention;

[0031] Figure 11 This is a schematic diagram of operating a long plate and a long tube according to an embodiment of the present invention.

[0032] In the picture:

[0033] I-1, adapter, I-2, end cover 1, I-3, optical axis 1, I-4, frame, I-5, screw nut 1, I-6, optical axis seat 1, I-7, screw sleeve 1, I-8, gear 1, I-9, rocker joint 1, I-10, rocker joint 2, I-11, linear bearing seat 1, I-12, upper frame, I-13, upper movable plate, I-14, screw sleeve 2, I-15, bearing Seat 2, I-16, Screw 2, I-17, Servo seat 2, I-18, Coupling 1, I-19, Servo 2, I-20, Optical axis 2, I-21, Screw nut seat 1, I-22, Screw nut 2, I-23, Lower moving plate, I-24, Shaft 1, I-25, Connecting rod 1, I-26, Shaft 3, I-27, Rocker joint 5, I-28, Rocker joint 6, I-29, Linear axis Bearing seat 2, I-30, load plate, I-31, optical axis seat 2, I-32, screw bearing bushing, I-33, screw 1, I-34, servo 1, I-35, servo seat 1, I-36, lifting plate, I-37, gear 2, I-38, axis 15, I-39, rocker joint 3, I-40, rocker joint 4, I-41, axis 4, I-42, connecting rod 2, I-43, axis 2, I -44, axis five, I-45, screw nut three, I-46, screw nut seat two, I-47, coupling two, I-48, servo seat three, I-49, servo three, I-50, optical axis three, I-51, screw three, I-52, bearing seat one, I-53, screw bushing three, I-54, lower frame, I-55, rocker joint seven, I-56, rocker joint eight, I-57, end cover two;

[0034] Ⅱ-1, bearing seat three, Ⅱ-2, motor one, Ⅱ-3, bevel gear one, Ⅱ-4, bevel gear four, Ⅱ-5, side plate one, Ⅱ-6, pulley one, Ⅱ-7, belt one, Ⅱ-8, shaft twelve, Ⅱ-9, shaft fourteen, Ⅱ-10, pulley three, Ⅱ-11, sleeve five, Ⅱ-12, bearing seat four, Ⅱ-13, limit pin one, Ⅱ-14, sleeve one, Ⅱ-15, suspension rod one, Ⅱ-16, end cover five, Ⅱ-17, spring one, Ⅱ-18, flange one, Ⅱ-19, end cover six, Ⅱ-20, suspension rod two, Ⅱ-21, end cover nine, Ⅱ-22, limit pin two, Ⅱ-23, hinge one, Ⅱ-24, flange four, Ⅱ-25, finger plate two, Ⅱ-26, gear three, Ⅱ-27, end cover eleven, Ⅱ-28, finger plate three, Ⅱ-29, sleeve three, Ⅱ-30, flange six, Ⅱ-31, gear five, Ⅱ-32, gear four, Ⅱ-33, pulley four, Ⅱ-34, shaft six, Ⅱ-35, shaft nine, Ⅱ-36, Mecanum wheel two, Ⅱ-37, shaft eleven, Ⅱ-38, shaft ten, Ⅱ-39, motor two, Ⅱ-40 , U-shaped frame, Ⅱ-41, motor seat, Ⅱ-42, bevel gear two, Ⅱ-43, bevel gear three, Ⅱ-44, side plate two, Ⅱ-45, pulley two, Ⅱ-46, shaft thirteen, Ⅱ-47, sleeve six, Ⅱ-48, belt two, Ⅱ-49, bearing, Ⅱ-50, bearing seat five, Ⅱ-51, hinge two, Ⅱ-52, limit pin four, Ⅱ-53, suspension rod four, Ⅱ-54, flange two, Ⅱ-55, end cover seven, Ⅱ-56, spring two, Ⅱ-57, end cover ten, Ⅱ-58, end cover eight, Ⅱ-59, suspension Rod three, II-60, sleeve two, II-61, limit pin three, II-62, flange five, II-63, finger plate one, II-64, flange three, II-65, Mecanum wheel one, II-66, pulley five, II-67, end cover twelve, II-68, finger plate four, II-69, sleeve four, II-70, gear eight, II-71, gear six, II-72, gear seven, II-73, shaft seven, II-74, shaft eight, II-75, end cover three, II-76, limit bracket, II-77, moving rod, II-78, end cover four;

[0035] Ⅲ-1, end cover twenty-three, Ⅲ-2, end cover twenty-two, Ⅲ-3, hinge joint one, Ⅲ-4, connecting rod three, Ⅲ-5, hinge joint two, Ⅲ-6, end cover twenty-one, Ⅲ-7, end cover twenty, Ⅲ-8, end cover nineteen, Ⅲ-9, sleeve seven, Ⅲ-10, shaft sixteen, Ⅲ-11, side plate three, Ⅲ-12, connecting piece, Ⅲ-13, sleeve eight, Ⅲ-14, end cover seventeen, Ⅲ-15, shaft seventeen, Ⅲ-16, side plate four, Ⅲ-17, end cover sixteen, Ⅲ-18, end cover fourteen, Ⅲ-19, rocker joint nine, Ⅲ-20, shaft eighteen, Ⅲ-21, end cover thirteen, Ⅲ-22, end cover eighteen, Ⅲ-23, hinge joint three, Ⅲ-24, connecting rod four, Ⅲ-25, hinge joint four, Ⅲ-26, hinge joint five, Ⅲ-27, end cover fifteen. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0037] The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the size ratio between the parts, etc. may not be the same as the actual ones. Even when representing the same part, the sizes and ratios may sometimes be expressed differently depending on the drawings.

[0038] To facilitate understanding, the present invention is further described below with reference to the accompanying drawings.

[0039] See also Figure 1 , Figure 1 3D schematic diagram of an omnidirectional dexterous manipulator provided by an embodiment of the present invention, comprising a posture transformation cell module I, a wheel-finger operation module II, and a connection mechanism III;

[0040] See also Figure 2 , Figure 2 1 is an exploded view of the pose metamorphosis module 1 provided in an embodiment of the present invention;

[0041] Implementation method of posture metamorphic module I: posture metamorphic module I includes a structural frame 1 and a telescopic mechanism and a metamorphic mechanism installed on the structural frame 1, the telescopic mechanism and the structural frame 1 constitute a moving pair; the metamorphic mechanism includes an upper slider rocker mechanism and a lower slider rocker mechanism, the upper slider rocker mechanism and the lower slider rocker mechanism each include a slider and four rocker joints, the reciprocating movement of the slider drives the four rocker joints to have the same angular displacement, the posture metamorphic module I also includes a servo 1 I-34, a servo 2 I-19 and a servo 3 I-49, the servo 1 I-34 converts the rotary motion of the servo 1 I-34 into the reciprocating motion of the telescopic mechanism through a gear pair and a screw pair; the servo 2 I-19 and the servo 3 I-49 respectively control the reciprocating motion of the two sliders through a screw pair; a replaceable adapter I-1 is provided at one end of the posture metamorphic module I, and by replacing the adapter I-1, it can be installed and connected with different models of robotic arms;

[0042] Structural frame 1 includes frame I-4, upper frame I-12 and lower frame I-54;

[0043] The telescopic mechanism includes an optical axis I-3, a lead screw nut I-5 and a gear I-8. One end of the optical axis I-3 is mounted on the lifting plate I-36, and the other end is mounted on the load plate I-30. The optical axis I-3 forms a moving pair with the linear bearing seat I-11 mounted on the upper frame I-12 and the linear bearing seat II I-29 mounted on the lower frame I-54. The lead screw nut I-5 is connected to the lifting plate I-36 and forms a threaded pair with the lead screw I-33. The two ends of the lead screw I-33 are respectively connected to the lead screw sleeve I-7 and the lead screw bearing bushing I-32 and form a rotating pair with the frame I-4 and the upper frame I-12; a bearing is provided between the lead screw bearing bushing I-32 and the end cover I-2, a gear I-8 is mounted on the lead screw sleeve I-7 and meshes with the gear II I-37, the gear II I-37 is connected to the steering gear I-34, and the steering gear I-34 is mounted on the frame I-4 through the steering gear seat I-35;

[0044] The lifting and lowering process of the lifting plate I-36 and the load plate I-30;

[0045] When the servo I-34 is in operation, the servo I-34 drives the gear II I-37 to rotate. The gear II I-37, in meshing connection with the gear I-8, drives the screw sleeve I-7 to rotate through the gear I-8. The screw sleeve I-7 drives the screw I-33 to rotate. Under the action of the screw nut I-5 and the screw I-33 thread engagement, the screw nut I-5 moves longitudinally on the screw I-33. At the same time, the nut I-5 drives the optical axis I-3 through the lifting plate I-36 to move longitudinally along the inner wall of the linear bearing seat I-11 installed on the upper frame I-12 and the linear bearing seat II I-29 installed on the lower frame I-54. The optical axis I-3 drives the load plate I-30 to move longitudinally. The lifting and lowering of the lifting plate I-36 and the load plate I-30 are achieved by the cooperation of the rotating pair, the threaded pair and the moving pair.

[0046] The cell-metamorphosis mechanism includes an upper slider rocker mechanism and a lower slider rocker mechanism;

[0047] Upper slider rocker mechanism: the two ends of the screw 3 I-51 are respectively connected to the coupling 2 I-47 and the screw sleeve 2 I-14 and form a threaded pair with the screw nut 3 I-45; the coupling 2 I-47 is connected to the servo 3 I-49, the servo 3 I-49 is installed on the servo seat 3 I-48, and the two ends of the servo seat 3 I-48 are respectively connected to the upper frame I-12 and the lower frame I-54; the screw sleeve 2 I-14 and the bearing seat 2 I-15 form a rotating pair; a bearing is set between the screw sleeve 2 I-14 and the bearing seat 2 I-15, and the bearing seat 2 I-15 is connected to the upper frame I-12; the screw nut 3 I-45 is connected to the screw nut seat 2 I-46, and the screw nut seat 2 I-46 is connected to the upper movable plate I -13 is connected and forms a moving pair with optical axis three I-50; optical axis three I-50 is connected with the frame I-4, and the upper moving plate I-13 forms a slider rocker mechanism with rocker joint one I-9, rocker joint two I-10, rocker joint three I-39 and rocker joint four I-40 through four connecting rods two I-42; axis four I-41 and axis two I-43 are respectively installed at both ends of connecting rod two I-42 as the swing pair rotating shaft; rocker joint one I-9, rocker joint two I-10, rocker joint three I-39 and rocker joint four I-40 form a swing pair with four axes five I-44 respectively; end cover one I-2 and end cover two I-57 are respectively installed at both ends of the frame I-4 and axis five I-44 as axial limiters.

[0048] The swinging process of the upper slider rocker mechanism;

[0049] When the servo 3 I-49 is in operation, the servo 3 I-49 drives the screw 3 I-51 to rotate through the coupling 2 I-47, and the screw 3 I-51 drives the screw sleeve 2 I-14 to rotate in the bearing seat 2 I-15. The screw nut 3 I-45 and the screw nut seat 2 I-46 move horizontally and linearly on the screw 3 I-51 under the action of the thread engagement with the screw 3 I-51. The screw nut seat 2 I-46 moves horizontally and linearly along the outer wall of the optical axis 3 I-50. At the same time, When the screw nut seat 2 I-46 drives the oscillating auxiliary shaft composed of the fourth shaft I-41, the second connecting rod I-42, and the second shaft I-43 to rotate through the upper movable plate I-13, and the four oscillating auxiliary shafts respectively drive the oscillating rod joint 1 I-9, the oscillating rod joint 2 I-10, the oscillating rod joint 3 I-39, and the oscillating rod joint 4 I-40 to rotate along the top of the outer wall of the four fifth shafts I-44. The oscillating auxiliary shafts are realized by the cooperation of the threaded pair, the rotating pair, the movable pair, and the oscillating auxiliary shafts.

[0050] Lower slider rocker mechanism: The two ends of the lead screw 2 I-16 are respectively connected to the coupling 1 I-18 and the lead screw sleeve 3 I-53, and form a threaded pair with the lead screw nut 2 I-22; the coupling 1 I-18 is connected to the servo 2 I-19, and the servo 2 I-19 is installed on the servo seat 2 I-17, and the two ends of the servo seat 2 I-17 are respectively connected to the upper frame I-12 and the lower frame I-54; the lead screw sleeve 3 I-53 and the bearing seat 1 I-52 form a rotation pair, and a bearing is provided between the lead screw sleeve 3 I-53 and the bearing seat 1 I-52, and the bearing seat 1 I-52 is connected to the lower frame I-54; the lead screw nut 2 I-22 and the lead screw nut seat 1 I-21 The screw nut seat 1-21 is connected to the lower movable plate 1-23 and forms a moving pair with the optical axis 2-20. The optical axis 2-20 is connected to the frame 1-4. The lower movable plate 1-23 is connected to the rocker joint 5-27, rocker joint 6-28, rocker joint 7-55, and rocker joint 8-56 through four connecting rods 1-25 to form a slider rocker mechanism. The shaft 1-24 and shaft 3-26 are respectively installed at both ends of the connecting rod 1-25 as the swing pair rotation axis. The rocker joint 5-27, rocker joint 6-28, rocker joint 7-55, and rocker joint 8-56 respectively form a swing pair with the four shafts 5-44.

[0051] The swinging process of the lower slider rocker mechanism;

[0052] When the servo 2 I-19 is in operation, the servo 2 I-19 drives the screw 2 I-16 to rotate through the coupling 1 I-18, and the screw 2 I-16 drives the screw sleeve 3 I-53 to rotate in the bearing seat 1 I-52. The screw nut 2 I-22 and the screw nut seat 1 I-21 move horizontally and linearly on the screw 2 I-16 under the action of the screw thread engagement with the screw 2 I-16. The screw nut seat 1 I-21 moves horizontally and linearly along the outer wall of the optical axis 2 I-20. At the same time, When the screw nut seat 1-1 is in the state of rotation, the screw nut seat 1-21 drives the swing pair consisting of shaft 1-24, connecting rod 1-25 and shaft 3 I-26 to rotate through the lower movable plate 1-23. The four swing pair shafts respectively drive the rocker joint 5 I-27, rocker joint 6 I-28, rocker joint 7 I-55 and rocker joint 8 I-56 to rotate along the bottom end of the outer wall of the four shafts 5 I-44. The swing of the swing pair is achieved through the cooperation of the thread pair, the rotating pair, the moving pair and the swing pair shaft.

[0053] See also Figure 3 , Figure 3 An exploded view of the finger-operating module II provided in an embodiment of the present invention;

[0054] Implementation method of finger-wheel operation module II: There are four finger-wheel operation modules II, which can be divided into two groups with basically the same structure; finger-wheel operation module II includes structural frame II, spring suspension mechanism, finger-wheel mechanism, transmission mechanism and two motors; finger-wheel operation module II contains two finger-wheel mechanisms, each finger-wheel mechanism is equipped with two Mecanum wheels, and each finger-wheel mechanism forms a swing pair with structural frame II; the two ends of the spring suspension mechanism respectively form a swing pair with the finger-wheel mechanism and structural frame II, and the spring suspension mechanism plays a passive force adaptation role, while providing a stable contact force, it enhances the adaptability of the finger-wheel mechanism to the contour of the object; the two motors control the Mecanum wheels on the two finger-wheel mechanisms to rotate according to the set motion law through the bevel gear-pulley-gear transmission mechanism; the two finger-wheel mechanisms of finger-wheel operation module II are divided into two categories according to the working state of the swing pair: a main finger-wheel mechanism that can bear loads in both directions and an auxiliary finger-wheel mechanism that only bears loads in one direction; all the main finger mechanisms of the four finger-wheel operation modules II The finger mechanism and the auxiliary finger mechanism have the following spatial arrangement characteristics: the rollers of the Mecanum wheels installed on the main finger mechanism and the auxiliary finger mechanism of the same finger operation module II are in opposite directions; the rollers of the Mecanum wheels installed on the main finger mechanisms of two adjacent finger operation modules II are in opposite directions; the rollers of the Mecanum wheels installed on the auxiliary finger mechanisms of two adjacent finger operation modules II are in opposite directions; all eight Mecanum wheels of the four finger operation modules II constitute a spatially arranged Mecanum wheel set, which can achieve force-closed grasping and in-hand dexterous operation; it is worth noting that the arrangement rules of the Mecanum wheels of the finger operation module II of the present invention are protected by the present invention by simply increasing the number of finger operation modules II without changing this arrangement rule; the present invention uses the omnidirectional characteristics of the Mecanum wheel set to achieve force-closed grasping and in-hand dexterous operation of the grasped object with multiple degrees of freedom;

[0055] The wheel-finger operation module II includes a structural frame II, a spring suspension mechanism, a wheel-finger mechanism, a transmission mechanism, and two motors;

[0056] Structural frame 2 includes bearing seat 3 II-1, side panel 1 II-5, U-shaped frame II-40, side panel 2 II-44, and limiting frame II-76; limiting frame II-76 and moving rod II-77 form a moving pair, and the ends of moving rod II-77 are respectively connected to end cover 3 II-75 and end cover 4 II-78. End cover 5 II-16 and end cover 6 II-19 for bearing position limiting are installed on side panel 1 II-5, and end cover 7 II-55 and end cover 8 II-58 for bearing position limiting are installed on side panel 2 II-44.

[0057] The limit frame II-76 is installed at the inner bottom end of the side plate II-5 and the side plate II-44. The end cover II-75 and the end cover II-78 are connected to the moving rod II-77 respectively. In the natural state, the end cover II-78 contacts the shaft II-37, and the end cover II-75 contacts the shaft II-74, which plays a limiting role.

[0058] The spring suspension mechanism includes a limit pin 1-II-13, a sleeve 1-II-14, a suspension rod 1-II-15, a spring 1-II-17, a suspension rod 2-II-20, a limit pin 2-II-22, a hinge 1-II-23, a limit pin 3-II-61, a sleeve 2-II-60, a suspension rod 3-II-59, a spring 2-II-56, a suspension rod 4-II-53, a limit pin 4-II-52, and a hinge 2-II-51;

[0059] The two ends of spring 1 II-17 are respectively connected to suspension rod 1 II-15 and suspension rod 2 II-20, and suspension rod 1 II-15 and suspension rod 2 II-20 form a moving pair. The limit pin 1 II-13 is connected to sleeve 1 II-14 and side plate 1 II-5, and together form a swing pair with suspension rod 1 II-15. The limit pin 2 II-22 is connected to hinge 1 II-23 and finger plate 3 II-28, and together form a swing pair with suspension rod 2 II-20. The two ends of spring 2 II-56 are respectively connected to suspension rod 4 II-53 and suspension rod 3 II-59, and suspension rod 4 II-53 and suspension rod 3 II-59 form a moving pair. The limit pin 3 II-61 is connected to sleeve 2 II-60 and side plate 2 II-44, and together form a swing pair with suspension rod 3 II-59. The limit pin 4 II-52 is connected to hinge 2 II-51 and finger plate 1 II-63, and together form a swing pair with suspension rod 4 II-53.

[0060] When the two wheel finger mechanisms move up and down to operate the object;

[0061] One end of the finger plate 3 II-28 swings downward, and the other end of the finger plate 3 II-28 drives the suspension rod 2 II-20 to move toward the suspension rod 1 II-15 through the hinge 1 II-23 and the limit pin 1 II-13, thereby squeezing the spring 1 II-17. The spring 1 II-17 is elastically deformed after being squeezed.

[0062] One end of the finger plate 1 II-63 swings upward, and the other end of the finger plate 1 II-63 drives the suspension rod 4 II-53 to move toward the suspension rod 3 II-59 through the hinge 2 II-51 and the limit pin 4 II-52, thereby squeezing the spring 2 II-56. The spring 2 II-56 is elastically deformed after being squeezed.

[0063] The two finger-wheel mechanisms generate clamping force and adaptability to the object. While the spring suspension mechanism stabilizes the contact force, the two finger-wheel mechanisms play a passive force adaptation role when moving up and down to operate the object, thus enhancing the adaptability of the finger-wheel mechanism to the object contour.

[0064] The wheel-finger mechanism consists of shaft 6Ⅱ-34, shaft 7Ⅱ-73, shaft 8Ⅱ-74, sleeve 3Ⅱ-29, flange 1Ⅱ-18, flange 2Ⅱ-54, flange 3Ⅱ-64, finger plate 2Ⅱ-25, finger plate 1Ⅱ-63, end cover 9Ⅱ-21, end cover 10Ⅱ-57, Mecanum wheel 1Ⅱ-65, shaft 9Ⅱ-35, shaft 10Ⅱ-38, shaft 11Ⅱ-37, sleeve 4Ⅱ-69, flange 4Ⅱ-24, flange 5Ⅱ-62, flange 6Ⅱ-30, finger plate 3Ⅱ-28, finger plate 4Ⅱ-68, end cover 11Ⅱ-27, end cover 12Ⅱ-67, and Mecanum wheel 2Ⅱ-36;

[0065] Shaft six II-34 is connected to flange three II-64, flange three II-64 is connected to Mecanum wheel one II-65, shaft six II-34 and finger plate two II-25, finger plate one II-63 form a rotating pair, end cover nine II-21, end cover ten II-57 are respectively connected to finger plate two II-25, finger plate one II-63 for bearing limit, shaft eight II-74 are respectively connected to finger plate two II-25, finger plate one II-63, sleeve three II-29 is connected to shaft eight II-74 for axial limit, flange one II-18, flange two II-54 are respectively connected to shaft seven II-73 for axial limit, shaft seven II-73 are respectively connected to finger plate two II-25, finger plate one II-63, side plate one II-5, side plate two II-44 form a rotating pair, shaft ten Ⅱ-38 is connected to flange 6 Ⅱ-30, flange 6 Ⅱ-30 is connected to Mecanum wheel 2 Ⅱ-36, shaft 10 Ⅱ-38 and finger plate 3 Ⅱ-28 and finger plate 4 Ⅱ-68 form a revolute pair, end cover 11 Ⅱ-27 and end cover 12 Ⅱ-67 are respectively connected to finger plate 3 Ⅱ-28 and finger plate 4 Ⅱ-68 for bearing limit, shaft 11 Ⅱ-37 is respectively connected to finger plate 3 Ⅱ-28 and finger plate 4 Ⅱ-68, sleeve 4 Ⅱ-69 is connected to shaft 11 Ⅱ-37 for axial limit, flange 4 Ⅱ-24 and flange 5 Ⅱ-62 are respectively connected to shaft 9 Ⅱ-35 for axial limit, shaft 9 Ⅱ-35 forms a revolute pair with finger plate 3 Ⅱ-28, finger plate 4 Ⅱ-68, side plate 1 Ⅱ-5 and side plate 2 Ⅱ-44;

[0066] The transmission mechanism includes a motor seat II-41, a bevel gear 1 II-3, a bevel gear 2 II-42, a shaft 12 II-8, a shaft 13 II-46, a bevel gear 4 II-4, a bevel gear 3 II-43, a pulley 1 II-6, a pulley 2 II-45, a sleeve 5 II-11, a sleeve 6 II-47, a belt 1 II-7, a belt 2 II-48, a pulley 3 II-10, a pulley 4 II-33, a pulley 5 II-66, a shaft 14 II-9, a bearing seat 4 II-12, a bearing seat 5 II-50, a gear 3 II-26, a gear 4 II-32, a gear 5 II-31, a gear 6 II-71, a gear 7 II-72, and a gear 8 II-70;

[0067] Bevel gear 1 Ⅱ -3 and bevel gear 2 Ⅱ -42 are connected to motor 1 Ⅱ -2 and motor 2 Ⅱ -39 respectively. Motor 1 Ⅱ -2 and motor 2 Ⅱ -39 are connected to motor seat Ⅱ -41. Motor seat Ⅱ -41 is connected to side plate 1 Ⅱ -5, ​​U-shaped frame Ⅱ -40 and side plate 2 Ⅱ -44 in a floating manner. Pulley 2 Ⅱ -45 and bevel gear 4 Ⅱ -4 are connected to shaft 13 Ⅱ -46 respectively. Pulley Ⅱ -6 and bevel gear 3 Ⅱ -43 are connected to shaft 12 Ⅱ -8, shaft 12 Ⅱ-8 and shaft 13 Ⅱ-46 respectively form a rotating pair with motor seat Ⅱ-41, sleeve 5 Ⅱ-11 and sleeve 6 Ⅱ-47 are respectively connected to motor seat Ⅱ-41 and used as bearing limit, pulley 3 Ⅱ-10 is connected to shaft 14 Ⅱ-9, shaft 14 Ⅱ-9 respectively form a rotating pair with bearing seat 4 Ⅱ-12 and bearing seat 5 Ⅱ-50, bearing seat 4 Ⅱ-12 and bearing seat 5 Ⅱ-50 respectively form a rotating pair with side plate 1 Ⅱ-5 and side plate 1 Ⅱ-6. Plate 2 Ⅱ-44 is connected in a floating manner, pulley 5 Ⅱ-66 and gear 3 Ⅱ-26 are connected to shaft 7 Ⅱ-73 respectively, gear 4 Ⅱ-32 and shaft 8 Ⅱ-74 form a rotating pair and mesh with gear 3 Ⅱ-26, gear 5 Ⅱ-31 is connected to shaft 6 Ⅱ-34 and Mecanum wheel 1 Ⅱ-65 respectively and meshes with gear 4 Ⅱ-32, pulley 4 Ⅱ-33 and gear 6 Ⅱ-71 are connected to shaft 9 Ⅱ-35 respectively, gear 7 Ⅱ-72 is connected to shaft Eleven II-37 forms a rotating pair and meshes with gear six II-71. Gear eight II-70 is respectively connected to shaft ten II-38 and Mecanum wheel two II-36 and meshes with gear seven II-72. Belt one II-7 is respectively connected to pulley one II-6, pulley three II-10, and pulley four II-33 and is tensioned by pulley three II-10. Belt two II-48 is respectively connected to pulley two II-45 and pulley five II-66 and is tensioned by motor base II-41.

[0068] See also Figure 3 Position relationship of each component in the wheel finger operation module II:

[0069] Bearing seat three II-1 is fixedly mounted on the top inner side of side panel one II-5 and side panel two II-44. U-shaped frame II-40 is mounted on the upper middle inner side of side panel one II-5 and side panel two II-44. Motor seat II-41, located in the middle inner side of side panel one II-5 and side panel two II-44, is floatingly connected to side panel one II-5, U-shaped frame II-40, and side panel two II-44. Motor one II-2 and motor two II-39 are mounted on the top of motor seat II-41.

[0070] Install sleeve six II-47, pulley two II-45 and bevel gear four II-4 on shaft thirteen II-46 from left to right;

[0071] Bevel gear 3 II-43, pulley 1 II-6 and sleeve 5 II-11 are installed on shaft 12 II-8 from left to right;

[0072] Install bearing seat five II-50, bearing II-49, pulley three II-10 and bearing seat four II-12 on shaft fourteen II-9 from left to right;

[0073] Install the end cover seven II-55, flange two II-54, finger plate one II-63 upper hole, pulley five II-66, gear three II-26, finger plate two II-25 upper hole, flange one II-18 and end cover five II-16 on shaft seven II-73 from left to right;

[0074] From left to right, shaft eight II-74 is installed with the middle hole of finger plate one II-63, gear four II-32, sleeve three II-29 and the middle hole of finger plate two II-25;

[0075] Install the end cover ten II-57, the lower hole of the finger plate one II-63, the flange three II-64, the Mecanum wheel one II-65, the gear five II-31, the lower hole of the finger plate two II-25 and the end cover nine II-21 on the shaft six II-34 from left to right;

[0076] Install end cover eight II-58, flange five II-62, upper hole of finger plate four II-68, gear six II-71, pulley four II-33, upper hole of finger plate three II-28, flange four II-24 and end cover six II-19 on shaft nine II-35 from left to right;

[0077] From left to right, shaft 11 II-37 is installed with the middle hole of finger plate 4 II-68, sleeve 4 II-69, gear 7 II-72 and the middle hole of finger plate 3 II-28;

[0078] Install the end cover 12 II-67, the lower hole of the finger plate 4 II-68, the gear 8 II-70, the Mecanum wheel 2 II-36, the flange 6 II-30, the lower hole of the finger plate 3 II-28 and the end cover 11 II-27 from left to right on the shaft 10 II-38;

[0079] When motor 1 II-2 is working, motor 1 II-2 drives bevel gear 4 II-4 to start rotating through bevel gear 1 II-3, bevel gear 4 II-4 drives pulley 2 II-45 to rotate through shaft 13 II-46, pulley 2 II-45 drives pulley 5 II-66 to rotate through belt 2 II-48, pulley 5 II-66 drives gear 3 II-26 to rotate through shaft 7 II-73, gear 3 II-26 drives gear 5 II-31 to start rotating through gear 4 II-32, gear 5 II-31 drives Mecanum wheel 1 II-65 to rotate through shaft 6 II-34;

[0080] When motor two II-39 is working, motor two II-39 drives bevel gear three II-43 to start rotating through bevel gear two II-42, bevel gear three II-43 drives pulley one II-6 to rotate through shaft twelve II-8, pulley one II-6 drives pulley four II-33 to rotate through belt one II-7, pulley four II-33 drives gear six II-71 to rotate through shaft nine II-35, gear six II-71 drives gear eight II-70 through gear seven II-72, gear eight II-70 drives Mecanum wheel two II-36 to rotate through shaft ten II-38;

[0081] See also Figure 4 , Figure 4 An exploded view of the connection mechanism III provided in an embodiment of the present invention;

[0082] Implementation method of connection mechanism III: Connection mechanism III includes a rigid link, a two-degree-of-freedom link, and a three-degree-of-freedom link; one end of the rigid link forms a swing pair with the rocker joint of the lower slider rocker mechanism, and the other end forms a pair of orthogonal swing pairs with the structural frame 2 through an orthogonal joint; one end of the two-degree-of-freedom link forms a swing pair with the rocker joint of the upper slider rocker mechanism, and the other end forms a swing pair with the structural frame 2; one end of the three-degree-of-freedom link forms a swing pair with the rigid link, and the other end forms a swing pair with the telescopic mechanism. There are four wheel-finger operation modules II and four connection mechanisms III. The four connection mechanisms III respectively connect the four wheel-finger operation modules II with the posture cell module I.

[0083] The connecting mechanism III includes end cover 23 III-1, end cover 22 III-2, hinge joint 1 III-3, connecting rod 3 III-4, hinge joint 2 III-5, end cover 21 III-6, end cover 20 III-7, end cover 19 III-8, end cover 18 III-22, shaft 16 III-10, sleeve 7 III-9, side plate 3 III-11, side plate 4 III-16, connecting piece III-12, end cover 17 III-14, end cover 16 III-17, shaft 17 III-15, sleeve 8 III-13, hinge joint 3 III-23, connecting rod 4 III-24, hinge joint 4 III-25, hinge joint 5 III-26, end cover 15 III-27, rocker joint 9 III-19, shaft 18 III-20, end cover 14 III-18, and end cover 13 III-21.

[0084] Two-degree-of-freedom connecting rod: end cover 23 III-1 is connected to hinge joint 1 III-3 as a bearing limiter, end cover 22 III-2 is connected to rocker joint 4 I-40 as a bearing limiter, hinge joint 1 III-3 and rocker joint 4 I-40 form a swing pair, the two ends of connecting rod 3 III-4 respectively form a swing pair with hinge joint 1 III-3 and hinge joint 2 III-5, hinge joint 2 III-5 and bearing seat 2-1 form a swing pair, end cover 20 III-7 is connected to hinge joint 2 III-5 as a bearing limiter, and end cover 21 III-6 is connected to bearing seat 2-1 as a bearing limiter;

[0085] Rigid connecting rod: End cover 19 Ⅲ-8, end cover 17 Ⅲ-14 are connected to side plate 3 Ⅲ-11 as bearing limiters, end cover 18 Ⅲ-22, end cover 16 Ⅲ-17 are connected to side plate 4 Ⅲ-16 as bearing limiters, side plate 3 Ⅲ-11, side plate 4 Ⅲ-16 are connected to connector Ⅲ-12, shaft 16 Ⅲ-10 is connected to rocker joint 8 I-56 and forms a rocking pair with side plate 3 Ⅲ-11, side plate 4 Ⅲ-16, sleeve 7 Ⅲ-9 It is connected to shaft 16 III-10 for axial limit, shaft 17 III-15 is connected to rocker joint 9 III-19 and respectively forms a rocking pair with side plate 3 III-11 and side plate 4 III-16, sleeve 8 III-13 is connected to shaft 17 III-15 for axial limit, shaft 18 III-20 is connected to U-shaped frame II-40 and forms a rocking pair with rocker joint 9 III-19, end cover 14 III-18 and end cover 13 III-21 are respectively connected to shaft 18 III-20 for axial limit;

[0086] Three-degree-of-freedom connecting rod: Hinge joint three III-23 forms a swing pair with side plate three III-11, side plate four III-16, and connecting rod four III-24 respectively. The two ends of hinge joint four III-25 form a swing pair with connecting rod four III-24 and hinge joint five III-26 respectively. Hinge joint five III-26 forms a swing pair with load plate I-30. End cover fifteen III-27 is connected to hinge joint five III-26 as an axial limiter.

[0087] Each wheel finger operation module II is connected to the posture change cell module I through the connection mechanism III. The hinge joint III-3 can also form a swing pair with the rocker joint 1 I-9, the rocker joint 2 I-10, and the rocker joint 3 I-39 respectively. The shaft III-10 can also be connected to the rocker joint 5 I-27, the rocker joint 6 I-28, and the rocker joint 7 I-55 respectively.

[0088] The working mode of the present invention is described below with reference to the accompanying drawings:

[0089] First, a robotic arm is selected, and the omnidirectional manipulator of the present invention is used as the end picker of the robotic arm, and is specifically assembled and connected to the robotic arm through an adapter I-1.

[0090] like Figure 7 The figure shows a schematic diagram of the present invention grasping a flexible surface. Before the flexible surface grasping operation is performed, the upper and lower rocker joints of the pose metamorphosis module I are as follows: Figure 6As shown in (a) and 6 (d), the servo I-34 drives the load plate I-30 to move upward a certain distance, and the load plate I-30 drives the four wheel finger operation modules II to open synchronously through the four connecting mechanisms III; driven by the robotic arm, the omnidirectional manipulator approaches the flexible surface, and the servo I-34 drives the four wheel finger operation modules II to close synchronously. When the Mecanum wheels II-36 of the main wheel finger mechanisms of the four wheel finger operation modules II come into contact with the flexible surface, the working states of the four wheel finger operation modules II are as follows: Figure 5 As shown in (a); Motor II-39 controls Mecanum wheels II-36 to rotate according to the set motion rules. Driven by the rotation of the four Mecanum wheels II-36, the flexible surface is rolled up and contacts the four Mecanum wheels I-65. Driven by the robotic arm, the omnidirectional dexterous manipulator gradually moves away from the working position. At the same time, the servo I-34 drives the four wheel-finger operation modules II to close synchronously, completing the grasping of the flexible surface.

[0091] like Figure 8 The figure shows a schematic diagram of the present invention for manipulating a planar object. Before manipulating a planar object, the upper and lower rocker joints of the pose metamorphosis module I are as follows: Figure 6 As shown in (a) and 6 (e), the servo I-34 drives the load plate I-30 to move upward a certain distance, and the load plate I-30 drives the four wheel-finger operation modules II to open synchronously through the four connecting mechanisms III; under the drive of the robotic arm, when the omnidirectional operating dexterous manipulator approaches the planar object, the servo I-34 drives the four wheel-finger operation modules II to close synchronously. When the Mecanum wheels II 36 of the main wheel-finger mechanisms of the four wheel-finger operation modules II come into contact with the planar object, the working states of the four wheel-finger operation modules II are as follows: Figure 5 As shown in (a); Motor II-39 controls Mecanum wheels II-36 to rotate according to the set motion rules. Under the rotation drive of the four Mecanum wheels II-36, the planar object can achieve independent motion and coupled motion with three degrees of freedom in the plane.

[0092] like Figure 9 The figure shows a schematic diagram of the present invention operating a square body. Before the square body operation is performed, the upper and lower rocker joints of the pose metamorphosis module I are as follows: Figure 6 As shown in (a) and 6 (d), the servo I-34 drives the load plate I-30 to move upward a certain distance, and the load plate I-30 drives the four wheel-finger operation modules II to open synchronously through the four connecting mechanisms III; under the drive of the robotic arm, when the omnidirectional manipulator approaches the square body, the servo I-34 drives the four wheel-finger operation modules II to close synchronously; when the Mecanum wheel II-36 of the main wheel-finger mechanism and the Mecanum wheel I-65 of the auxiliary wheel-finger mechanism of the four wheel-finger operation modules II come into contact with the square body, the working status of the four wheel-finger operation modules II is as follows: Figure 5As shown in (b); driven by the robotic arm, the omnidirectional dexterous manipulator gradually moves away from the working position, and the four Mecanum wheels II-36 and the four Mecanum wheels I-II-65 complete the force-closed grasping of the square body; Motor I-II-2 and Motor II-39 respectively control the Mecanum wheels I-II-65 and Mecanum wheels II-II-36 to rotate according to the set motion rules. Under the rotation drive of the four Mecanum wheels II-36 and the four Mecanum wheels I-II-65, the square body can achieve independent motion and coupled motion with three degrees of freedom.

[0093] like Figure 10 10(a) and 10(b) are schematic diagrams of the present invention for manipulating a sphere or cylinder. Before manipulating a sphere or cylinder, the upper and lower rocker joints of the pose morphing module I are as follows: Figure 6 (b) and 6 (e); the servo I-34 drives the load plate I-30 to move upward a certain distance, and the load plate I-30 drives the four wheel-finger operation modules II to open synchronously through the four connecting mechanisms III; under the drive of the robotic arm, when the omnidirectional manipulator approaches the sphere or cylinder, the servo I-34 drives the four wheel-finger operation modules II to close synchronously; when the Mecanum wheel II-36 of the main wheel-finger mechanism and the Mecanum wheel II-65 of the auxiliary wheel-finger mechanism of the four wheel-finger operation modules II come into contact with the sphere or cylinder, the working status of the four wheel-finger operation modules II is as follows: Figure 5 As shown in (b); driven by the robotic arm, the omnidirectional dexterous manipulator gradually moves away from the working position, and the four Mecanum wheels II-36 and the four Mecanum wheels I-II-65 complete the force-closed grasping of the sphere or cylinder; Motor I-II-2 and Motor II-39 respectively control the Mecanum wheels I-II-65 and Mecanum wheels II-II-36 to rotate according to the set motion rules. Under the rotation drive of the four Mecanum wheels II-II-36 and the four Mecanum wheels I-II-65, the sphere can achieve independent motion and coupled motion with three rotational degrees of freedom; under the rotation drive of the four Mecanum wheels II-II-36 and the four Mecanum wheels I-II-65, the cylinder can achieve independent motion and coupled motion with two degrees of freedom.

[0094] like Figure 11 (a) and (b) are schematic diagrams of the present invention for operating a long board or a long tube. Before operating the long board or the long tube, the upper and lower rocker joints of the pose cell module I are as follows: Figure 6(c) and 6 (e); the servo 1 I-34 drives the load plate I-30 to move upward to the extreme position, and the load plate I-30 drives the four wheel finger operation modules II to open synchronously to the maximum position through the four connecting mechanisms III; under the drive of the robotic arm, when the omnidirectional operating dexterous manipulator approaches the long board or long tube, the servo 2 I-19 drives the lower moving plate I-23 to move, and the lower moving plate I-23 drives the rocker joint 5 I-27, the rocker joint 6 I-28, the rocker joint 7 I-55, and the rocker joint 8 I-56 respectively. Figure 6 (e) position moves to position 6 (d), and the four wheel finger operation modules II are closed synchronously; when the Mecanum wheel 2 II-36 of the main wheel finger mechanism and the Mecanum wheel 1 II-65 of the auxiliary wheel finger mechanism of the four wheel finger operation modules II come into contact with the ball long plate or long tube, the working state of the four wheel finger operation modules II is as follows: Figure 5 As shown in (b); driven by the robotic arm, the omnidirectional dexterous manipulator gradually moves away from the working position, and the four Mecanum wheels II-36 and the four Mecanum wheels I-II-65 complete the force-closed grasping of the long board and the long tube; Motor I-II-2 and Motor II-39 respectively control the Mecanum wheels I-II-65 and the Mecanum wheels II-II-36 to rotate according to the set motion rules. Under the rotation drive of the four Mecanum wheels II-II-36 and the four Mecanum wheels I-II-65, the long board can achieve three degrees of freedom of independent motion and coupled motion; under the rotation drive of the four Mecanum wheels II-II-36 and the four Mecanum wheels I-II-65, the long tube can achieve two degrees of freedom of independent motion and coupled motion.

[0095] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A fully manipulatory robot, characterized by: It includes a finger-wheel operation module II, a posture cell module I that drives the finger-wheel operation module II to move, rotate and pick up, and a connecting mechanism III that adapts to the synchronous movement between the transmission finger-wheel operation module II and the posture cell module I; N finger-wheel operation modules II are installed in a circular array or relatively arranged on the drive system composed of the posture cell module I and the connecting mechanism III, and the drive system drives the N finger-wheel operation modules II to switch between the retracted state, the extended state and the grasping state. A replaceable adapter is provided at one end of the posture cell module I to adapt to the installation between different models of robotic arms; The posture metamorphic module I includes a structural frame 1 and a telescopic mechanism and a metamorphic mechanism installed on the structural frame 1. The telescopic mechanism and the structural frame 1 constitute a moving pair. The metamorphic mechanism includes upper and lower sets of slider rocker mechanisms. Each set of slider rocker mechanisms includes a slider and N swing pairs. The reciprocating movement of the slider drives the N swing pairs to have the same angular displacement. The posture cell module I also includes a servo 1, a servo 2 and a servo 3. The servo 1 converts the rotary motion of the servo 1 into the reciprocating motion of the telescopic mechanism through a gear pair and a screw pair; the servo 2 and the servo 3 respectively control the reciprocating motion of the two sliders through the screw pair; The finger operation module II includes a structural frame II, a finger mechanism arranged on the inner side of one end of the structural frame II, and a spring suspension mechanism adapted to the position of the finger mechanism. Each finger mechanism is equipped with two Mecanum wheels, and each finger mechanism forms a swing pair with the structural frame II; the two ends of the spring suspension mechanism respectively form a swing pair with the finger mechanism and the structural frame II.

2. The omnidirectional dexterous manipulator according to claim 1, characterized in that: The structures of the N connecting mechanisms III are completely consistent, and the N connecting mechanisms III respectively connect the N wheel-finger operation modules II and the posture cell module I.

3. The omnidirectional dexterous manipulator according to claim 1, characterized in that: The wheel-finger operation module II also includes a transmission mechanism and a motor. The motor controls the Mecanum wheel on the wheel-finger mechanism to rotate according to a set motion law through a transmission mechanism composed of a bevel gear, a pulley and a gear.

4. The omnidirectional dexterous manipulator according to claim 1, characterized in that: The 2N Mecanum wheels in the N wheel-finger operation module II constitute a spatially arranged Mecanum wheel assembly.

5. The omnidirectional dexterous manipulator according to claim 4, characterized in that: Each finger operation module II is provided with two finger mechanisms, which can be divided into a main finger mechanism that bears bidirectional load and an auxiliary finger mechanism that bears unidirectional load according to the working state of the swing pair; the roller directions of the Mecanum wheels installed on the main finger mechanism and the auxiliary finger mechanism of the same finger operation module II are opposite; the roller directions of the Mecanum wheels installed on the main finger mechanisms of two adjacent finger operation modules II are opposite; the roller directions of the Mecanum wheels installed on the auxiliary finger mechanisms of two adjacent finger operation modules II are opposite.

6. The omnidirectional dexterous manipulator according to claim 2, characterized in that: The connecting mechanism III includes a rigid link, a two-degree-of-freedom link and a three-degree-of-freedom link; one end of the rigid link forms a swing pair with the rocker joint of the lower slider rocker mechanism, and the other end forms a pair of orthogonal swing pairs with the structural frame 2 through an orthogonal joint; one end of the two-degree-of-freedom link forms a swing pair with the rocker joint of the upper slider rocker mechanism, and the other end forms a swing pair with the structural frame 2; one end of the three-degree-of-freedom link forms a swing pair with the rigid link, and the other end forms a swing pair with the telescopic mechanism.

7. The omnidirectional dexterous manipulator according to any one of claims 3 to 6, characterized in that: The structural frame of the connecting mechanism III, the wheel-finger operation module II and the rocker joints of the upper and lower sets of slider rocker mechanisms of the posture metamorphic module I constitute a parallelogram mechanism; the parallelogram mechanism can always maintain the parallel state of the rigid link and the two-degree-of-freedom link in the metamorphic mode.

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