Bionic eight-claw dexterous catching manipulator

Abstract

The application belongs to the technical field of space target capturing manipulators, and particularly relates to a bionic eight-claw dexterous capturing manipulator. The technical scheme of the application is as follows: a bionic eight-claw dexterous capturing manipulator comprises a base, a palm, four large fingers, four small fingers, a centering assembly, a push rod assembly and a rope, the palm is fixedly arranged on the base, the large fingers and the small fingers are connected with the palm through the centering assembly and are arranged on the palm at equal intervals; the push rod assembly is arranged between the centering assembly and the center rod of the palm; the palm controls the large fingers and the small fingers to implement actions through the rope. The bionic eight-claw dexterous capturing manipulator provided by the application is simple to operate, has multiple capturing postures, has good adaptability to non-cooperative targets, can reliably capture large-size targets and small-size targets, and has a large capturing range.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of space target capturing manipulators, and particularly relates to a bionic eight-claw dexterous capturing manipulator. BACKGROUND

[0002] A space capturing manipulator is a device for cleaning or carrying non-cooperative targets in space, such as failed or discarded spacecraft, space debris, meteorites, etc., through a mechanical arm installed on a spacecraft. It has great engineering application value in the fields of space debris cleaning, auxiliary orbit transfer, on-orbit maintenance, space attack and defense, etc.

[0003] In recent years, with the rapid development of science and technology, the exploration of space by countries around the world has been deepening year by year, and at present, a large number of spacecraft have been launched into space, and the number of spacecraft in the Earth's orbit has increased year by year. According to statistics, there are more than 15000 objects in the Earth's orbit, but only 6% of them are active satellites, which greatly increases the safety hazards of the space environment and poses a major threat to spacecraft in orbit. Therefore, using a space capturing device to capture, carry or maintain these spacecraft that have failed to work normally is of great significance to maintaining the safety of the space environment and effectively extending the service life of spacecraft and satellites in orbit.

[0004] Current capturing devices can be mainly divided into three categories: rigid capturing, flexible capturing and rigid-flexible coupling capturing. Among them, the rigid capturing method represented by a space manipulator plus a dexterous hand has the advantages of large rigidity, strong load capacity, accurate capturing through control of each joint, strong self-locking performance, good capturing stability, etc., but is prone to impact. The flexible capturing method represented by a flying net has the advantages of being able to complete long-distance capturing, not requiring a specific capturing point, having a large working range and low cost, but this method is difficult to control due to its large flexibility, has low capturing accuracy, and the technology is not mature at present. The rigid-flexible coupling capturing mechanism is a new composite capturing method that can improve some of the shortcomings of the above two capturing methods to some extent, has high rigidity and a large capturing range, but similar to flexible capturing, it is currently mainly in the stage of theoretical research and prototype development.

[0005] As can be seen from the above, compared with flexible capturing and rigid-flexible coupling capturing, the articulated rigid manipulator has the advantages of large rigidity, high precision, simple control and high technology maturity, and at present, space capturing still mainly uses rigid manipulators. With the rapid development of the diversification and complexity of space missions, higher requirements are put forward for space capturing manipulators, but the current capturing manipulator configurations are relatively single, the capturing range is limited, and the adaptability is low, so it is urgent to carry out innovative design of new capturing manipulators to meet the development needs in the future. SUMMARY

[0006] The application provides an eight-claw bionic dexterous catching manipulator, which is simple to operate, has various catching postures, has good adaptability to non-cooperative targets, can reliably catch large-size targets and small-size targets, and has a large catching range.

[0007] The technical scheme of the application is as follows:

[0008] The eight-claw bionic dexterous catching manipulator comprises a base, a palm, four large fingers, four small fingers, a centering assembly, a push rod assembly and a rope.

[0009] Further, the eight-claw bionic dexterous catching manipulator comprises a center rod, a flange plate, a palm support, a winding system and a protective cover.

[0010] Further, the large finger comprises a finger root connecting piece one, five bending modules and a finger tip module.

[0011] The finger root connecting piece one comprises an inner plate one and an inclined plate one, and the inclined plate one is vertically arranged on the inner plate one.

[0012] The bending module one is composed of two big finger segment connectors one and two connected in sequence, the two big finger segment connectors one are arranged in diagonal lines, and the two big finger segment connectors two are also arranged in diagonal lines; the big finger segment connector one comprises an inner plate three, an outer plate one and an inclined plate three, one end of the inner plate three is fixedly connected with one end of the outer plate one, and the inner plate three is perpendicular to the outer plate one, and the inclined plate three is vertically arranged on the inner plate three and forms an angle of +45° with the outer plate one; the big finger segment connector two comprises an inner plate four, an outer plate two and an inclined plate four, one end of the inner plate four is fixedly connected with one end of the outer plate two, and the inner plate four is perpendicular to the outer plate two, and the inclined plate four is vertically arranged on the inner plate four and forms an angle of -45° with the outer plate two; the inner plate three is hingedly connected with the inner plate four, and the outer plate one is hingedly connected with the outer plate two;

[0013] The fingertip module one is composed of two big finger fingertip connecting plates, one big finger segment connector one and one big finger segment connector two connected in sequence; the two big finger fingertip connecting plates are hingedly connected, the two big finger fingertip connecting plates are respectively hingedly connected with the outer plate one of the big finger segment connector one and the outer plate two of the big finger segment connector two, and the inner plate three of the big finger segment connector one is hingedly connected with the inner plate four of the big finger segment connector two;

[0014] Between the root module one and the bending module one, the inclined plate one is hingedly connected with the inclined plate four, and the inclined plate two is hingedly connected with the inclined plate three; between the two bending modules one, the inclined plate four of the big finger segment connector two is hingedly connected with the inclined plate three of the big finger segment connector one; between the bending module one and the fingertip module one, the inclined plate four is hingedly connected with the inclined plate three.

[0015] Further, the bionic eight-claw dexterous catching mechanical hand, the small finger comprises a root module two, five bending modules two and a fingertip module two connected in sequence;

[0016] The root module two is composed of one little finger root connector one and one small finger root connector two hingedly connected together; the small finger root connector one comprises an inner plate five and an inclined plate five, the inclined plate five is vertically arranged on the inner plate five, the small finger root connector two comprises an inner plate six and an inclined plate six, the inclined plate six is vertically arranged on the inner plate six; after one end of the inner plate five is hingedly connected with one end of the inner plate six, the inclined plate five is mirror-symmetrically arranged with the inclined plate six;

[0017] The bending module two is composed of two small finger segment connectors one and two in turn, the two small finger segment connectors one are arranged in diagonal lines, and the two small finger segment connectors two are also arranged in diagonal lines; the small finger segment connector one comprises an inner plate seven, an outer plate three and an inclined plate seven, one end of the inner plate seven is fixedly connected with one end of the outer plate three, and the inner plate seven is perpendicular to the outer plate three, and the inclined plate seven is vertically arranged on the inner plate seven and forms an angle of +45° with the outer plate three; the small finger segment connector two comprises an inner plate eight, an outer plate four and an inclined plate eight, one end of the inner plate eight is fixedly connected with one end of the outer plate four, and the inner plate eight is perpendicular to the outer plate four, and the inclined plate eight is vertically arranged on the inner plate eight and forms an angle of -45° with the outer plate four; the inner plate seven is hingedly connected with the inner plate eight, and the outer plate three is hingedly connected with the outer plate four;

[0018] The fingertip module two is composed of two small finger fingertip connecting plates, one small finger segment connector one and one small finger segment connector two in turn; the two small finger fingertip connecting plates are hingedly connected, the two small finger fingertip connecting plates are respectively hingedly connected with the outer plate three of the small finger segment connector one and the outer plate four of the small finger segment connector two, and the inner plate seven of the small finger segment connector one is hingedly connected with the inner plate eight of the small finger segment connector two;

[0019] Between the finger root module two and the bending module two, the inclined plate five is hingedly connected with the inclined plate eight, and the inclined plate six is hingedly connected with the inclined plate seven; between the two bending modules two, the inclined plate eight of the small finger segment connector two is hingedly connected with the inclined plate seven of the small finger segment connector one; between the bending module two and the fingertip module two, the inclined plate eight is hingedly connected with the inclined plate seven.

[0020] Further, the bionic eight-claw dexterous catching manipulator, the catching surfaces of the large fingers and the small fingers are provided with flexible materials.

[0021] Further, the bionic eight-claw dexterous catching manipulator, the centering assembly comprises four large finger centering mechanisms and four small finger centering mechanisms;

[0022] The large finger centering mechanism comprises a support frame one, a centering sliding block one, two right-angle connecting blocks one, a pin shaft one and a torsional spring one; the support frame one comprises a horizontal plate one, a straight plate one, a support plate one and an outward extending column one, one end of the horizontal plate one is fixedly connected with one end of the straight plate one, and the horizontal plate one is perpendicular to the straight plate one, the other end of the horizontal plate one is provided with a pin shaft hole one, the support plate one is fixedly arranged at the other end of the straight plate one, and the outward extending column one is vertically fixedly arranged on the inner end face of the horizontal plate one and is parallel to the straight plate one; the two ends of the pin shaft one are arranged on the outer end face of the horizontal plate one through two mounting seats one, and the torsional spring one is mounted on the pin shaft one; the centering sliding block one is slidingly and fitly mounted on the outward extending column one, and the small ends of the two right-angle connecting blocks one are respectively hingedly connected with the two ends of the centering sliding block one;

[0023] The small finger centering mechanism comprises a support frame two, a centering slider two, two right-angle connecting blocks two, a pin shaft two and a torsion spring two; the support frame two comprises a horizontal plate two, a straight plate two, a support plate two and an outward column two, one end of the horizontal plate two is fixedly connected with one end of the straight plate two and the horizontal plate two is perpendicular to the straight plate two, the other end of the horizontal plate two is provided with a pin shaft hole two, the support plate two is fixedly arranged at the other end of the straight plate two, and the outward column two is vertically and fixedly arranged on the inner end face of the horizontal plate two and is parallel to the straight plate two; the two ends of the pin shaft two are arranged on the outer end face of the horizontal plate two through two mounting seats two, and the torsion spring two is mounted on the pin shaft two; the centering slider two is slidingly and fitly mounted on the outward column two, and the small ends of the two right-angle connecting blocks two are respectively hinged to the two ends of the centering slider two.

[0024] Further, the four support plates one of the four large finger centering mechanisms and the four support plates two of the four small finger centering mechanisms are respectively hinged to eight edges of the outer octagonal structure of the palm support frame, and the support plates one and the support plates two are arranged alternately;

[0025] One end of the inner plates one and two of the large fingers is commonly hinged to the pin shaft one, the other end of the inner plates one and two is respectively hinged to the large ends of the two right-angle connecting blocks one, and the two ends of the torsion spring one are respectively leaned on the same side of the inner plates one and two;

[0026] One end of the inner plates five and six of the small fingers is commonly hinged to the pin shaft two, the other end of the inner plates five and six is respectively hinged to the large ends of the two right-angle connecting blocks two, and the two ends of the torsion spring two are respectively leaned on the same side of the inner plates five and six.

[0027] Further, the push rod assembly comprises a large finger push rod assembly and a small finger push rod assembly;

[0028] The large finger push rod assembly comprises one center rod slider one and four push rods one, the center rod slider one is slidingly and fitly mounted on the center rod, one end of the push rod one is hinged to the center rod slider one, and the four push rods one are uniformly distributed on the center rod slider one; the other end of the push rod one is hinged to the horizontal plate one through the pin shaft hole one;

[0029] The small finger push rod assembly comprises one center rod slider two and four push rods two, the center rod slider two is slidingly and fitly mounted on the center rod, one end of the push rod two is hinged to the center rod slider two, and the four push rods two are uniformly distributed on the center rod slider two; the other end of the push rod two is hinged to the horizontal plate two through the pin shaft hole two.

[0030] Further, the bionic eight-claw dexterous capturing manipulator, the rope includes four big finger driving ropes and four small finger driving ropes; the inner plate three of the big finger segment connector one of the bending module one connected with the finger root module one is provided with a rope hole one, the inner plate seven of the small finger segment connector one of the bending module two connected with the finger root module two is provided with a rope hole two, the intersection of the horizontal plate one and the straight plate one of the big finger centering mechanism is provided with a rope hole three, the intersection of the horizontal plate two and the straight plate two of the small finger centering mechanism is provided with a rope hole four, eight rope holes five are arranged on the eight edges of the outer octagonal structure of the palm support respectively, and eight rope holes six are arranged on the eight edges of the inner octagonal structure respectively; the two winding mechanisms are winding mechanism one and winding mechanism two respectively, one end of the four big finger driving ropes is fixed on the winding device of the winding mechanism one in a uniform distribution along the circumference, the other end of the big finger driving rope passes through the corresponding rope hole six, rope hole five, rope hole three and rope hole one and is fixedly connected with the rope hole one, one end of the four small finger driving ropes is fixed on the winding device of the winding mechanism two in a uniform distribution along the circumference, the other end of the small finger driving rope passes through the corresponding rope hole six, rope hole five, rope hole four and rope hole two and is fixedly connected with the rope hole two.

[0031] The bionic eight-claw dexterous capturing manipulator has the advantages that:

[0032] 1、The bionic eight-claw dexterous capturing manipulator of the application, a single finger is composed of a spatial Bennett mechanism and a planar four-bar mechanism, the single finger has a single degree of freedom, four fingers of the same size are driven by only one motor, and coordinated operation is relatively simple, a post-capture posture is easy to control, and kinematic analysis is relatively simple.

[0033] 2、The bionic eight-claw dexterous capturing manipulator of the application, the fingers include big fingers and small fingers, there are three working conditions of big finger capturing, small finger capturing and cooperative capturing, different size targets can be reliably captured, and the capturing range is relatively large.

[0034] 3、The bionic eight-claw dexterous catching manipulator of the application introduces the bionic concept, is inspired by the hawk claw, the four fingers of the hawk claw will stretch in four different directions when catching prey, so the fingers are designed as a four-finger structure arranged symmetrically and uniformly, which can exert uniform catching force in four directions and realize efficient catching. Secondly, the flexible material with the gecko palm microstructure is arranged in the finger catching surface, which can increase the friction force, and the elastic deformation of the flexible material can further adapt to the outer contour of the caught object, and the impact during catching plays a certain buffering effect.

[0035] 4、The bionic eight-claw dexterous catching manipulator of the application is not only suitable for the field of space target catching, but also has high reference and reference value in the fields of space cargo handling, agricultural picking, intelligent manufacturing, medical technology and logistics handling. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a schematic diagram of the bionic eight-claw dexterous catching manipulator;

[0037] Figure 2 It is a schematic diagram of the palm structure;

[0038] Figure 3 It is a sectional view of the palm structure;

[0039] Figure 4 It is a schematic diagram of the winding mechanism;

[0040] Figure 5 It is a schematic diagram of the large finger;

[0041] Figure 6 It is a schematic diagram of the finger root module one;

[0042] Figure 7 It is a schematic diagram of the bending module one;

[0043] Figure 8 It is a schematic diagram of the fingertip module one;

[0044] Figure 9 It is a schematic diagram of the large finger centering mechanism;

[0045] Figure 10 It is a schematic diagram of the connection state of the large finger centering assembly and the large finger;

[0046] Figure 11 It is a schematic diagram of the large finger push rod assembly;

[0047] Figure 12 It is a schematic diagram of the connection relationship between the push rod assembly, the centering assembly and the palm;

[0048] Figure 13 It is a schematic diagram of the wire routing mode of the rope in the palm, the centering assembly, the large finger and the small finger;

[0049] Figure 14 Schematic diagram of single degree of freedom large finger or small finger bending principle;

[0050] Figure 15 Schematic diagram of state for capturing small size non-cooperative target objects;

[0051] Figure 16 Schematic diagram of state for capturing large size non-cooperative target objects;

[0052] Figure 17 Schematic diagram of state for capturing irregular shape non-cooperative target objects;

[0053] In the figure: 1 is the base, 2 is the center rod, 3 is the large finger, 4 is the small finger, 5 is the push rod one, 6 is the flange plate, 7 is the palm support, 8 is the protective cover, 9 is the rope hole five, 10 is the wire winding device, 11 is the motor, 12 is the shell, 13 is the end cover, 14 is the center rod sliding block one, 31 is the finger root module one, 32 is the bending module one, 33 is the fingertip module one, 34 is the flexible material, 35 is the inner plate one, 36 is the inclined plate one, 37 is the inner plate two, 38 is the inclined plate two, 40 is the inner plate three, 41 is the inclined plate three, 42 is the outer plate one, 43 is the inner plate four, 44 is the inclined plate four, 45 is the outer plate two, 46 is the large finger fingertip connecting plate, 51 is the centering sliding block one, 52 is the right angle connecting block one, 53 is the pin shaft one, 54 is the torsional spring one, 55 is the horizontal plate one, 56 is the straight plate one, 57 is the support plate one, 58 is the outer extension column one, 59 is the pin shaft hole one, 60 is the rope hole three, 61 is the large finger driving rope, 62 is the small finger driving rope, 63 is the rope hole one, 64 is the rope hole two, 65 is the rope hole four, 66 is the rope hole six, 71 is the small size non-cooperative target object, 72 is the large size non-cooperative target object, and 73 is the irregular shape non-cooperative target object. DETAILED DESCRIPTION

[0054] As Figures 1-13 shown, a bionic eight-claw dexterous capturing manipulator includes a base 1, a palm, four large fingers 3, four small fingers 4, a centering assembly, a push rod assembly, and a rope, the palm is fixedly arranged on the base 1, the large fingers 3 and the small fingers 4 are connected with the palm through the centering assembly and are arranged at equal intervals on the palm; the push rod assembly is arranged between the centering assembly and the center rod 2 of the palm; the palm controls the large fingers 3 and the small fingers 4 to implement actions through the rope.

[0055] The palm comprises a center rod 2, a flange plate 6, a palm support 7, a winding system and a protective cover 8, one end of the center rod 2 is fixedly connected with the base 1, the other end of the center rod 2 is fixedly connected with the flange plate 6, and the palm support 7 is fixedly installed on the flange plate 6; the palm support 7 is provided with an inner octagonal structure and an outer octagonal structure, the winding system is fixedly arranged in the inner octagonal structure, and the protective cover 8 and a centering assembly are installed on the outer octagonal structure; the winding system comprises two groups of winding mechanisms, and each winding mechanism comprises a shell 12, a bearing, a winding device 10, an end cover 13 and a motor 11; the end cover 13 is fixedly connected with the palm support 7, the shell 12 and the motor 11 are arranged at two ends of the end cover 13 respectively, the winding device 10 is placed in the shell 12, one end of the winding device 10 is connected with an output end of the motor 11, and the other end of the winding device 10 is connected with the shell 12 through the bearing.

[0056] The big finger 3 comprises a finger root module one 31, five bending modules one 32 and a fingertip module one 33 which are sequentially hinged together;

[0057] The finger root module one 31 is composed of a big finger finger root connector one and a big finger finger root connector two which are hinged together; the big finger finger root connector one comprises an inner plate one 35 and an inclined plate one 36, the inclined plate one 36 is vertically arranged on the inner plate one 35, the big finger finger root connector two comprises an inner plate two 37 and an inclined plate two 38, and the inclined plate two 38 is vertically arranged on the inner plate two 37; after one end of the inner plate one 35 is hinged together with one end of the inner plate two 37, the inclined plate one 36 is mirror-symmetric with the inclined plate two 38;

[0058] The bending module one 32 is sequentially hinged and composed of two big finger finger segment connectors one and two big finger finger segment connectors two, the two big finger finger segment connectors one are arranged in diagonal lines, and the two big finger finger segment connectors two are also arranged in diagonal lines; the big finger finger segment connector one comprises an inner plate three 40, an outer plate one 42 and an inclined plate three 41, one end of the inner plate three 40 is fixedly connected with one end of the outer plate one 42, the inner plate three 40 is perpendicular to the outer plate one 42, and the inclined plate three 41 is vertically arranged on the inner plate three 40 and forms an angle of +45° with the outer plate one 42; the big finger finger segment connector two comprises an inner plate four 43, an outer plate two 45 and an inclined plate four 44, one end of the inner plate four 43 is fixedly connected with one end of the outer plate two 45, the inner plate four 43 is perpendicular to the outer plate two 45, and the inclined plate four 44 is vertically arranged on the inner plate four 43 and forms an angle of -45° with the outer plate two 45; the inner plate three 40 is hinged with the inner plate four 43, and the outer plate one 42 is hinged with the outer plate two 45;

[0059] The fingertip module one 33 is composed of two big finger fingertip connecting plates 46, a big finger segment connecting piece one and a big finger segment connecting piece two in turn and is hingedly connected; the two big finger fingertip connecting plates 46 are hingedly connected, the two big finger fingertip connecting plates 46 are hingedly connected with the outer plate one 42 of the big finger segment connecting piece one and the outer plate two 45 of the big finger segment connecting piece two respectively, and the inner plate three 40 of the big finger segment connecting piece one is hingedly connected with the inner plate four 43 of the big finger segment connecting piece two;

[0060] Between the finger root module one 31 and the bending module one 32, the inclined plate one 36 is hingedly connected with the inclined plate four 44, and the inclined plate two 38 is hingedly connected with the inclined plate three 41; between the two bending module ones 32, the inclined plate four 44 of the big finger segment connecting piece two is hingedly connected with the inclined plate three 41 of the big finger segment connecting piece one; between the bending module one 32 and the fingertip module one 33, the inclined plate four 44 is hingedly connected with the inclined plate three 41.

[0061] The small finger 4 is similar in structure to the big finger 3;

[0062] The small finger 4 comprises a finger root module two, five bending module twos and a fingertip module two in turn and is hingedly connected together;

[0063] The finger root module two is composed of a small finger root connecting piece one and a small finger root connecting piece two and is hingedly connected together; the small finger root connecting piece one comprises an inner plate five and an inclined plate five, the inclined plate five is vertically arranged on the inner plate five, the small finger root connecting piece two comprises an inner plate six and an inclined plate six, the inclined plate six is vertically arranged on the inner plate six; after one end of the inner plate five is hingedly connected with one end of the inner plate six, the inclined plate five is mirror-symmetric with the inclined plate six;

[0064] The bending module two is composed of two small finger segment connecting piece ones and two small finger segment connecting piece twos in turn and is hingedly connected together, the two small finger segment connecting piece ones are arranged in diagonal lines, and the two small finger segment connecting piece twos are also arranged in diagonal lines; the small finger segment connecting piece one comprises an inner plate seven, an outer plate three and an inclined plate seven, one end of the inner plate seven is fixedly connected with one end of the outer plate three and the inner plate seven is perpendicular to the outer plate three, and the inclined plate seven is vertically arranged on the inner plate seven and forms an angle of +45° with the outer plate three; the small finger segment connecting piece two comprises an inner plate eight, an outer plate four and an inclined plate eight, one end of the inner plate eight is fixedly connected with one end of the outer plate four and the inner plate eight is perpendicular to the outer plate four, and the inclined plate eight is vertically arranged on the inner plate eight and forms an angle of -45° with the outer plate four; the inner plate seven is hingedly connected with the inner plate eight, and the outer plate three is hingedly connected with the outer plate four;

[0065] The two small finger tip connecting plates are hingedly connected, and the two small finger tip connecting plates are respectively hingedly connected with the outer plate three of the small finger segment connecting piece one and the outer plate four of the small finger segment connecting piece two, and the inner plate seven of the small finger segment connecting piece one is hingedly connected with the inner plate eight of the small finger segment connecting piece two;

[0066] Between the two small finger tip connecting plates, the inclined plate five is hingedly connected with the inclined plate eight, and the inclined plate six is hingedly connected with the inclined plate seven; between the two small finger segment connecting pieces two, the inclined plate eight of the small finger segment connecting piece two is hingedly connected with the inclined plate seven of the small finger segment connecting piece one; between the two small finger segment connecting pieces two, the inclined plate eight is hingedly connected with the inclined plate seven.

[0067] The flexible material 34 is arranged on the catching surface of the large finger 3 and the small finger 4.

[0068] The centering assembly comprises four large finger centering mechanisms and four small finger centering mechanisms;

[0069] The large finger centering mechanism comprises a support frame one, a centering sliding block one 51, two right-angle connecting blocks one 52, a pin shaft one 53 and a torsional spring one 54; the support frame one comprises a horizontal plate one 55, a straight plate one 56, a support plate one 57 and an outward extending column one 58, one end of the horizontal plate one 55 is fixedly connected with one end of the straight plate one 56 and the horizontal plate one 55 is perpendicular to the straight plate one 56, the other end of the horizontal plate one 55 is provided with a pin shaft hole one 59, the support plate one 57 is fixedly arranged at the other end of the straight plate one 56, and the outward extending column one 58 is fixedly arranged on the inner end face of the horizontal plate one 55 and is parallel to the straight plate one 56; the two ends of the pin shaft one 53 are arranged on the outer end face of the horizontal plate one 55 through two mounting seats one, and the torsional spring one 54 is arranged on the pin shaft one 53; the centering sliding block one 51 is slidingly fitted on the outward extending column one 58, and the small ends of the two right-angle connecting blocks one 52 are respectively hingedly connected with the two ends of the centering sliding block one 51.

[0070] The small finger centering mechanism is similar in structure to the large finger centering mechanism;

[0071] The small finger centering mechanism comprises a support frame two, a centering sliding block two, two right-angle connecting blocks two, a pin shaft two and a torsional spring two; the support frame two comprises a horizontal plate two, a straight plate two, a support plate two and an outward extending column two, one end of the horizontal plate two is fixedly connected with one end of the straight plate two and the horizontal plate two is perpendicular to the straight plate two, the other end of the horizontal plate two is provided with a pin shaft hole two, the support plate two is fixedly arranged at the other end of the straight plate two, and the outward extending column two is fixedly arranged on the inner end face of the horizontal plate two and is parallel to the straight plate two; the two ends of the pin shaft two are arranged on the outer end face of the horizontal plate two through two mounting seats two, and the torsional spring two is arranged on the pin shaft two; the centering sliding block two is slidingly fitted on the outward extending column two, and the small ends of the two right-angle connecting blocks two are respectively hingedly connected with the two ends of the centering sliding block two.

[0072] The four big finger centering mechanism support plate one 57 and the four small finger centering mechanism support plate two are hinged to the eight edges of the outer octagonal structure of the palm support 7 respectively, and the support plate one 57 and the support plate two are staggered;

[0073] One end of the inner plate one 35 and the inner plate two 37 of the big finger 3 is commonly hinged to the pin shaft one 53, and the other end of the inner plate one 35 and the inner plate two 37 is hinged to the large end of the two right angle connecting blocks one 52 respectively, and the two ends of the torsion spring one 54 are respectively located on the same side of the inner plate one 35 and the inner plate two 37;

[0074] One end of the inner plate five and the inner plate six of the small finger 4 is commonly hinged to the pin shaft two, and the other end of the inner plate five and the inner plate six is hinged to the large end of the two right angle connecting blocks two respectively, and the two ends of the torsion spring two are respectively located on the same side of the inner plate five and the inner plate six.

[0075] The push rod assembly includes a big finger push rod assembly and a small finger push rod assembly;

[0076] The big finger push rod assembly includes a center rod slider one 14 and four push rods one 5, the center rod slider one 14 is slidingly fitted on the center rod 2, one end of the push rod one 5 is hinged to the center rod slider one 14, and the four push rods one 5 are evenly distributed on the center rod slider one 14; the other end of the push rod one 5 is hinged to the horizontal plate one 55 through the pin shaft hole one 59;

[0077] The small finger push rod assembly is similar in structure to the big finger push rod assembly;

[0078] The small finger push rod assembly includes a center rod slider two and four push rods two, the center rod slider two is slidingly fitted on the center rod 2, one end of the push rod two is hinged to the center rod slider two, and the four push rods two are evenly distributed on the center rod slider two; the other end of the push rod two is hinged to the horizontal plate two through the pin shaft hole two.

[0079] The ropes include four thumb drive ropes 61 and four little finger drive ropes 62; the inner plate 3 40 of the thumb segment connector 1 of the bending module 1 32 connected to the finger root module 1 31 is provided with rope hole 1 63; the inner plate 7 of the little finger segment connector 1 of the bending module 2 connected to the finger root module 2 is provided with rope hole 2 64; rope hole 3 60 is provided at the junction of the horizontal plate 1 55 and the vertical plate 1 56 of the thumb centering mechanism; rope hole 4 65 is provided at the junction of the horizontal plate 2 and the vertical plate 2 of the little finger centering mechanism; and rope hole 5 9 is provided on each of the eight sides of the outer octagonal structure of the palm support 7 and rope hole 5 9 is provided on each of the eight sides of the inner octagonal structure. Rope hole 66; two winding mechanisms are winding mechanism one and winding mechanism two, respectively. One end of the rope 61 driven by four big fingers is evenly distributed and fixed on the winder 10 of winding mechanism one. The other end of the rope 61 driven by the big fingers passes through the corresponding rope hole 66, rope hole 9, rope hole 3, and rope hole 1, and is fixedly connected to rope hole 1, 63. One end of the rope 62 driven by four little fingers is evenly distributed and fixed on the winder 10 of winding mechanism two. The other end of the rope 62 driven by the little fingers passes through the corresponding rope hole 66, rope hole 9, rope hole 4, and rope hole 2, 64, and is fixedly connected to rope hole 2, 64.

[0080] The working principle and process are as follows:

[0081] I. For example Figure 14 The diagram illustrates the bending principle of a single-degree-of-freedom thumb or little finger. A single finger is composed of a spatial Bennett mechanism and a planar four-bar linkage. Taking the thumb (3) as an example, the root module 1 (31) and bending module 1 (32) are hinged via inclined plate 1 (36) and inclined plate 44 (44), and inclined plate 2 (38) and inclined plate 3 (41). Thus, the thumb root connector 1, thumb root connector 2, thumb segment connector 1, and thumb segment connector 2 constitute a spatial Bennett mechanism, while the entire bending module 1 (32) is a planar four-bar linkage. When the thumb root connector 1 and thumb root connector 2 rotate around their common hinge, i.e., when the plane containing inner plate 1 (35) and inner plate 2 (37) forms a dihedral angle, according to the properties of the Bennett mechanism, the grasping surface of root module 1 (31) and the grasping surface of bending module 1 (32) will form a dihedral angle, which can be considered as joint bending. The larger the dihedral angle between inner plate 1 (35) and inner plate 2 (37), the greater the degree of bending of the entire finger. Similarly, since the modules are all hinged together, the entire mechanism has a single degree of freedom. Therefore, the grasping surfaces of the modules will generate dihedral angles throughout the finger, thus enabling the bending of the entire finger.

[0082] Since the big finger root connector one and the big finger root connector two are commonly hinged on the big finger centering assembly, in order to realize the rope driving, the relative rotation of the inner plate one 35 and the inner plate two 37 is equivalent to the relative movement of the rope hole three 60 and the rope hole one 63, that is, when the rope hole one 63 approaches the rope hole three 60, the dihedral angle between the module and the module capture surface increases, the finger bends, and vice versa, the finger unfolds.

[0083] The bending principle and the driving principle of the small finger 4 and the big finger 3 are the same.

[0084] II. During work, the winding system will work according to different target objects and different working conditions. When capturing large-size non-cooperative target objects 72, winding mechanism one works; when capturing small-size non-cooperative target objects 71, winding mechanism two works; for other non-cooperative target objects 73 between the capture range of the small finger 4 and the big finger 3 or irregular shape, winding mechanism one and winding mechanism two work together.

[0085] Taking the winding mechanism one as an example, the winding device 10 is used to wind the big finger driving rope 61, and four wire grooves are arranged on the winding device 10 and spirally wound. When capturing the target object, the motor 11 rotates forward, driving the winding device 10 to rotate, and the four big finger driving ropes 61 are wound and collected in the respective wire grooves, driving the other end connected rope hole one 63 to approach the rope hole three 60, thereby realizing the bending of the big finger 3 and capturing the target object. When releasing the target object, the motor 11 reverses, driving the winding device 10 to rotate in the opposite direction, the big finger driving rope 61 is released, and the elastic potential energy of the torsional spring one 54 makes the rope hole one 63 and the rope hole three 60 far away, realizing the unfolding of the big finger 3.

[0086] The working principle of the winding mechanism two is the same as that of the winding mechanism one.

[0087] III. The functions of the centering assembly: 1) connecting the big finger 3, the small finger 4 and the palm support 7, reducing the manufacturing difficulty of integrated machining, and improving the interchangeability of parts; 2) changing the initial angle of bending of the big finger 3 and the small finger 4, so that the big finger 3 and the small finger 4 have a larger working space; 3) improving the connection stability of the big finger 3 and the small finger 4, realizing reliable capture, preventing the big finger 3 and the small finger 4 from rotating, and making the four big fingers 3 and the four small fingers 4 unevenly arranged, which cannot provide uniform gripping force in four directions.

[0088] When the rope hole one 63 approaches the rope hole three 60, the large finger 3 bends, the plane where the inner plate one 35 of the large finger metacarpal joint one is located and the plane where the inner plate two 37 of the large finger metacarpal joint two is located form a dihedral angle, and the movement of the two right-angle connecting blocks one 52, the centering slider one 51 hinged with the right-angle connecting blocks one 52 moves on the outer extension column one 58 of the large finger centering assembly. The moving direction of the centering slider one 51 is perpendicular to the axis of the pin shaft one 53, so the bending of the whole large finger 3 is always in the same plane with the movement of the centering slider one 51, which ensures the centered bending of the large finger 3 relative to the palm.

[0089] The driving process of the small finger 4 is the same as that of the large finger 3.

[0090] Four, only the internal bending of the finger, the flexibility of the finger is low, the capture range is limited, and the utilization rate of the capture space of the finger is low, and reliable capture of the captured target object cannot be achieved. The combination of the push rod assembly and the centering assembly can change the initial angle of the finger, thereby combining multiple capture postures and working modes.

[0091] Taking the capture of the large finger 3 as an example, during work, the motor 11 reverses, driving the wire winder 10 to reverse, the large finger driving rope 61 is released, and the elastic potential energy of the torsional spring one 54 makes the rope hole one 63 and the rope hole three 60 away from each other; the center rod slider one 14 slides downward on the center rod 2, the push rod one 5 moves downward to drive the support frame one to rotate, thereby unfolding the large finger 3; the large finger 3 approaches the captured target object, and when the bending of the large finger 3 can achieve reliable capture of the target object, the large finger 3 is bent until reliable capture is achieved.

[0092] The working principle of the small finger 4 is the same as that of the large finger 3.

[0093] Five, as shown in Figure 15 Fig. 6, when a small-size non-cooperative target object 71 is encountered in space, the large finger 3 and the small finger 4 are unfolded. When the small-size non-cooperative target object 71 enters the capture range of the manipulator, the large finger 3 is in a static state, and the four small fingers 4 are bent synchronously. When the small finger 4 capture surface contacts the small-size non-cooperative target object 71, the capture is completed. When releasing, the large finger 3 does not work, the small finger 4 is unfolded, and when the small finger 4 capture surface is separated from the small-size non-cooperative target object 71, the release is completed.

[0094] Six, as shown in Figure 16 Fig. 7, when a large-size non-cooperative target object 72 is encountered in space, the large finger 3 and the small finger 4 are unfolded and in a flat state, so as not to affect the movement trajectory of the large-size non-cooperative target object 72, and the manipulator is in a waiting capture state at this time.

[0095] When the large non-cooperative target 72 gradually approaches and enters the capture range of the manipulator, the small fingers 4 are in a static state, and the large fingers 3 are driven to bend. When the large fingers 3 capture surface contacts the large non-cooperative target 72, the capture is completed.

[0096] When released, the small fingers 4 are in a static state, and the large fingers 3 are unfolded to make the large fingers 3 capture surface away from the large non-cooperative target 72. When the large non-cooperative target 72 is separated from the large fingers 3 capture surface and leaves the capture range of the manipulator, the large fingers 3 stop working, and the release of the large non-cooperative target 72 is completed.

[0097] Seven, as shown in Figure 16 When the irregularly shaped non-cooperative target 73 is encountered in space between the capture range of the small fingers 3 and the large fingers 4, the small fingers 3 and the large fingers 4 need to cooperate to reliably capture the target.

[0098] When capturing, first unfold the large fingers 3 and the small fingers 4 to make the manipulator in a state of waiting for capture. When the irregularly shaped non-cooperative target 73 gradually approaches and enters the capture range of the manipulator, the four small fingers 4 bend synchronously. When the small fingers 4 capture surface contacts the target, the first stage capture is completed. Then, the four large fingers 3 bend synchronously. When the large fingers 3 capture surface contacts the target, the capture is completed.

[0099] When released, the large fingers 3 and the small fingers 4 are unfolded at the same time. When the target is separated from the capture surface of the large fingers 3 and the small fingers 4 and leaves the capture range of the manipulator, the release of the target is completed.

Claims

1. A biomimetic octopus-like dexterous grasping robotic hand, characterized in that, The device includes a base, a palm, four thumbs, four little fingers, a centering component, a push rod component, and a rope. The palm is fixedly mounted on the base. The thumbs and little fingers are connected to the palm through the centering component and are arranged alternately at equal intervals on the palm. The push rod component is located between the centering component and the central rod of the palm. The palm controls the thumbs and little fingers to perform actions through the rope. The hand includes a central rod, a flange, a hand support, a winding system, and a protective cover. One end of the central rod is fixedly connected to the base, and the other end is fixedly connected to the flange. The hand support is fixedly mounted on the flange. The hand support has an inner octagonal structure and an outer octagonal structure. The winding system is fixedly installed in the inner octagonal structure, and the protective cover and centering assembly are installed on the outer octagonal structure. The winding system includes two winding mechanisms. Each winding mechanism includes a housing, a bearing, a winder, an end cap, and a motor. The end cap is fixedly connected to the hand support. The housing and the motor are respectively located at both ends of the end cap. The winder is placed in the housing. One end of the winder is connected to the output end of the motor, and the other end of the winder is connected to the housing through the bearing. The centering component includes four large finger centering mechanisms and four small finger centering mechanisms; The big finger centering mechanism includes a support frame, a centering slider, two right-angle connecting blocks, a pin, and a torsion spring. The support frame includes a horizontal plate, a vertical plate, a support plate, and an extension column. One end of the horizontal plate is fixedly connected to one end of the vertical plate and the horizontal plate is perpendicular to the vertical plate. The other end of the horizontal plate is provided with a pin hole. The support plate is fixedly installed at the other end of the vertical plate. The extension column is vertically fixedly installed on the inner end face of the horizontal plate and parallel to the vertical plate. The two ends of the pin are installed on the outer end face of the horizontal plate through two mounting seats. The torsion spring is installed on the pin. The centering slider is slidably installed on the extension column. The small ends of the two right-angle connecting blocks are respectively hinged to the two ends of the centering slider. The little finger centering mechanism includes a second support frame, a second centering slider, two second right-angle connecting blocks, a second pin, and a second torsion spring. The second support frame includes a second horizontal plate, a second straight plate, a second support plate, and a second outward extension column. One end of the second horizontal plate is fixedly connected to one end of the second straight plate, and the second horizontal plate is perpendicular to the second straight plate. The other end of the second horizontal plate is provided with a second pin hole. The second support plate is fixedly set at the other end of the second straight plate. The second outward extension column is vertically fixedly set on the inner end face of the second horizontal plate and is parallel to the second straight plate. The two ends of the second pin are set on the outer end face of the second horizontal plate through two second mounting seats. The second torsion spring is installed on the second pin. The second centering slider is slidably installed on the second outward extension column. The small ends of the two second right-angle connecting blocks are respectively hinged to the two ends of the second centering slider. The first support plate of the four big finger centering mechanism and the second support plate of the four little finger centering mechanism are respectively hinged to the eight sides of the outer octagonal structure of the palm support, and the first support plate and the second support plate are arranged alternately. The inner plates 1 and 2 of the big finger are hinged together at one end to the pin 1, and the other ends of the inner plates 1 and 2 are respectively hinged to the large ends of the two right-angle connecting blocks 1. The two ends of the torsion spring 1 rest on the same side of the inner plates 1 and 2 respectively. One end of the inner plate five and inner plate six of the little finger is hinged to the pin two, and the other end of the inner plate five and inner plate six is ​​respectively hinged to the large end of the two right-angle connecting blocks two. The two ends of the torsion spring two rest on the same side of the inner plate five and inner plate six respectively. The push rod assembly includes a thumb push rod assembly and a little finger push rod assembly; The thumb push rod assembly includes a central rod slider and four push rods. The central rod slider is slidably mounted on the central rod. One end of the push rod is hinged to the central rod slider. The four push rods are evenly distributed on the central rod slider. The other end of the push rod is hinged to the horizontal plate through a pin hole. The little finger push rod assembly includes a central rod slider and four push rods. The central rod slider is slidably mounted on the central rod. One end of each push rod is hinged to the central rod slider. The four push rods are evenly distributed on the central rod slider. The other end of each push rod is hinged to the horizontal plate through a pin hole.

2. The biomimetic octagonal dexterous grasping manipulator according to claim 1, characterized in that, The big finger includes a root module, five bending modules, and a tip module that are hinged together in sequence. The thumb root module 1 is composed of a thumb root connector 1 and a thumb root connector 2 hinged together; the thumb root connector 1 includes an inner plate 1 and an inclined plate 1, with the inclined plate 1 vertically mounted on the inner plate 1; the thumb root connector 2 includes an inner plate 2 and an inclined plate 2, with the inclined plate 2 vertically mounted on the inner plate 2; after one end of the inner plate 1 and one end of the inner plate 2 are hinged together, the inclined plate 1 and the inclined plate 2 are mirror symmetrical. The bending module one consists of two thumb segment connectors one and two thumb segment connectors two, which are sequentially hinged together. The two thumb segment connectors one and two thumb segment connectors two are arranged diagonally. Thumb segment connector one includes an inner plate three, an outer plate one, and an inclined plate three. One end of the inner plate three is fixedly connected to one end of the outer plate one, and the inner plate three and the outer plate one are perpendicular. The inclined plate three is vertically set on the inner plate three, and the angle between it and the outer plate one is +45°. Thumb segment connector two includes an inner plate four, an outer plate two, and an inclined plate four. One end of the inner plate four is fixedly connected to one end of the outer plate two, and the inner plate four and the outer plate two are perpendicular. The inclined plate four is vertically set on the inner plate four, and the angle between it and the outer plate two is -45°. The inner plate three and the inner plate four are hinged together, and the outer plate one and the outer plate two are hinged together. The fingertip module one is composed of two thumb fingertip connecting plates, one thumb segment connecting piece one, and one thumb segment connecting piece two, which are hinged together in sequence. The two thumb fingertip connecting plates are hinged to each other, and the two thumb fingertip connecting plates are respectively hinged to the outer plate one of thumb segment connecting piece one and the outer plate two of thumb segment connecting piece two. The inner plate three of thumb segment connecting piece one is hinged to the inner plate four of thumb segment connecting piece two. Between the root of the finger module 1 and the bending module 1, the inclined plate 1 and the inclined plate 4 are hinged, and the inclined plate 2 and the inclined plate 3 are hinged; between the two bending modules 1, the inclined plate 4 of the thumb segment connector 2 is hinged to the inclined plate 3 of the thumb segment connector 1; between the bending module 1 and the fingertip module 1, the inclined plate 4 and the inclined plate 3 are hinged.

3. The biomimetic octagonal dexterous grasping manipulator according to claim 2, characterized in that, The little finger includes a root module two, five bending modules two and a fingertip module two that are hinged together in sequence; The little finger root module 2 is composed of a little finger root connector 1 and a little finger root connector 2 hinged together; the little finger root connector 1 includes an inner plate 5 and an inclined plate 5, with the inclined plate 5 vertically set on the inner plate 5; the little finger root connector 2 includes an inner plate 6 and an inclined plate 6, with the inclined plate 6 vertically set on the inner plate 6; after one end of the inner plate 5 is hinged to one end of the inner plate 6, the inclined plate 5 and the inclined plate 6 are mirror symmetrical. The bending module two is composed of two little finger segment connectors, one and two little finger segment connectors, which are sequentially hinged together. The two little finger segment connectors are arranged diagonally, and the two little finger segment connectors are also arranged diagonally. The little finger segment connector one includes an inner plate seven, an outer plate three, and an inclined plate seven. One end of the inner plate seven is fixedly connected to one end of the outer plate three, and the inner plate seven and the outer plate three are perpendicular to each other. The inclined plate seven is vertically set on the inner plate seven, and the angle between it and the outer plate three is +45°. The little finger segment connector two includes an inner plate eight, an outer plate four, and an inclined plate eight. One end of the inner plate eight is fixedly connected to one end of the outer plate four, and the inner plate eight and the outer plate four are perpendicular to each other. The inclined plate eight is vertically set on the inner plate eight, and the angle between it and the outer plate four is -45°. The inner plate seven and the inner plate eight are hinged together, and the outer plate three and the outer plate four are hinged together. The second fingertip module consists of two little fingertip connecting plates, a little finger segment connector one, and a little finger segment connector two, which are hinged together in sequence. The two little fingertip connecting plates are hinged to each other, and the two little fingertip connecting plates are respectively hinged to the outer plate three of the little finger segment connector one and the outer plate four of the little finger segment connector two. The inner plate seven of the little finger segment connector one is hinged to the inner plate eight of the little finger segment connector two. Between the root of the finger module 2 and the bending module 2, the inclined plate 5 and the inclined plate 8 are hinged, and the inclined plate 6 and the inclined plate 7 are hinged; between the two bending modules 2, the inclined plate 8 of the little finger segment connector 2 and the inclined plate 7 of the little finger segment connector 1 are hinged; between the bending module 2 and the fingertip module 2, the inclined plate 8 and the inclined plate 7 are hinged.

4. The biomimetic octagonal dexterous grasping manipulator according to claim 1, characterized in that, Flexible material is provided on the grasping surfaces of the thumb and little finger.

5. The biomimetic octagonal dexterous grasping manipulator according to claim 3, characterized in that, The ropes include four thumb drive ropes and four little finger drive ropes; a rope hole 1 is provided on the inner plate 3 of the thumb segment connector 1 of the bending module 1 connected to the finger root module 1; a rope hole 2 is provided on the inner plate 7 of the little finger segment connector 1 of the bending module 2 connected to the finger root module 2; a rope hole 3 is provided at the junction of the horizontal plate 1 and the vertical plate 1 of the thumb centering mechanism; a rope hole 4 is provided at the junction of the horizontal plate 2 and the vertical plate 2 of the little finger centering mechanism; and a rope hole 5 is provided on each of the eight sides of the outer octagonal structure of the palm support, and a rope hole 5 is provided on each of the eight sides of the inner octagonal structure. There is a rope hole six; two winding mechanisms are winding mechanism one and winding mechanism two. Four thumbs drive one end of the rope, which is evenly distributed around the circumference and fixed on the winder of winding mechanism one. The other end of the rope driven by the thumbs passes through the corresponding rope hole six, rope hole five, rope hole three and rope hole one and is fixedly connected to rope hole one. Four little fingers drive one end of the rope, which is evenly distributed around the circumference and fixed on the winder of winding mechanism two. The other end of the rope driven by the little fingers passes through the corresponding rope hole six, rope hole five, rope hole four and rope hole two and is fixedly connected to rope hole two.

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